Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle

This paper proposes an image-based visual servo (IBVS) controller for the 3D translational motion of the quadrotor unmanned aerial vehicle (UAV). The main purpose of this paper is to provide asymptotic stability for vision-based tracking control of the quadrotor in the presence of uncertainty in the dynamic model of the system. The aim of the paper also includes the use of ow of image features as the velocity information to compensate for the unreliable linear velocity data measured by accelerometers. For this purpose, the mathematical model of the quadrotor is presented based on the optic ow of image features which provides the possibility of designing a velocity-free IBVS controller with considering the dynamics of the robot. The image features are de ned from a suitable combination of perspective image moments without using the model of the object. This property allows the application of the proposed controller in unknown places. The controller is robust with respect to the uncertainties in the transla- tional dynamics of the system associated with the target motion, image depth and external disturbances. Simulation results and a comparison study are presented which demonstrate the e ectiveness of the proposed approach

Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle

This paper proposes an image-based visual servo (IBVS) controller for the 3D translational motion of the quadrotor unmanned aerial vehicle (UAV). The main purpose of this paper is to provide asymptotic stability for vision-based tracking control of the quadrotor in the presence of uncertainty in the dynamic model of the system. The aim of the paper also includes the use of ow of image features as the velocity information to compensate for the unreliable linear velocity data measured by accelerometers. For this purpose, the mathematical model of the quadrotor is presented based on the optic ow of image features which provides the possibility of designing a velocity-free IBVS controller with considering the dynamics of the robot. The image features are de ned from a suitable combination of perspective image moments without using the model of the object. This property allows the application of the proposed controller in unknown places. The controller is robust with respect to the uncertainties in the transla- tional dynamics of the system associated with the target motion, image depth and external disturbances. Simulation results and a comparison study are presented which demonstrate the e ectiveness of the proposed approach

θ-D Approximation Technique for Nonlinear Optimal Speed Control Design of Surface-Mounted PMSM Drives

This paper proposes nonlinear optimal controller and observer schemes based on a θ-D approximation approach for surface-mounted permanent magnet synchronous motors (PMSMs). By applying the θ-D method in both the controller and observer designs, the unsolvable Hamilton–Jacobi–Bellman equations are switched to an algebraic Riccati equation and statedependent Lyapunov equations (SDLEs). Then, through selecting the suitable coefficient matrices, the SDLEs become algebraic, so the complex matrix operation technique, i.e., the Kronecker product applied in the previous papers to solve the SDLEs is eliminated. Moreover, the proposed technique not only solves the problem of controlling the large initial states, but also avoids the excessive online computations. By utilizing a more accurate approximation method, the proposed control system achieves superior control performance (e.g., faster transient response, more robustness under the parameter uncertainties and load torque variations) compared to the state-dependent Riccati equation-based control method and conventional PI controlmethod. The proposed observer-based control methodology is tested with an experimental setup of a PMSM servo drive using a Texas Instruments TMS320F28335 DSP. Finally, the experimental results are shown for proving the effectiveness of the proposed control approac

Design and Analysis of a Generalized High-Order Disturbance Observer for PMSMs with a Fuzy-PI Speed Controller

This paper proposes a generalized high-order observer for estimating total disturbance of permanent magnet synchronous motors (PMSMs). This total disturbance is dominated by load torque but also includes many other terms such as frictions, viscous force, Eddy and flux pulling forces, and noises. Comprehensive experimental results and analyses under various scenarios will be presented to find the appropriate order of the observer. We will compare the performance of zero-order observer (ZDO), first-order observer (FDO), and second-order observer (SDO) under three different scenarios of load torque..

Assessing the effects of time-dependent restrictions and control actions to flatten the curve of COVID-19 in Kazakhstan

This paper presents the assessment of time-dependent national-level restrictions and control actions and their effects in fighting the COVID-19 pandemic. By analysing the transmission dynamics during the first wave of COVID-19 in the country, the effectiveness of the various levels of control actions taken to flatten the curve can be better quantified and understood. This in turn can help the relevant authorities to better plan for and control the subsequent waves of the pandemic. To achieve this, a deterministic population model for the pandemic is firstly developed to take into consideration the time-dependent characteristics of the model parameters, especially on the ever-evolving value of the reproduction number, which is one of the critical measures used to describe the transmission dynamics of this pandemic. The reproduction number alongside other key parameters of the model can then be estimated by fitting the model to real-world data using numerical optimisation techniques or by inducing ad-hoc control actions as recorded in the news platforms. In this paper, the model is verified using a case study based on the data from the first wave of COVID-19 in the Republic of Kazakhstan. The model is fitted to provide estimates for two settings in simulations; time-invariant and time-varying (with bounded constraints) parameters. Finally, some forecasts are made using four scenarios with time-dependent control measures so as to determine which would reflect on the actual situations better.Comment: 35 pages, 7 figures, To appear in Peer

θ-D Approximation Technique for Nonlinear Optimal Speed Control Design of Surface-Mounted PMSM Drives

This paper proposes nonlinear optimal controller and observer schemes based on a θ-D approximation approach for surface-mounted permanent magnet synchronous motors (PMSMs). By applying the θ-D method in both the controller and observer designs, the unsolvable Hamilton–Jacobi–Bellman equations are switched to an algebraic Riccati equation and statedependent Lyapunov equations (SDLEs). Then, through selecting the suitable coefficient matrices, the SDLEs become algebraic, so the complex matrix operation technique, i.e., the Kronecker product applied in the previous papers to solve the SDLEs is eliminated. Moreover, the proposed technique not only solves the problem of controlling the large initial states, but also avoids the excessive online computations. By utilizing a more accurate approximation method, the proposed control system achieves superior control performance (e.g., faster transient response, more robustness under the parameter uncertainties and load torque variations) compared to the state-dependent Riccati equation-based control method and conventional PI controlmethod. The proposed observer-based control methodology is tested with an experimental setup of a PMSM servo drive using a Texas Instruments TMS320F28335 DSP. Finally, the experimental results are shown for proving the effectiveness of the proposed control approac

An Electromagnetic Steering System for Magnetic Nanoparticle Drug Delivery

Targeted delivery of pharmaceutical agents to the brain using magnetic nanoparticles (MNPs) is an efficient technique to transport molecules to disease locations. MNPs can cross the blood–brain barrier (BBB) and can be concentrated at a specific location in the brain using non-invasive electromagnetic forces. The proposed EMA consists of two coil-core system. The cores are added in the center of each coil to concentrate the flux in the region of interest. The EMA can enhance the gradient field 10 times compared to only coil system and generate the maximum magnetic field of 160 mT and 5.6 T/m. A 12-kW direct-current power supply was used to generate sufficient magnetic forces on the MNPs by regulating the input currents of the coils. Effective guidance of MNPs is demonstrated via simulations and experiments using 800-nm-diameter MNPs in a Y-shaped channel. The developed EMA system has high potentials to increase BBB crossing of MNPs for efficient drug targeting to brain region

Functionalized Magnetic Force Enhances Magnetic Nanoparticle Guidance: From Simulation to Crossing of the Blood-Brain Barrier in vivo

In recent studies, we introduced the concept of functionalized magnetic force as a method to prevent nanoparticles from sticking to vessel walls caused by extensive simulation and in vitro experiments involving a Y-shaped channel. In this study, we further investigated the effectiveness of the functionalized magnetic force with a realistic 3D vessel through simulations. For the simulations, we considered a more realistic continuous injection of particles with different magnetic forces and frequencies. Based on the results from our simulation studies, we performed in vivo mice experiments to evaluate the effectiveness of using a functionalized magnetic force to aid magnetic nanoparticles (MNPs) in crossing the blood-brain barrier (BBB). To implement the functionalized magnetic force, we developed an electromagnetic actuator regulated by a programmable direct current (DC) power supply. Our results indicate that a functionalized magnetic field can effectively prevent MNPs from sticking, and also guide them across the BBB. We used 770-nm fluorescent carboxyl MNPs in this study. Following intravenous administration of MNPs into mice, we applied an external magnetic field (EMF) to mediate transport of the MNPs across the BBB and into the brain. Furthermore, we evaluated the differential effects of functionalized magnetic fields (0.25, 0.5, and 1 Hz) and constant magnetic fields on the transport of MNPs across the BBB. Our results showed that a functionalized magnetic field is more effective than a constant magnetic field in the transport and uptake of MNPs across the BBB in mice. Specifically, applying a functionalized magnetic field with a 3 A current and 0.5 Hz frequency mediated the greatest transport and uptake of MNPs across the BBB in mic

Functionalized Magnetic Force Enhances Magnetic Nanoparticle Guidance: From Simulation to Crossing of the Blood-Brain Barrier in vivo

In recent studies, we introduced the concept of functionalized magnetic force as a method to prevent nanoparticles from sticking to vessel walls caused by extensive simulation and in vitro experiments involving a Y-shaped channel. In this study, we further investigated the effectiveness of the functionalized magnetic force with a realistic 3D vessel through simulations. For the simulations, we considered a more realistic continuous injection of particles with different magnetic forces and frequencies. Based on the results from our simulation studies, we performed in vivo mice experiments to evaluate the effectiveness of using a functionalized magnetic force to aid magnetic nanoparticles (MNPs) in crossing the blood-brain barrier (BBB). To implement the functionalized magnetic force, we developed an electromagnetic actuator regulated by a programmable direct current (DC) power supply. Our results indicate that a functionalized magnetic field can effectively prevent MNPs from sticking, and also guide them across the BBB. We used 770-nm fluorescent carboxyl MNPs in this study. Following intravenous administration of MNPs into mice, we applied an external magnetic field (EMF) to mediate transport of the MNPs across the BBB and into the brain. Furthermore, we evaluated the differential effects of functionalized magnetic fields (0.25, 0.5, and 1 Hz) and constant magnetic fields on the transport of MNPs across the BBB. Our results showed that a functionalized magnetic field is more effective than a constant magnetic field in the transport and uptake of MNPs across the BBB in mice. Specifically, applying a functionalized magnetic field with a 3 A current and 0.5 Hz frequency mediated the greatest transport and uptake of MNPs across the BBB in mic