Graphical PID tuning method for uncertain fractional-order multivariable systems

In this paper, a graphical tuning method for controllers parameters based on the open-loop fractional transfer function (FO-EOTF) method is proposed for fractional-order parameter uncertain multivariable system. The FO-EOTF method is proposed to transform the parameter uncertain fractional-order multivariable system into a set of independent parameter uncertain fractional-order univariate systems and determine the parameters regions of the univariate systems. The gain phase margin tester is used to further guarantee the robust performance of the controlled system. Finally, simulation result from the numerical simulation is presented to demonstrate the effectiveness of this method

OCR-RTPS: An OCR-based real-time positioning system for the valet parking

Obtaining the position of ego-vehicle is a crucial prerequisite for automatic control and path planning in the field of autonomous driving. Most existing positioning systems rely on GPS, RTK, or wireless signals, which are arduous to provide effective localization under weak signal conditions. This paper proposes a real-time positioning system based on the detection of the parking numbers as they are unique positioning marks in the parking lot scene. It does not only can help with the positioning with open area, but also run independently under isolation environment. The result tested on both public datasets and self-collected dataset show that the system outperforms others in both performances and applies in practice. In addition, the code and dataset will release later.Comment: 25 pages, 9 figure