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Online System Identification of Unmanned Aerial Vehicle in Upset condition |
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Gwang-gyo Seo, Yoonsoo Kim(Gyeongsang National University, Korea) |
| Few methods have been known and validated on real aircraft in upset condition such as stall or spin for
online system identification (ID) methods in the literature. This work considers some improvement of classical system ID
methods to be better suited for the real-time estimation of time-varying aerodynamic coefficients. The proposed method
has been tested on real flight data of a model aircraft to show its effectiveness. |
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A Comprehensive Comparison of Chassis Systems Coordination Approaches |
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Moad Kissai, Bruno Monsuez(Ecole Nationale Supérieure des Techniques Avancées (ENSTA ParisTech), France), Didier Martinez, Xavier Mouton(Group Renault, France), Adriana Tapus(Ecole Nationale Supérieure des Techniques Avancées (ENSTA ParisTech), France) |
| This paper discusses the different architectures adopted to handle chassis systems interactions. Several car manufacturers study the influence of each system on the overall vehicle. They then add an additional coordination layer downstream the different systems to mitigate their possible conflicts. Here we propose a new approach that consists on managing systems interaction upstream the different systems. Coordination is based on control allocation techniques that take into account several vehicle states to find optimal commands distribution. |
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Schmidt-Kalman Filters for Systems with Uncertain Parameters and Asynchronous Sampling |
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Jaroslav Tabacek, Vladimir Havlena(Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic) |
| This paper introduces estimation algorithms for systems with uncertain parameters and asynchronous sampling.
The system descriptions obtained by different discretization approaches are analyzed and used to develop the equivalent of the Schmidt-Kalman filter (SKF). Then the SKF for systems with asynchronous sampling is developed by applying the SKF or its equivalent on the part of sampling period where the process and measurement noises are correlated. The accuracy of the novel filters is tested on a simple example. |
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System Identification Of the Two Tanks System Subjected to WirelessHART Delays |
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Napasool Wongvanich, Pongsakorn Somkane, Viriya Kongratana(King Mongkut's Institute of Technology Ladkrabang, Thailand) |
| This paper proposes an integral-based method for parameter identification of the coupled tank model used in level control. The plant uses WirelessHART communication protocol to interact between devices in the system, which has a data update rate of 8 seconds. Two models are considered. The first model is the simple linear model where the delay from the WirelessHART is assumed to be negligible. The second model extends this first model, and introduces nonlinearity from the WirelessHART delay into the model. Results show that the non linear model outperforms the linear model counterparts. |
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A Novel Inverse Filtering Method for Systems with Multiple Input Signals |
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Runzhe Han, Christian Bohn, Georg Bauer(Technische Universität Clausthal, Germany) |
| There exist some problems estimating inputs of multiple-input (MI) systems if the output number is less than the input number. To deal with the problems, in this paper we introduce a novel inverse filtering approach for MI systems by converting a MI system into a SI system using delay systems and afterwards using the Kalman filter to estimate the inputs. However, it requires that the input signals are periodic in angle domain with same shapes, and there has a fixed phase difference between every two adjacent signals. The simulation results showed the effectiveness of the novel inverse filter. |
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Hybrid Steering Model Estimated by Particle Swarm Optimization Based on Driver’s Eye Tracking Information |
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Shoichi Sakamoto, Nobutomo Matsunaga, Hiroshi Okajima(Kumamoto University, Japan) |
| In this paper, the estimation method of the steering model by PSO depending on the gazing point is applied to the curvy road with an inattentive driving. The eye tracking information is important to understand the driver's will.To acquire the accurate driving model, the steering model with real-time measurement of gazing point and a hybrid model switching according to the effective visual field are estimated simultaneously by PSO considering driver's eye tracking information. The effectiveness of proposed method is evaluated by using HONDA driving simulator. |
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