Search results for " control laws"

showing 4 items of 4 documents

Automatic Take Off and Landing for UAS Flying in Turbulent Air - An EKF Based Procedure

2020

An innovative use of the Extended Kalman Filter (EKF) is proposed to perform automatic take off and landing by the rejection of disturbances due to turbulence. By using two simultaneously working Extended Kalman Filters, a procedure is implemented: the first filter, by using measurements gathered in turbulent air, estimates wind components; the second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The fundamental innovation of such a procedure consists in the fact that the covariance matrices of process (Q) and measurement (R) noise are not treated as filter design parameters. In this way determined optimal values of the aforementioned m…

0209 industrial biotechnologyExtended Kalman filter020901 industrial engineering & automationTurbulenceComputer scienceControl theory0103 physical sciencesExtended Kalman FilterAdaptive control laws Automatic take off/landing Extended Kalman FilterSettore ING-IND/03 - Meccanica Del Volo02 engineering and technology01 natural sciences010305 fluids & plasmas
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Integrated Simulation and Formal Verification of a Simple Autonomous Vehicle

2018

This paper presents a proof-of-concept application of an approach to system development based on the integration of formal verification and co-simulation. A simple autonomous vehicle has the task of reaching an assigned straight path and then follow it, and it can be controlled by varying its turning speed. The correctness of the proposed control law has been formalized and verified by interactive theorem proving with the Prototype Verification System. Concurrently, the system has been co-simulated using the Prototype Verification System and the MathWorks Simulink tool: The vehicle kinematics have been simulated in Simulink, whereas the controller has been modeled in the logic language of t…

CorrectnessSIMPLE (military communications protocol)Computer scienceProof assistant020207 software engineeringControl engineering02 engineering and technologyFormal methods Software engineering Theorem proving Vehicles Autonomous Vehicles Control laws Integrated simulations Interactive theorem proving Logic languages Proof of concept Prototype verification systems System development020202 computer hardware & architectureAutomated theorem provingSettore ING-INF/04 - AutomaticaControl theory0202 electrical engineering electronic engineering information engineeringPrototype Verification SystemFormal verificationLogic programming
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An EKF Based Method for Path Following in Turbulent Air

2017

An innovative use of the Extended Kalman Filter (EKF) is proposed to perform both accurate path following and adequate disturbance rejection in turbulent air. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one estimates modified aircraft parameters. The first filter, by using measurements gathered in turbulent air, estimates both aircraft states and wind components. The second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The predictor of the second EKF uses the estimated wind components to solve motion equations in turbulent air. Besides a set of unknown stability …

Fluid Flow and Transfer Processes020301 aerospace & aeronautics0209 industrial biotechnologyEngineeringbusiness.industryTurbulenceSettore ING-IND/03 - Meccanica Del VoloAerospace EngineeringEquations of motion02 engineering and technologyAerodynamicsStability (probability)Stability derivativesSet (abstract data type)Extended Kalman filterFilter (large eddy simulation)020901 industrial engineering & automation0203 mechanical engineeringControl and Systems EngineeringControl theoryAdaptive control laws Extended Kalman Filter Trajectory trackingElectrical and Electronic EngineeringbusinessPhysics::Atmospheric and Oceanic PhysicsInternational Review of Aerospace Engineering (IREASE)
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CONTROLLO DELLA CONVERSIONE DELL'ENERGIA ELETTRICA IN MICRORETI INTELLIGENTI

La limitatezza delle fonti fossili, insieme agli effetti ambientali del loro sfruttamento, hanno portato la ricerca a trovare fonti energetiche alternative poco inquinanti e facilmente reperibili. Lo sviluppo delle fonti rinnovabili e la crescente attenzione verso l’efficienza hanno permesso l'integrazione di un nuovo sistema di distribuzione dell’energia non più centralizzato, ma basato sulla generazione distribuita, permettendo all'occorrenza anche il funzionamento in autonomia di sottosistemi della rete comprendenti generazione locale e carichi, detti microgrid (µG). Una µG (fig.1) è quindi un insieme di carichi e sorgenti di energia operanti come un unico sistema [1] e che presenta innu…

Settore ING-INF/04 - Automaticaelettronica di potenza reti intelligenti convertitori switching controlliSwitching converter smart microgrid buck converte boost converter control laws
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