Motion planning by considering it as an optimal problem is effective and widely applicable method. Its comprehensive performance greatly depends on the vehicle dynamics model, which highly coupled nonlinear, especially under dynamical scenarios causes much more consumption of computation resources for numerical optimization. To increase real time motion planner designed nonlinear model predicti...

The sensorless application of predictive control in drive applications has been investigated for a decade. Finite set model (FCS-MPC) is one the easy and practical methods category. Several have FCS-MPC. Since sensitivity method to speed error more than that classical methods, sophisticated estimators should be used this method. reference adaptive system (MRAS) most successful estimator. main p...

In handsfree teleor video-communication, acoustic echoes arise due to the coupling between the loudspeakers and microphones. It is much more challenging to remove the undesired acoustic echoes for stereo or multi-channel tele-communication systems than for mono systems due to the non-uniqueness problem. While non-uniqueness can be prevented by introducing independent distortions into the left a...

The purpose of this paper is to present a simplified model of the current and temperature dynamics of tokamak plasma. It is focused on the diffusion behaviors and relates the profiles of physical variables to engineering control inputs. The Scilab/Scicos environment is used for the numerical implementation of this model. This work is a first step towards the control of the current profile.

A new kind of adaptive backstepping method is proposed for simplified missile model of pitch channel with time-varying and uncertain parameters. Backstepping control is an effective method for coping with system uncertainties. Adaptive method is integrated with backstepping method and a Lyapunov function is constructed to guarantee the whole system is stable. Through the theoretical analysis an...

A simplified optimization process (SOP) for determining set points is proposed and evaluated using the monitoring data and model of an existing VAV system. Controller set points, such as supply air temperature, supply duct static pressure, and chilled water supply temperature, are determined by this proposed SOP in order to minimize energy use while respecting thermal comfort. Zone air temperat...

In this paper, we propose a manipulator control based on a simplified robot dynamic model. The proposed controller is computationally efficient, and it assures asymptotic trajectory tracking. The simplified robotic model is obtained in a systematic way and is adequate for control purpose. The simplification algorithm is suitable either for general or trajectory specific motion. The algorithm si...