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Control of a Laboratory 3-DOF Helicopter: Explicit Model Predictive Approach
Ju Zhang,Xinyan Cheng,Jiaqi Zhu 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.2
A helicopter flight control system is a typical multi-input, multi-output system with strong channel couplingand nonlinear characteristics. This paper presents an explicit model predictive control (EMPC) for attituderegulation and tracking of a 3-Degree-of-Freedom (3-DOF) helicopter. A state-space representation of the systemis established according to the characteristics of each degree-of-freedom motion. Multi-Parametric Quadratic Programming(MPQP) and online computation processes for explicit model predictive control and controller design fora 3-DOF helicopter are discussed. The controller design for set-point regulation and tracking time-varying referencesignals of a 3-DOF helicopter are presented respectively. Numerical study of explicit model predictive controlfor attitude regulation and tracking of a 3-DOF helicopter are conducted. A hardware-in-the-loop experimentalstudy of explicit model predictive control of a 3-DOF helicopter is made. To analyze the performances of an EMPCcontrolled helicopter system, an Active Mass Disturbance System and manual interference are considered in comparisonwith PID scheme. Numerical simulation and HIL experimental studies show that explicit model predictivecontrol is valid and has satisfactory performance for a 3-DOF helicopter.
A Seamless Constraint Model of Multi-Scale Representation of Geographical Information
Di Chen,Han Yue,Xinyan Zhu 보안공학연구지원센터 2015 International Journal of Security and Its Applicat Vol.9 No.8
At present, it has become a hot issue to provide a multi-representation mechanism and build multi-scale spatial databases in the field of GIS. Meanwhile, an inevitable problem is how to evaluate and preserve the consistency of multi-scale spatial data. In this paper, we introduce the concepts of homonymous points and homonymous entities based on innate characteristics of spatial data and put forward a seamless constraint model of multi-scale representation of geographic information that involves time, geometry, spatial relations and semantic characteristics. According to this model, a consistency assessment method has been implemented by computing similarities between vector data at three different scales. The main contributions of this paper are the proposal of a consistency constraint model and assessment system of multi-scale spatial data.