This paper presents the trajectory planning of an under-actuated quadcopter unmanned aerial vehicle. To control the complete structure of the rotorcraft, the main model is divided into two sub-models, namely inner model and external model. The inner model is for the attitude control model controlled by the sliding mode controller and the outer model is altitude control model governed by the extended state observer. The quadrotor unmanned aerial vehicle is a type of multivariable, multi-degree-of-freedom and nonlinear in nature. Planning the trajectory of the unmanned aerial vehicle and stabilizing its flight are complex tasks because of its ability to maneuver quickly. Due to these stated issues, the tuning of this type of dynamic system is a difficult task. This paper deals with these issues by designing the aforementioned dual controller scheme. In addition, the effectiveness of the proposed controller is apparent in simulations performed in MATLAB, Simulink 2016. The designed controller shows better results and robustness than traditional controllers do.

Abstract-Proposed the PID controller parameters tuning method based-on New Luus-Jaakola (NLJ) algorithm and satisfaction idea. According to the different requirements of each performance index, designed the satisfaction function with fuzzy constraint attributes, and then determined the comprehensive satisfaction function for PID tuning by NLJ algorithm. Provided the steps of PID controller parameters tuning based on the NLJ algorithm and satisfaction, and applied this tuning method to the cascade control system of superheated steam temperature for Power Station Boiler. Finally the simulation and experiment results have shown the proposed method has good dynamic and static control performances for this complicated superheated steam temperature control system.

Implicit Generalized Predictive Control (IGPC) algorithm can directly identify controller parameters without the need of solving Diophantine equation, thus can reduce the on-line algorithm computation time. In order to improve IGPC performance and extend its application, modified Particle Swarm Optimization (PSO) algorithm is introduced into IGPC rolling horizon optimization, combined with general IGPC gradient optimization method under unconstrained condition, a new hybrid optimization method is obtained, this modified IGPC can be used to both of the non-constraint industry process control and the constraint industry process control. Aiming at the superheated steam temperature control of sub-critical 600MW boiler, a new cascade compound control strategy that combines an outer loop IGPC master adjuster and an inner loop PID auxiliary adjuster is adopted. Finally the simulation results have shown that the proposed method can constrain the control action, prevent dramatic change of the input signal, thus can achieve good static and dynamic performances.

This paper discusses how a biped robot with heterogeneous legs imitates a person's walking from gait design, gait planning and gait control. A biped robot with heterogeneous legs(BRHL) robot consists of an artificial leg and an intelligent bionic leg. The purpose of this robot's design is to make the intelligent bionic leg follow the artificial leg's movement, which provides an excellent platform for the research of intelligent prosthetic leg. After the introduction of gait design and gait planning, a semi-active kneel control method is proposed for magneto-rheological (MR) damper in the intelligent bionic leg. And an overall control system scheme is presented. Simulative and practical system experiments prove the validity of the presented plan and proposed algorithm.

In order to improve the generated energy of PV array and adding the utilization ration of solar energy, the photovoltaic tracking system adapts electro-optical tracking techniques which making the solar panels always perpendicular to sunlight. This paper mainly introduces the basic structure of photovoltaic automatic tracking system and the control strategy of the stepper motor. The theories of cerebellum model articulation controller and conventional PID control are also described. And combined with the characteristics of PID control, the compound control based on the cerebellum model articulation controller and conventional PID was applied to photovoltaic automatic tracking system and compared with fuzzy PID control algorithm. The simulation result shows that the cerebellum model articulation controller and conventional PID parallel control algorithm has the advantage of small overshoot, high robustness, fast response, high control accuracy, and so on.