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Measuring Control Delay at Signalized Intersections Using GPS and Video Flow
Published in Guoqing Zhou, Urban High-Resolution Remote Sensing, 2020
The GPS test car in this study consists of different hardware components. They are:Trimble 5700 GPS: A Trimble® 5700 GPS receiver is a 24-channel dual-frequency RTK GPS receiver with options of 1 Hz, 2 Hz, 5 Hz, and 10 Hz positioning and data logging and 1 pulse per second output capability. A UHF radio modem is used as the receiver for RTK communications. The porTABLE 19.ZephyrTM antenna is used for RTK roving, and the Zephyr GeodeticTM antenna is used for the base station. The code DGPS can reach ± (0.25 m + 1 ppm) and ± (0.5 m + 1 ppm) for horizontal and vertical positioning, respectively.UHF Radio Modem: The TRIMMARK 3 radio modem is used as the base station transmitter for correction communication. The UHF radio modem is narrowband with three UHF bands (410–420 MHz, 430–450 MHz, 450–470 MHz) with a wireless data rate of 4800, 9600, or 19,200 bps.Camcorder: Sony’s DCR-SR100 is a CCD camcorder with 30 GB non-removable hard drive storage space. It can record seven hours of high-quality video at dimension of 720 × 480 in MPEG form. The lens is a 30 mm Carl-Zeiss Vario Sonnar T with 10× optical zoom and 120× digital zoom capability.Test Car Configuration: A Toyota Corolla is used as a test vehicle. A Trimble 5700 RTK GPS receiver is housed inside the car. An antenna is placed outside the car in order to minimize multipath error (see Figure 18.3). The extra power is provided through the vehicle cigarette lighter jack.
Polynomial LPV approach to robust H ∞ control of nonlinear sampled-data systems
Published in International Journal of Control, 2020
Kaveh Hooshmandi, Farhad Bayat, Mohammad Reza Jahed-Motlagh, Ali Akbar Jalali
The states of the inverted pendulum on a car are measured at sampling instants, . Denote as the discrete sequence of computed control actions at those instants, and define the zero-order hold control action , for . Introducing , we have . The control signal at sample takes time units to reach the actuator through a radio modem, then . Hence, and for . In a networked setting in Figure 2, variable sampling period and network delay are integrated in a single input-delay value .