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检索条件"丛书名=Lecture Notes in Control and Information Sciences"

共 831 条记录，以下是281-290 订阅

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Virtual leader based formation control of multiple unmanned ground vehicles (UGVs): control design, simulation and real-time experiment

Virtual leader based formation control of multiple unmanned ...

引用

7th International Conference on Cooperative control and Optimization

作者： Cai, Wenchuan Weng, Liguo Zhang, R. Zhang, M. Song, Y. D. North Carolina Agr & Technol State Univ Elect & Comp Engn Greensboro NC 27411 USA

ISBN: (纸本)9783540743545

Closed formation control for multiple unmanned ground vehicles (UGVs) is studied in this chapter. The leading-following strategy with a virtual leader is applied to coordinate the whole formation group so that only local information is sufficient for every UGV to maintain close formation. Error-shaping memory-based control is designed for formation path tracking. The salient feature of this approach lies in its simplicity in design and implementation, and no need for detailed information on external disturbances and uncertainties. The performance of the proposed method is verified via real-time experiment on various formation operations.

关键词： Ground vehicles

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Optimal online control of dynamical systems under uncertainty

Optimal online control of dynamical systems under uncertaint...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Gabasov, Rafail Kirillova, Faina M. Dmitruk, Natalia M. Belarusian State Univ 4 Nezavisimosti Minsk 220050 BELARUS Inst Math Minsk 220072 BELARUS

A problem of synthesis of optimal measurement feedbacks for dynamical systems under uncertainty is under consideration. An online control scheme providing a guaranteed result under the worst-case conditions is described.

ISBN: (纸本)9783540726982

关键词： Dynamical systems

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Decentralized cooperative optimization for multi-criteria decision making

Decentralized cooperative optimization for multi-criteria de...

引用

7th International Conference on Cooperative control and Optimization

作者： Fulga, Cristinca Acad Econ Studies Dept Math Bucharest Romania

ISBN: (纸本)9783540743545

Motivated by recent research on multiobjective optimization, we focus on the problem of m interconnected systems characterized by multiple decision makers with limited centralized information. Two types of variables occur: local variables that appear in a single component and global variables which provide the connection between the M systems and appear in all of them. From the point of view of one system, the problem is seen as optimization of local costs using local control variables coupled with global variables, subject to local constraints. This is a decomposition of the general centralized vector optimization problem into a set of decentralized cooperative optimization problems with local mathematical models, coupled through constraints. In this chapter, we provide a method for solving this problem by using a decomposition technique combined with an exact penalty method.

关键词： Multiobjective optimization

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Out-of-order sigma-point Kalman filtering for target localization using cooperating unmanned aerial vehicles

Out-of-order sigma-point Kalman filtering for target localiz...

引用

7th International Conference on Cooperative control and Optimization

作者： Plett, Gregory L. Zarzhitsky, Dimitri Pack, Daniel J. USAF Acad Dept Elect & Comp Engn Colorado Springs CO 80840 USA

ISBN: (纸本)9783540743545

This chapter outlines our research efforts toward developing a cooperative target localization method based on multiple autonomous unmanned aerial vehicles (UAVs) that axe outfitted with heterogeneous sensors. The current focus of the research includes (1) optimizing the UAV trajectories to place them at desired locations at desired times to capture target locations, (2) cooperative sensor scheduling, and (3) intelligent fusing of multiple sensor measurements to accurately estimate the position and velocity of a target. The focus of this paper is the sensor-fusion task. One might consider addressing this problem using some form of Kalman filter. However, a complicating factor in the present application is that sensor readings arrive out-of-sequence to the sensor-fusion process. For example, there is non-deterministic latency in the inter- and intra-UAV communication channels. We address this problem by developing an out-of-order sigma-point Kalman filter ((OSPKF)-S-3).

关键词： Unmanned aerial vehicles (UAV)

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Nonlinear predictive control of irregularly sampled data systems using identified observers

Nonlinear predictive control of irregularly sampled data sys...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Srinivasarao, Meka Patwardhan, Sachin C. Gudi, R. D. Indian Inst Technol Dept Chem Engn Bombay 400076 Maharashtra India

ISBN: (纸本)9783540726982

In many practical situations in process industry, the measurements of process quality variables, such as product concentrations, are available at different sampling rates and than other measured variables and also at irregular sampling intervals. Thus, from the process control viewpoint, multi-rate systems in which measurements are available at slow and/or differing rates and in which the manipulations are updated at relatively fast rate are of particular interest. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Process control

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An experimental study of stabilizing receding horizon control of visual feedback system with planar manipulators

An experimental study of stabilizing receding horizon contro...

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Fujita, Masayuki Murao, Toshiyuki Kawai, Yasunori Nakaso, Yujiro Tokyo Inst Technol Dept Mech & Control Engn Meguro Ku 2-12-1 S5-26 O Okayama Tokyo 1528552 Japan

ISBN: (纸本)9783540726982

This paper investigates vision based robot control based on a receding horizon control strategy. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from an energy function of the visual feedback system. By applying the proposed control scheme to a two-link direct drive manipulator with a CCD camera, it is shown that the stabilizing receding horizon control nicely works for a planar visual feedback system. Furthermore, actual nonlinear experimental results are assessed with respect to the stability and the performance.

关键词： CCD cameras

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Input disturbance suppression for port-Hamiltonian systems: An internal model approach

引用

Meeting on Advances in control Theory and Applications

作者： Gentili, Luca Paoli, Andrea Bonivento, Claudio Univ Bologna Ctr Res Complex Automated Syst CASY Giuseppe Evangelisti DEIS Dept Elect Comp Sci & Syst Bologna Italy

ISBN: (纸本)9783540707004

In this paper an internal model based approach to periodic input disturbance suppression for port-Hamiltonian systems is presented, more specifically, an adaptive solution able to deal with unknown periodic signal belonging to a given class is introduced. After an introductive section, the adaptive internal model design procedure is presented in order to solve the input disturbance problem. This theoretical machinery is specialized for the energy-based port-Hamiltonian framework in order to prove the global asymptotical stability of the solution. Finally, in order to clearly point out the effectiveness of the presented design procedure a tracking problem is solved for a robotic manipulator affected by torque ripples.

关键词： port-Hamiltonian systems Internal Model control Adaptive control Input Disturbance Suppression Robot Manipulator

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Efficient quantization in the average consensus problem

引用

Meeting on Advances in control Theory and Applications

作者： Carli, Ruggero Zampieri, Sandro Univ Padua Dept Informat Engn I-35100 Padua Italy

ISBN: (纸本)9783540707004

In the average consensus a set of linear systems has to be driven to the same final state which corresponds to the average of their initial states. This mathematical problem can be seen as the simplest example of coordination task and in fact it can be used to model both the control of multiple autonomous vehicles which all have to be driven to the centroid of the initial positions, and to model the decentralized estimation of a quantity from multiple measure coming from distributed sensors. In general we can expect that the performance of a consensus strategy will be strongly related to the amount of information the agents exchange each other. This contribution presents a consensus strategy in which the exchanged data are symbols and not real numbers. This is based on a logarithmic quantizer based state estimator. The stability of this technique is then analyzed.

关键词： distributed estimations quantization distributed algorithms consensus multiagent systems

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Modeling and control of anesthetic pharmacodynamics

引用

International Workshop on Biology and control Theory

作者： Beck, Carolyn Lin, Hui-Hung Bloom, Marc Univ Illinois Urbana IL 61801 USA Natl Cheng Kung Univ Tainan 701 Taiwan NYU Sch Med New York NY 10003 USA

ISBN: (纸本)9783540719878

Engineering and control technology have played and continue to play a major role in medicine over the past half-century, from the invention of the pacemaker in 1950 and ventricular assist devices in the 1980’s, to more recent advances incorporating robotic and image-guided surgery. Modeling and control of drug dosing in clinical pharmacology is one area of medicine in which mathematical modeling is used extensively, and hence is well-suited for applications of control design and analysis techniques. Obvious examples of potential application areas for control in clinical pharmacology include insulin delivery for control of diabetes, chemotherapy dosing and timing for treatment of HIV, and anesthetic dosing during surgery to optimally control sedation level and manage hemodynamic functions. The increasing use of computers in the operating room combined with the recent and ongoing development of non-invasive yet effective means of measuring a number of the goals of anesthesia, such as the bispectral index or BIS measure of sedation, real-time measurements of exhaled gas concentrations by spectroscopic methods, and the use of electromyographic methods to measure lack of movement, promise to make the incorporation of control techniques into the anesthetic delivery process imminent.. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Anesthetics

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Distributed model predictive control of large-scale systems

Distributed model predictive control of large-scale systems

引用

International Workshop on Assessment and Future Directions of Nonlinear Model Predictive control

作者： Venkat, Aswin N. Rawlings, James B. Wright, Stephen J. Shell Global Solut US Inc Westhollow Technol Ctr POB 4327 Hooston TX 77210 USA Univ Wisconsin Dept Chem & Biol Engn Madison WI 53706 USA Univ Wisconsin Dept Comp Sci Madison WI 53706 USA

ISBN: (纸本)9783540726982

Completely centralized control of large, networked systems is impractical. Completely decentralized control of such systems, on the other hand, frequently results in unacceptable control performance. In this article, a distributed MPC framework with guaranteed feasibility and nominal stability properties is described. All iterates generated by the proposed distributed MPC algorithm are feasible and the distributed controller, defined by terminating the algorithm at any intermediate iterate, stabilizes the closed-loop system. The above two features allow the practitioner to terminate the distributed MPC algorithm at the end of the sampling interval, even if convergence is not attained. Further, the distributed MPC framework achieves optimal systemwide performance (centralized control) at convergence. Feasibility, stability and optimality properties for the described distributed MPC framework are established. Several examples are presented to demonstrate the efficacy of the proposed approach.

关键词： Decentralized control

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