Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence condit...
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ISBN:
(纸本)9781509035496
Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence conditions of the open-loop iterative learning schemes is presented.
the slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered fin...
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ISBN:
(纸本)9781509035496
the slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. the results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.
this paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are establi...
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ISBN:
(纸本)9781509035496
this paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are established for guaranteeing the convergence to a rigid flock. Finally, numerical simulation demonstrates the effectiveness of the control scheme.
this paper presents a control scheme for a linear time invariant (LTI) system with uncertainty and disturbance, which are not assumed to be matched withthe control input. the presented control scheme consists of a st...
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ISBN:
(纸本)9781509035496
this paper presents a control scheme for a linear time invariant (LTI) system with uncertainty and disturbance, which are not assumed to be matched withthe control input. the presented control scheme consists of a stabilizing feedback controller and a newly developed feedforward mechanism, which counteracts the uncertainty and disturbance through the reference path. In contrast to the related control methods, such as time delay control (TDC) and uncertainty and disturbance estimation (UDE) based control, the scheme presented in this paper does not impose any structural constraints on the controlled plant. the presented control scheme was verified experimentally using a flexible mechanical testbed with a poorly damped resonance.
In this paper, novel control and update laws for predictor-based Model Reference Adaptive control for the case of overactuated systems are presented. A weaker assumption than positive definiteness of the control effec...
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ISBN:
(纸本)9781509035496
In this paper, novel control and update laws for predictor-based Model Reference Adaptive control for the case of overactuated systems are presented. A weaker assumption than positive definiteness of the control effectiveness matrix is formulated. this allows to take actuator failures and even changes in the control direction into account. Furthermore, it is shown that the number of adaptive parameters can be reduced avoiding overparameterization. the control law is applied to a hexarotor example and simulation results demonstrate the control law's capabilities.
the SAGITTA Research Demonstrator is a flying-wing UAV testbed. Its digital flight control system, which is being developed by the Institute of Flight System Dynamics of the Technical University Munich, consists of ca...
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ISBN:
(纸本)9781509035496
the SAGITTA Research Demonstrator is a flying-wing UAV testbed. Its digital flight control system, which is being developed by the Institute of Flight System Dynamics of the Technical University Munich, consists of cascaded control loops. In a UAV operation scenario, different control loops need to be engaged at different times or connected in different ways to fulfill a given mission. this has to be done with respect to commands from the flight operator or even automatically based on sensor information or data link availability. the task is handled by a system automation module which is part of the flight control system software. Its structure and implementation are introduced and described in this paper.
this study reviews the educational theories and existing literature for the integration of robots to support teaching in classrooms by assessing integration methods and the effectiveness of educational robotics on stu...
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ISBN:
(纸本)9781509035496
this study reviews the educational theories and existing literature for the integration of robots to support teaching in classrooms by assessing integration methods and the effectiveness of educational robotics on student learning. Most of the research on this subject are only focused on children from kindergarten to middle schools and analyzed the end results from questionnaires and grades. Without analysis on the human-robot interaction itself, the effectiveness of robots in classrooms is questionable especially in the higher education context. Future research should leverage more refined data analysis techniques such as learning analytics to directly focus on interaction and conversation dynamics.
A stereo vision based autonomous navigation method for 3-DOF systems is presented in this paper. It is able to tackle the learning and recognition problem of generic scenes in an unstructured environment, providing mo...
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ISBN:
(纸本)9781509035496
A stereo vision based autonomous navigation method for 3-DOF systems is presented in this paper. It is able to tackle the learning and recognition problem of generic scenes in an unstructured environment, providing motion-planning capability to control all the 3 DOFs of a robotic system. In this method, 3 spatial constraints are generated from a single visual recognition to estimate the robot pose. A feedback strategy is utilised for robot motion control, without the necessity of knowing any explicit distance information of the environment. the performance of the proposed method is evaluated in a novel wire-frame simulation environment, under the perturbation of multiple uncertainty sources. Autonomous navigation is achieved with good accuracy in the simulation environment, while preserving high robustness to all the uncertainty sources.
Alarm flooding is one of the main problems in alarm management. Alarm flood pattern analysis is helpful for root cause analysis of historical floods and for incoming flood prediction. this paper introduces a data driv...
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ISBN:
(纸本)9781509035496
Alarm flooding is one of the main problems in alarm management. Alarm flood pattern analysis is helpful for root cause analysis of historical floods and for incoming flood prediction. this paper introduces a data driven method for alarm flood pattern matching. A modified BLAST algorithm with Levenshtein distance is proposed to discover similar alarm floods. A quadruple tank process is simulated to test the effectiveness of the proposed algorithm. the results show that the algorithm is quick and accurate.
this paper is concerned with a system for detecting and tracking multiple 3D bounding boxes based on information from multiple sensors. Our framework is built around an inference engine similar to the probability hypo...
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ISBN:
(纸本)9781509035496
this paper is concerned with a system for detecting and tracking multiple 3D bounding boxes based on information from multiple sensors. Our framework is built around an inference engine similar to the probability hypothesis density (PHD) filter, where the state space consists of stochastic bounding boxes with constant velocity dynamics. We outline measurement equations for two modalities (vision and radar). the result is a flexible inference system suitable for use on autonomous vehicles.
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