Swarm robotics is the study of simple, un-intelligent robots teaming up together to address complicated tasks using cooperation and knowledge/skills sharing factors. Particle Swarm Optimization (PSO) is an Evolutionar...
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ISBN:
(纸本)9781424478132
Swarm robotics is the study of simple, un-intelligent robots teaming up together to address complicated tasks using cooperation and knowledge/skills sharing factors. Particle Swarm Optimization (PSO) is an Evolutionary algorithm inspired by animals' social behaviors. PSO has been used in various problems due to its fast convergence capability. Area Extended PSO (AEPSO) is an enhanced version of PSO designed to address complications in the Swarm robotics field. these complications include dynamicity of the environment, degree of cooperation, time dependency of the tasks, and uncertain nature of the environment. this study investigates advantages and shortcomings of the AEPSO method in the robotic domain
this paper presents theoretical results of the neural control mechanism existed in the spinal cord, central pattern generator (CPG), which has the ability to provide rhythmic movement patterns for the invertebrate and...
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ISBN:
(纸本)9781424403417
this paper presents theoretical results of the neural control mechanism existed in the spinal cord, central pattern generator (CPG), which has the ability to provide rhythmic movement patterns for the invertebrate and vertebrate. It is known that although CPG is verified by biological methods, it still lacks a complete theoretical investigation. the theoretical analysis about CPG from engineering perspective such as parameter selection and conditions of stable oscillation will strengthen the foundation of CPG theory, and it will significantly enhance the effective application of CPG into motor control systems.
Ultrasonic motors (USM) possess heavy nonlinear and load dependent characteristics of ultrasonic motors (USM) such as dead-zone and saturation reverse effects, which vary with driving conditions. In this paper, behavi...
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ISBN:
(纸本)0780386531
Ultrasonic motors (USM) possess heavy nonlinear and load dependent characteristics of ultrasonic motors (USM) such as dead-zone and saturation reverse effects, which vary with driving conditions. In this paper, behaviour of an ultrasonic motor is modelled using Hammerstein model structure and experimental measurements. Simulation results show the good matching between the developed model and experimental measurements.
Based on the fact that road-pricing policy is absolutely carried out by the government, we set up an evolution equation of average travel cost and a control strategy to realize the governmental target of eliminating t...
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ISBN:
(纸本)9781424403417
Based on the fact that road-pricing policy is absolutely carried out by the government, we set up an evolution equation of average travel cost and a control strategy to realize the governmental target of eliminating the traffic congestion through dynamical road-pricing regulation. An interval of charging toll has been found out to meet boththe minimum of average travel cost and the maximum of traffic flow.
In this paper we have developed a technique for low level data fusion between laser and monocular color camera using occupancy grid framework in the context of internal representation of external environment for objec...
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ISBN:
(纸本)9781424478132
In this paper we have developed a technique for low level data fusion between laser and monocular color camera using occupancy grid framework in the context of internal representation of external environment for object detection. Based on a small variant of background subtraction technique we construct an occupancy grid for camera and fuse it withthe one constructed for laser to get a combined view. the results obtained using Cycab simulator prepared by INRIA show the effectiveness of our technique.
New traffic control strategies require new approaches in computer traffic simulations. To observe and control a realistic traffic flow a micro scale simulation is necessary. the simulation to be performed properly mus...
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ISBN:
(纸本)9781467355087;9781467355063
New traffic control strategies require new approaches in computer traffic simulations. To observe and control a realistic traffic flow a micro scale simulation is necessary. the simulation to be performed properly must base on precise model. that model should be simple, extensible and also should allow for mapping all important elements for the vehicles control and dynamic traffic simulation. In this paper we describe such a model which can be successfully used to simulate the micro-scale traffic. We also present a graphical tool for creation and edition of intersections. Moreover we present a simulation platform which uses the proposed model.
this paper first presents a general integraltype sliding mode control design for output servo of nonlinear uncertain system, second customizes a sliding surface suitable for output servo tasks of uncertain systems wit...
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ISBN:
(纸本)9781665476874
this paper first presents a general integraltype sliding mode control design for output servo of nonlinear uncertain system, second customizes a sliding surface suitable for output servo tasks of uncertain systems with linear-time-invariant (LTI) nominal plants and matched uncertainties. Interestingly, as applications, this paper applies the proposed sliding surface design to minimumphase and nonminimum- phase LTI systems and obtains the same form of sliding surface as a previous paper [1]. this highlights the usability of the proposed general sliding surface design.
the conditions of synthesis of interval observers for linear systems with unknown time-varying parameters were analyzed. the possible cases for compliance withthe properties of the cooperative system were considered....
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ISBN:
(纸本)9781467355087;9781467355063
the conditions of synthesis of interval observers for linear systems with unknown time-varying parameters were analyzed. the possible cases for compliance withthe properties of the cooperative system were considered. the analysis of the conditions under which, for a given combination of properties of the system, it's possible to construct an interval observer, was held. Such observer allows to get estimates of the state variables of the system which is guaranteed to contain the actual value of the state at a given time.
Conventional PID control algorithm is difficult to obtain good effect in control of the temperature of FC furnace gypsum calcinations which is characterized by time-varying process, nonlinearity, and big disturbance. ...
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ISBN:
(纸本)9781467318723;9781467318716
Conventional PID control algorithm is difficult to obtain good effect in control of the temperature of FC furnace gypsum calcinations which is characterized by time-varying process, nonlinearity, and big disturbance. In view of the steady-state accuracy of PID control, strong robustness and fast response of fuzzy control, this paper designs fuzzy PID controller to controlthe pre-drying temperature by overcoming disturbances in the system through online adjustment of the PID parameters. Simulation results show that this control strategy has high-speed quality and stability compared to conventional PID.
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.
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