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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5310 条记录，以下是71-80 订阅

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Trajectory Tracking control for Lane Change Maneuvers in Autonomous Vehicles 18

Trajectory Tracking Control for Lane Change Maneuvers in Aut...

引用

18th international conference on control automation robotics and vision

作者： Shahab, Muhammad Mysorewala, Muhammad Faizan King Fand Univ Petr & Minerals KFUPM Dept Control & Instrumentat Engn Dhahran Saudi Arabia King Fand Univ Petr & Minerals KFUPM Interdisciplinary Res Ctr Smart Mobil & Logist Interdisciplinary Res Ctr Intelligent Mfg & Robot Dept Control & Instrumentat Engn Dhahran Saudi Arabia

ISBN: (纸本)9798331518509;9798331518493

this research advances autonomous vehicle capabilities by developing novel trajectory planning and control techniques for lane changes using free-driving and vehicle-following modes. this study addresses the critical challenge of enhancing lane change precision to minimize accident risks on highways. A quintic polynomial is used for trajectory generation, and a PID controller is employed for trajectory tracking, integrating collision prevention strategies for safety assurance. the contributions of this work include the development of an efficient control scheme that adapts to dynamic traffic conditions and improves the robustness of lane-changing maneuvers. the proposed approach significantly enhances the accuracy and reliability of autonomous lane changes, providing a pathway for safer autonomous driving in complex highway scenarios.

关键词： Autonomous vehicles lane change trajectory generation and control

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Leveraging Lazy theta* Path Planning for UAV Pseudospectral Trajectory Optimization Initialization 18

Leveraging Lazy Theta* Path Planning for UAV Pseudospectral ...

引用

18th international conference on control automation robotics and vision

作者： Boucek, Zdenek Flidr, Miroslav Straka, Ondrej Univ West Bohemia Pilsen Fac Appl Sci New Technol Informat Soc Res Ctr Plzen Czech Republic Univ West Bohemia Pilsen Fac Appl Sci Dept Cybernet Plzen Czech Republic

ISBN: (纸本)9798331518509;9798331518493

this paper examines the influence of initial guesses on trajectory planning for unmanned aerial vehicles (UAVs) formulated in terms of the optimal control problem (OCP). the OCP is solved numerically using the pseudospectral collocation method. Our approach leverages a path identified through Lazy theta* and incorporates known constraints and a model of the UAV's behavior for the initial guess. Our findings indicate that a suitable initial guess has a beneficial influence on the planned trajectory and suggests promising directions for future research.

关键词： aerial robotics trajectory planning collocation method nonlinear program UAVs

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Distributed Resilient Frequency control for Distributed Energy Sources against High-density Misbehaving Agents 18

Distributed Resilient Frequency Control for Distributed Ener...

引用

18th international conference on control automation robotics and vision

作者： Li, Yutong Wang, Lili Wu, Xuyang Zhejiang Univ Coll Elect Engn Hangzhou Peoples R China Southern Univ Sci & Technol Sch Syst Design & Intelligent Mfg Shenzhen Peoples R China

ISBN: (纸本)9798331518509;9798331518493

this article studies the resilient leader-follower tracking problem for the frequency control of distributed energy sources(DESs), and focuses on scenarios with a high density of misbehaving agents. To tackle the problem, we propose a fully distributed resilient consensus protocol, which utilizes confidence weights to evaluate the level of trust among agents with a first-order filter and a softmax-type function. the protocol theoretically ensures that the system is uniformly ultimately bounded, even in the presence of high-density misbehaving agents (that is, for each follower, it can have more misbehaving neighbors compared to normal neighbors). We also demonstrate the fast practical convergence of the proposed protocol with a simulation for a frequency control problem of DESs. Our study is a significant step towards enhancing the reliability and stability of modern power systems.

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Adaptive Prescribed Performance control with Performance-Triggered Batch Least-Squares Identifier 18

Adaptive Prescribed Performance Control with Performance-Tri...

引用

18th international conference on control automation robotics and vision

作者： Shen, Jiajun Bai, Zitong Wang, Wei Zhou, Jing Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Zhongguancun Lab Beijing 100194 Peoples R China Univ Agder Dept Engn Sci N-4898 Grimstad Norway

ISBN: (纸本)9798331518509;9798331518493

this paper focuses on adaptive prescribed performance control for nonlinear systems with parametric uncertainties. the proposed control scheme incorporates a certainty equivalence controller, a batch least-squares identifier (BaLSI) and a performance triggered condition. the off-line BaLSI, which utilizes all the previously appeared excitation information for parameter updating, is activated as intervals by the performance triggered condition. the effects of the parametric uncertainties are eliminate in finite times of updating, and the closed-loop system can achieve the prescribed performance without suffering from stiff differential equation problem. the simulation results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： Adaptive control systems

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Time-varying Setpoint Tracking for Batch Process control using Reinforcement Learning 18

Time-varying Setpoint Tracking for Batch Process Control usi...

引用

18th international conference on control automation robotics and vision

作者： Abuthahir, M. U. Jan, Nabil Magbool Indian Inst Technol Tirupati Dept Chem Engn Tirupati 517619 Andhra Pradesh India

ISBN: (纸本)9798331518509;9798331518493

Batch processes are indispensable for the production of low-volume and high-value products. However, control of a batch process is challenging due to the inherent nonlinearity, and time-varying characteristics. In this work, we aim to provide a comparative study of reinforcement learning approaches to perform tracking of a time-varying setpoint trajectory in a batch process. this can be accomplished by defining suitable state vectors, actions, and rewards for batch process control. Upon discretizing the state and action space, we utilize two model-free reinforcement learning methods. the efficacy of these two reinforcement learning methods is demonstrated in a non-isothermal batch reaction system. Further, we compare the performance of these reinforcement learning controllers with the nonlinear model predictive controller.

关键词： tracking control batch process nonlinear model predictive control Q learning reinforcement learning

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Observer-based controller of Two-dimensional Large-scale Polynomial Fuzzy Systems 18

Observer-based Controller of Two-dimensional Large-scale Pol...

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18th international conference on control automation robotics and vision

作者： Li, Lizhen Shanghai Univ Elect Power Sch Math & Phys Shanghai 200090 Peoples R China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509;9798331518493

this study focuses on the observer-based feedback controller design of two-dimensional(2-D) discrete large-scale polynomial fuzzy systems. Firstly, a two-dimensional large-scale fuzzy system is established, with the 2-D polynomial Roesser model as the local model, including unknown interconnection terms. the separation property is established under the 2-D large-scale fuzzy framework. By this way, the fuzzy controller and the fuzzy observer can be individually solved and the corresponding closed-loop 2-D polynomial fuzzy system is asymptotically stable. the developed design algorithms are convex SOS conditions, which can be directly solved by the SOSTOOLS. Finally, a numerical example is shown to demonstrated the effectiveness of the proposed approach.

关键词： automation Two-dimensional displays Fault detection Observers Polynomials Adaptive control Robots Fuzzy systems

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A Lidar-vision Fusion Target Detection Model for Low-Light Environments 18

A Lidar-Vision Fusion Target Detection Model for Low-Light E...

引用

18th international conference on control automation robotics and vision

作者： Wang, Jing Duan, Shuai Zhou, Meng North China Univ Technol Sch Elect & Control Engn Beijing 100144 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

In the field of autonomous driving and specific environments, target detection is a critical task module. Currently, the mainstream approach to target detection is to use deep learning to train specific network models, enabling them to recognize targets. Although many effective network models have been proposed by scholars, there are few target detection networks tailored for low-light environments. In practical applications, complex lighting changes can lead to decreased accuracy in target detection. this paper combines a low-light enhancement network with a LiDAR-camera fusion target detection network to achieve target detection in low-light environments and validates the algorithm using the Nuscenes benchmark dataset. the experimental results demonstrate that the improved network exhibits greater robustness in target detection under complex lighting conditions.

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Model-free adaptive sliding-mode control for tower cranes 18

Model-free adaptive sliding-mode control for tower cranes

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18th international conference on control automation robotics and vision

作者： Tao, Zhengtao Shao, Xuejuan Sun, Laiqing Chen, Zhimei Zhang, Jingang Zhao, Zhicheng Taiyuan Univ Sci & Technol Taiyuan 030024 Peoples R China Taiyuan Heavy Ind Co Ltd Taiyuan 030032 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

Considering the dependence of the existing control methods on the tower crane model, a model-free adaptive sliding mode control algorithm is proposed for the positioning anti-swing problem of tower cranes. the proposed controller combines terminal sliding mode control and Full format dynamic linearization (FFDL) data model to against the problems posed by the model uncertainty. A tracking differentiator (TD) is also employed to further improve the dynamic performance of the system. the theoretical analysis proves the convergence of the control error and the effectiveness of the proposed algorithm is verified by simulation.

关键词： tower crane terminal sliding mode Full format dynamic linearization

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Direct yaw moment Fault Tolerant Tracking control for lateral vehicle dynamics 18

Direct yaw moment Fault Tolerant Tracking Control for latera...

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18th international conference on control automation robotics and vision

作者： Makni, Salama El Hajjaji, Ahmed Chaabane, Mohamed Univ Picardie Jules Verne MIS Lab F-80000 Amiens France Univ Sfax STA Lab LR11ES50 Sfax 3038 Tunisia

ISBN: (纸本)9798331518509;9798331518493

Over the last decades, an increasing interest has been considered in improving vehicle performances by using advanced control systems. Nevertheless, the implementation of these systems can be a source of faults. To ensure vehicle stability without performance degradation, problems of both estimation and tracking control design are studied for vehicle dynamics in presence of faults and parametric uncertainties. the first part of this paper focuses on sideslip angle, yaw rate and fault estimations via a Proportional Integral observer (PIO). then, a PIO based tracking control design method, explained via a block diagram, is proposed not only to maintain vehicle stability but also to track the desired trajectories despite the fault effects. the observer and controller gains are computed by solving convex optimization problems under Linear Matrix Inequality (LMI) constraints. Finally, simulation results are presented to prove the effectiveness of the proposed process.

关键词： Convex optimization

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Event-Triggered Formation control of Heterogeneous Multiagent Systems under FDI Attacks and External Disturbances 18

Event-Triggered Formation Control of Heterogeneous Multiagen...

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18th international conference on control automation robotics and vision

作者： Zhi, Yongran Fan, Huijin Liu, Lei Wang, Bo Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Natl Key Lab Multispectral Informat Intelligent P Wuhan 430074 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

In this article, the leader-follower time-varying output formation control problem of heterogeneous multiagent systems(MASs) in the presence of continuous false data injection (FDI) attacks and unknown external disturbances is investigated. A hierarchical event-triggered control frame, including communication layer and controller layer, is constructed. In the communication layer, a distributed event-triggered estimator is proposed to estimate the leader's state and release the communication burden. In the controller layer, a robust adaptive state observer is firstly designed to estimate the follower's state with eliminating the influence of continuous FDI attacks and unknown external disturbances, then an output feedback event-triggered controller is developed to track the estimated leader's state. the proposed framework not only reduces the transmission burden but also eliminates the impact of attacks and disturbances. Finally, an illustrative simulation is provided to demonstrate the effectiveness of the proposed approach.

关键词： State estimation

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