Collective behavior emerges from local interactions in a group, has been observed in many natural systems, and is of significant interests for engineering applications. The Vicsek model is a mathematical tool to study...
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ISBN:
(纸本)9780791851913
Collective behavior emerges from local interactions in a group, has been observed in many natural systems, and is of significant interests for engineering applications. The Vicsek model is a mathematical tool to study collective alignment in a group of self-propelled particles based on local interaction, which has been well-studied in the literature for its simple algorithm and complex global behaviors. Several studies show that particles reach alignment faster when the directionality of particle interaction is restricted by an optimal view angle. This result seems counterintuitive, since each particle is expected to get more information through omnidirectional interaction. This work seeks to explore the possible causes of this optimal view angle by studying interaction dynamics in Vicsek model with restricted view angle through numerical simulation.
This work proposes a unified framework for the eco-approach application that integrates traffic prediction, vehicle optimization, and implementation. The eco-approach application is formulated as either a car-followin...
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ISBN:
(纸本)9780791851906
This work proposes a unified framework for the eco-approach application that integrates traffic prediction, vehicle optimization, and implementation. The eco-approach application is formulated as either a car-following optimization problem or a single vehicle optimization problem, depending on whether a preceding vehicle exists. The traffic prediction scheme anticipates future traffic conditions and describes the traffic dynamics on the road segment of interest using state variables: traffic flow, density, and speed. With the information enabled by connectivity, the traffic state estimation is updated using an observer. Uncertainties in the traffic prediction are considered using a robust optimization approach. The robust optimization problem is discretized and solved by an efficient nonlinear programming solver. The proposed eco-approach framework is implemented to a single lane single intersection scenario for 12, 8, 4, and 1 connected vehicle scenarios. The fuel benefits vary from 11.0% to 6.7% as the penetration rates of connectivity decrease. The performance is satisfactory compared to the 12.0% fuel benefits with perfection traffic prediction.
The paper focuses on the control of vehicular systems along trajectories in the presence of obstacles. We design parameter-dependent controllers which guarantee closed-loop stability and performance of the vehicle'...
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ISBN:
(纸本)9780791848920
The paper focuses on the control of vehicular systems along trajectories in the presence of obstacles. We design parameter-dependent controllers which guarantee closed-loop stability and performance of the vehicle's regulation loop. In addition, the control strategy changes depending on the position of the vehicle in the obstacle environment so that the critical outputs are given the most attention. We also provide a fast and easy-to-implement algorithm for online controller construction. Last, the proposed approach is applied to a three-degree-of-freedom helicopter.
Backlash in gears creates nonlinear dynamics in mechanical systems and has been analyzed using a variety of methods and models. In this paper, we present a nonlinear, piecewise model for backlash dynamics that incorpo...
ISBN:
(纸本)9780791854754
Backlash in gears creates nonlinear dynamics in mechanical systems and has been analyzed using a variety of methods and models. In this paper, we present a nonlinear, piecewise model for backlash dynamics that incorporates a coefficient of restitution to account for impact behavior during limit cycling. We analyze the energy absorbed by the collisions and derive a constraint for feedback controllers. We conclude with simulation results using this modeling approach.
In this paper, a novel switched systems approach is taken to enable the distributed coordination of a multi-agent system with intermittent communication. A mobile information service provider switches between various ...
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ISBN:
(纸本)9780791851913
In this paper, a novel switched systems approach is taken to enable the distributed coordination of a multi-agent system with intermittent communication. A mobile information service provider switches between various (follower) agents in the network to provide them with state feedback when they are within close proximity. The follower agents do not have navigational sensors but are still proven to converge to a desired goal through open-loop control with intermittent error correction by the leader. A switched systems stability analysis is performed to determine the maximum dwell-time the mobile information service provider can intermittently communicate information to the agents to ensure convergence to the desired goal. Simulation results are included to demonstrate the development.
This paper is focuses on modulating a shared resource, power demand on the electricity grid, among intelligent agents charged with modulating residential HVAC systems. We discuss the use of synchronized control actuat...
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ISBN:
(纸本)9780791848920
This paper is focuses on modulating a shared resource, power demand on the electricity grid, among intelligent agents charged with modulating residential HVAC systems. We discuss the use of synchronized control actuation signals (PWM) to simplify scarce resource auctions for control of a network of intelligent home agents. By synchronizing the actuation signal with the auction times, identification and prediction becomes simpler and modulation of the shared resource is as easy as adjusting the saturation limits of the controller We show results through simulation.
This paper presents a strategy to integrate the planning and control for autonomous vehicles. The aim of this work is to provide a method that can yield controller feasible reference paths, i.e. paths that are not onl...
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ISBN:
(纸本)9780791851913
This paper presents a strategy to integrate the planning and control for autonomous vehicles. The aim of this work is to provide a method that can yield controller feasible reference paths, i.e. paths that are not only dynamically feasible but are feasible under the action of a low-level feedback controller. The method is designed to find a control feasible parameterization of a collision free path provided by a path generation scheme, e.g. rapidly-exploring random trees or one of its many variants. This parameterization is found such that the vehicle under the action of the low-level controller will be able to follow that path within a specified tolerance. The design is based on a feedback strategy with nested MPCs for planning and control. The results presented here are preliminary but hint at the benefits of such a strategy and suggest avenues for future work.
This paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and...
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ISBN:
(纸本)9780791851890
This paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and steering angles are handled separately. In this study, these actuators are controlled simultaneously using an adaptive control allocation strategy. The overall structure consists of two steps: At the first level, virtual control input consisting of the desired traction force, the desired moment correction and the required lateral force correction to maintain driver's intention are calculated based on the driver's steering and throttle input and vehicle's side slip angle. Then, the allocation module determines the traction forces at each wheel, front steering angle correction and rear steering wheel angle, based on the virtual control input. Proposed strategy is validated using a non-linear three degree of freedom reduced two-track vehicle model and results demonstrate that the vehicle can successfully follow the reference motion while protecting yaw stability, even in the cases of device failure and changed road conditions.
Recent major breakthroughs have been achieved in providing transformations that completely decouple all second order linear time invariant systems directly in the configuration space. A brief review is presented herein.
ISBN:
(纸本)9780791857243
Recent major breakthroughs have been achieved in providing transformations that completely decouple all second order linear time invariant systems directly in the configuration space. A brief review is presented herein.
This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on Load Frequency control aspect. It is based on input state feedback linearization and sliding mode/H-infinity Simul...
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ISBN:
(纸本)9780791854754
This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on Load Frequency control aspect. It is based on input state feedback linearization and sliding mode/H-infinity Simulation results for a nonlinear dynamic model of entire hydropower plant are presented and compared to those from the classical linear PI controller. A novel two-stage scheme for the nonlinear controller design with integral feedback is presented for a fast transient response and zero steady state error.
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