In this paper, a finite-time model predictive control (MPC) framework is proposed for continuous-time systems subject to constraints. The proposed finite-time MPC is extended from the methodology for discrete-time sys...
详细信息
ISBN:
(纸本)9798331518509;9798331518493
In this paper, a finite-time model predictive control (MPC) framework is proposed for continuous-time systems subject to constraints. The proposed finite-time MPC is extended from the methodology for discrete-time systems, where the control horizon is set equal to the system dimension, and only terminal cost is penalized in the optimization. Zero-Order-Holder (ZOH) is applied to ensure that no ripple exists between two consecutive sampling intervals, such that finite-time transient process and zero steady-state error can be guaranteed. Combined with feedback linearization, the proposed deadbeat MPC is applicable to nonlinear continuous-time systems.
The U.S. faces significant challenges in raising reading scores to match or surpass those of leading nations. This article posits that using educational robotics as a technology to teach reading literacy in early chil...
详细信息
ISBN:
(纸本)9783031670589;9783031670596
The U.S. faces significant challenges in raising reading scores to match or surpass those of leading nations. This article posits that using educational robotics as a technology to teach reading literacy in early childhood, elementary, and after-school programs may improve reading literacy scores in the U.S. This paper provides historical context and definitions regarding STEAM in multiple iterations that combine science, art, technology, science, math, and engineering in classroom instruction. It provides analysis of factors which impact reading levels in the U.S. In addition, the distinction between robotics education and educational robotics is presented. Examples examining the impact of educational robotics on U.S. reading scores in multiple early education settings, including after school programs, at an elementary school are given with an emphasis on the activities, population, and the delivery method. The goal of this article is to provide empirical evidence regarding the usage of robotics in early education.
The paper focuses on the stabilization of fractional order linear discrete-time systems with the Grunwald-Letnikov type fractional difference operator. The Z-transform, a highly effective method for stability analysis...
详细信息
ISBN:
(纸本)9798350362350;9798350362343
The paper focuses on the stabilization of fractional order linear discrete-time systems with the Grunwald-Letnikov type fractional difference operator. The Z-transform, a highly effective method for stability analysis of linear control systems, is used to examine the behavior of the systems solutions. Given the crucial importance of stability in automatics, the primary concern is the stabilization of control systems. Stabilization involves determining the appropriate feedback that ensures the asymptotic stability of the system. In cases where the system is not initially asymptotically stable, stabilization is achieved through a state feedback. This feedback mechanism is derived from the eigenvalues of the matrix linked to the closed-loop system. The outlined asymptotic stability conditions offer guidance in eigenvalue placement to guarantee system stability.
ROS2 systems are distributed applications built from strongly isolated components (nodes). Communication is realized through a publish/subscribe mechanism. Despite having these modern software architecture elements, R...
详细信息
ISBN:
(纸本)9798350362350;9798350362343
ROS2 systems are distributed applications built from strongly isolated components (nodes). Communication is realized through a publish/subscribe mechanism. Despite having these modern software architecture elements, ROS2 has no canonical modelling language that captures overall application design and helps in mapping nodes across distributed platforms. We propose a model-based design approach based on the graphical programming language IEC 61499, mapping ROS2 constructs to native IEC 61499 model elements. Code generation creates native ROS2 nodes from IEC 61499 code. As an additional benefit, this approach also eases integration of ROS2 systems with non-ROS components.
A quantum control theory of pure state in non-ideal quantum systems is proposed in this paper. A non-ideal closed quantum systems means that the controlled quantum system is in two degenerate cases: one is at least tw...
详细信息
ISBN:
(纸本)9798331518509;9798331518493
A quantum control theory of pure state in non-ideal quantum systems is proposed in this paper. A non-ideal closed quantum systems means that the controlled quantum system is in two degenerate cases: one is at least two transition frequencies between different energy levels are the same, or/and another is at least two eigenstates of the internal Hamiltonian are not directly coupled. The implicit Lyapunov control method based on the average value of an imaginary mechanical quantity is used to design the control laws. The design procedure of the imaginary mechanical quantity is derived. The relationships among the implicit Lyapunov control methods based on the state distance, the state error and the average value of an imaginary mechanical quantity are analyzed. Finally, some numerical simulation experiments are studied.
Developing autonomous intervention capabilities for lightweight underwater vehicle manipulator systems (UVMS) has garnered significant attention within recent years because of the opportunity for these systems to redu...
详细信息
ISBN:
(纸本)9798350384581;9798350384574
Developing autonomous intervention capabilities for lightweight underwater vehicle manipulator systems (UVMS) has garnered significant attention within recent years because of the opportunity for these systems to reduce intervention operating costs. Developing autonomous UVMS capabilities is challenging, however, because of the lack of available standardized software frameworks and pipelines. Previous works offer simulation environments and deployment pipelines for underwater vehicles, but fall short of providing a complete UVMS software framework. We address this gap by creating Angler: a software framework for developing localization, control, and decision-making algorithms with support for sim-to-real transfer. We validate this framework by implementing a state-of-the-art control architecture and demonstrate the ability to perform station keeping with a mean error below 0.25 m and waypoint tracking with an average final error of 0.398 m.
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...
详细信息
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.
In this paper, we present the comprehensive robotics framework RBS, which addresses the critical need for seamless integration between simulation and real-world execution in robotics. The proposed framework provides a...
详细信息
In this paper, we present the comprehensive robotics framework RBS, which addresses the critical need for seamless integration between simulation and real-world execution in robotics. The proposed framework provides a unified solution for designing, testing, and executing robotic applications, bridging the gap between virtual and physical environments. By providing interfaces for various simulators and real robots, along with tools for robot modeling, motion planning, and execution, RBS streamlines the development process. It removes the complexity associated with the transition from simulation to real systems, shortens development times and enables fast and efficient design iterations. This innovative framework holds great promise for advancing robotics research and development. It enables researchers and engineers to realise the full potential of simulation and real-world testing in the development of state-of-the-art robotic systems.
This paper discusses Lyapunov stability verification methods for continuous-time nonlinear systems. Traditional mathematical methods require a lot of manual calculations, which consume a lot of time and energy. To add...
详细信息
ISBN:
(纸本)9798350372694;9798350372700
This paper discusses Lyapunov stability verification methods for continuous-time nonlinear systems. Traditional mathematical methods require a lot of manual calculations, which consume a lot of time and energy. To address the problem of the low efficiency in traditional methods, this paper introduces neural networks into the design of the Lyapunov function to achieve independent verification. First, a neural network is used to represent the Lyapunov function. Then, the Lyapunov stability condition is converted into a mixed integer linear programming (MILP) problem, and the solution to the optimization problem is solved through the MILP solver to verify whether the output of the neural network satisfies the Lyapunov stability condition. In addition, this paper gives the training loss function of the Lyapunov neural network, which mainly consists of optimization problems. Finally, a simulation example is given to illustrate the effectiveness of this method.
Networked control systems (NCSs) are a novel generation of interactive complex systems. Because of the networked information exchange, NCSs are vulnerable to malicious cyber attacks. As a typical cyber attack, the fal...
详细信息
ISBN:
(纸本)9798350372694;9798350372700
Networked control systems (NCSs) are a novel generation of interactive complex systems. Because of the networked information exchange, NCSs are vulnerable to malicious cyber attacks. As a typical cyber attack, the false data injection (FDI) attack can destroy the system by tampering with system data through attack methods. This work focuses on the estimation-based consensus control for NCSs against FDI attacks. Firstly, a secure state estimator with augmented states is designed to obtain the accurate state estimation of NCSs under FDI attacks. Then, an event-triggered communication mechanism is proposed and co-considered with consensus control to overcome the dilemma of limited resources. Next, a Lyapunov function is given for the acquisition of the control gain matrix and stability proof. Finally, a series of numerical examples are provided to show the effectiveness of the proposed method, which demonstrates the higher estimation accuracy, the lower communication rate, and the better consensus performance than traditional methods.
暂无评论