A new and simple tracking differentiator (TD) with high precision based on discrete time optimal control (DTOC) law is proposed. The DTOC law is constructed in the form of the state feedback for a discrete-time double...
详细信息
ISBN:
(纸本)9781538695777;9781538695760
A new and simple tracking differentiator (TD) with high precision based on discrete time optimal control (DTOC) law is proposed. The DTOC law is constructed in the form of the state feedback for a discrete-time double-integral system by using the state back-stepping approach. Zero-order hold of the control signal is introduced to improve the precision of discretization model. The control signal sequence in this approach is determined by the linearized criterion according to the position of the initial state point on the phase plane. The state estimation filtering characteristics of the TD are analyzed. The field phasor measurement units (PMUs) data are processed using the proposed TD. Not requiring complex power system modeling and historical data, the proposed TD is suitable for real-time synchrophasor estimation application especially when the states are corrupted by noise.
In order to enable robot systems to solve complex tasks autonomously, it is essential to model the environment in a sufficient way. This work describes a new approach to create a consistent environment model, using ne...
详细信息
ISBN:
(纸本)9781509067817
In order to enable robot systems to solve complex tasks autonomously, it is essential to model the environment in a sufficient way. This work describes a new approach to create a consistent environment model, using next-best-view planning which combines the optimization of the space exploration and the object recognition task. The approach is designed for the automation of maintenance tasks, which is a challenging task for autonomous robotic systems. After a general overview of the developed system, we explain the theoretic foundations for building a consistent environment model which can be used for manipulation planning. The concept is validated by means of application-oriented examples.
The paper describes the implementation of a method for modeling threats to information security using the methodology of IDEF0 functional modeling to solve problems of formalization of specific threat models. The form...
The paper describes the implementation of a method for modeling threats to information security using the methodology of IDEF0 functional modeling to solve problems of formalization of specific threat models. The formulation of the method for modeling threats to information security accounts for various media of information transmission and its carriers. In addition, a process approach to information handling is used.
Powered Parafoil Unmanned Aerial Vehide(PPUAV), which is suitable for large-area and longtime surveillance and airdrop missions, is a type of innovative UAV. It consists of parafoil canopy, payload and suspension line...
详细信息
ISBN:
(纸本)9781538604908
Powered Parafoil Unmanned Aerial Vehide(PPUAV), which is suitable for large-area and longtime surveillance and airdrop missions, is a type of innovative UAV. It consists of parafoil canopy, payload and suspension lines, and has the advantages of simple structure, low cost and high load capacity. However, PPUAV has the problems of apparent mass and flexible connection, which makes it hard to build an accurate model for controller design in practical applications. This paper develops an applicable method of modeling to capture the main characteristics of PPUAV, and the proposed model is validated by actual flight test. An adapted PID controller and a guidance algorithm are also proposed based on the model. The simulations show the effectiveness of the control method for applications of PPUAV.
High-lift systems are highly complex subsystems of aircrafts, composed of hundreds of components working together in synergy. Designing new concepts for new aircraft configurations and requirements (e.g. multi-functio...
详细信息
ISBN:
(纸本)9783000574795
High-lift systems are highly complex subsystems of aircrafts, composed of hundreds of components working together in synergy. Designing new concepts for new aircraft configurations and requirements (e.g. multi-functional flight controlsystems) for more efficient flight is a complex and demanding task, thus designers are prone to using existing system solutions with slight modifications. Hence, new flight control system architectures are based on solutions mainly optimized for different (old) aircrafts. This inhibits the complete capture of the benefits that come with systems optimized for present aircraft configurations and requirements. As a first step towards generating innovative architectures driven by the new requirements, this paper applies a stochastic design structure matrix clustering algorithm within the pre-design process, to generate alternative system architectures. With this approach, near-optimal system architectures for novel aircraft configurations and requirements can be analyzed and alternatives can be evaluated for system level impact.
Fault tolerance, a way to obtain system dependability, is extremely important in domains such as aircraft and spacecraft industries, energy plants, and oil processing and oil producing industries. For information and ...
详细信息
ISBN:
(纸本)9781538610237
Fault tolerance, a way to obtain system dependability, is extremely important in domains such as aircraft and spacecraft industries, energy plants, and oil processing and oil producing industries. For information and controlsystems (ICSs) with performance redundancy, fault tolerance is provided by a special reconfiguration procedure which relates to the monitoring and control task distribution among the operable computational nodes. At the same time, the reliability function of the ICS depends on the computational node load intensity: as the node load (and temperature) increases, the failure rate also increases. This is the cornerstone of the reliability improvement method we present in this paper: to control and improve the reliability function of the system by the configuration formation process. We describe our approach in detail, present a formal model of the ICS configuration formation problem, and give and discuss experimental results.
In this study, a new fundamental modeling framework for coupling the solid and fluid fields is proposed with which the system dynamics are generated with respect to the internal energetic interactions between the syst...
详细信息
ISBN:
(纸本)9781538633069
In this study, a new fundamental modeling framework for coupling the solid and fluid fields is proposed with which the system dynamics are generated with respect to the internal energetic interactions between the system existing physical domains. To this aim, the physical-decomposition modeling techniques, developed respectively for the solid [1] and fluid [2] fields, are implemented. By considering the conserved power transactions between the two fields, the reversible and irreversible intra-connections are then generated. Owing to the domain-independency of the generated models, the total conserved power transactions between the two fields are defined distinguishably from the power transactions of the corresponding physical domains of the two fields in the form of handshaking. This strategy broadens the physical insights of power transactions in fluid-structure-interaction (FSI) investigations. The added capabilities of the proposed framework provide a novel feature into the FSI dynamic modelling that can, not only, broaden the valid range of the ensuring model but, more importantly, offer a unique opportunity for capturing and revealing the unknown FSI phenomena previously hidden using existing classical physical knowledge.
Recent advances in deep reinforcement learning (RL) offer an opportunity to revisit complex traffic controlproblems at the level of vehicle dynamics, with the aim of learning locally optimal policies (with respect to...
详细信息
ISBN:
(纸本)9781538615263
Recent advances in deep reinforcement learning (RL) offer an opportunity to revisit complex traffic controlproblems at the level of vehicle dynamics, with the aim of learning locally optimal policies (with respect to the policy parameterization) for a variety of objectives such as matching a target velocity or minimizing fuel consumption. In this article, we present a framework called CISTAR (Customized Interface for SUMO, TraCI, and RLLab) that integrates the widely used traffic simulator SUMO with a standard deep reinforcement learning library RLLab. We create an interface allowing for easy customization of SUMO, allowing users to easily implement new controllers, heterogeneous experiments, and user-defined cost functions that depend on arbitrary state variables. We demonstrate the usage of CISTAR with several benchmark control and RL examples.
The ability of Distributed Constraints Reasoning (DCR) to solve distributed combinatorial problems brings the DCR to have a considerable interest in multi-agent community. Hence, many DisCSP algorithms have been propo...
详细信息
ISBN:
(纸本)9789897582196
The ability of Distributed Constraints Reasoning (DCR) to solve distributed combinatorial problems brings the DCR to have a considerable interest in multi-agent community. Hence, many DisCSP algorithms have been proposed in order to solve such distributed problems. The major limit of these algorithms is the simplification assumptions. The scientists assume that each agent is a simple one;it handles just one variable. But in the complex local problem case;where each agent has more than one variable;two methods are used: The compilation and the decomposition. These methods transform the original problem so as to make it as a simple one. In this paper, we propose a new protocol: MP-ABT (Minimal Perturbation complex local problems in the Asynchronous Backtracking). It is a resolution algorithm of DisCSPs with complex local problems. It is based on the ABT algorithm and the Dynamic CSP. Each complex agent is seen as a Minimal Perturbation Problem (MPP) and any received message is considered as a new intra-constraint perturbation event. The complex local problem is updated and a new MPP local solution is reported. The MP-ABT is presented and compared to three ABT families. Our experimental results show the MP-ABT effectiveness.
A crucial part of the development of distributed systems process is the test phase. Indeed, in the distributed testing context, the use of multiple testers introduces the possibility of coordination problems amongst r...
详细信息
暂无评论