In this article, a fully distributed consensus control strategy centered on adaptive active disturbance rejection control (ADRC) with fuzzy logic for adaptiveness is proposed to address the consensus control problem o...
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ISBN:
(纸本)9798350385939;9798350385922
In this article, a fully distributed consensus control strategy centered on adaptive active disturbance rejection control (ADRC) with fuzzy logic for adaptiveness is proposed to address the consensus control problem of a multiagent system (MAS) employing wheeled mobile robots (WMR) as agents. The initial step involves transforming the nonlinear and underactuated model of the WMR into a linear one taking into consideration of model uncertainties and external disturbances. Then, an adaptive extended state observer (ESO) based on ADRC framework is designed to estimate the total disturbance. Finally, an adaptive control protocol with disturbance compensation based on the transformed model is presented to achieve consensus for both fixed and switching communication topology. Simulation results verify the effectiveness of the consensus control algorithm.
The emerging of Digital Twin (DT) technology facilitates the further development of industrial automation. However, real-time and accurate DTs modeling and updating require massive communication and computing resource...
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ISBN:
(纸本)9798350358513;9798350358520
The emerging of Digital Twin (DT) technology facilitates the further development of industrial automation. However, real-time and accurate DTs modeling and updating require massive communication and computing resources, which poses a challenge to limited resources. Edge computing as a distributed computing architecture offers the possibility of high-efficient resource scheduling in DTs. Motivated by this gap, this paper aim to solve the problem of real-time and high fidelity DTs modeling and updating. First, we represent the computing tasks of DTs in the form of Heterogeneous computing Task Graph (HCTG). Then, a Hierarchical Attention Mechanism (HAT) is proposed to obtain the latent representation vectors of the HCTG. Finally, we design Markov Decision Process (MDP), and propose Deep Reinforcement Learning (DRL)-based computing task scheduling approach (HAT-DRL) to satisfy the minimum total completion time requirement of different DTs. Experimental results demonstrate that the proposed algorithm has promising scheduling performance and outperforms other task scheduling algorithms.
This paper investigates a communication/control-efficient protocol for the distributed average tracking (DAT) problem of multi-agent systems, where each agent has only access to its own reference signal and aims to tr...
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ISBN:
(纸本)9798350354416;9798350354409
This paper investigates a communication/control-efficient protocol for the distributed average tracking (DAT) problem of multi-agent systems, where each agent has only access to its own reference signal and aims to track the average of all signals. For this objective, we design a novel adaptive event-triggered mechanism (AETM) with discrete communication and control updating, which significantly reduces the cost of communication and control and Zeno behavior is excluded. Then, a fully distributed protocol under the AETM is well-established, which exhibits high scalability by removing the requirement of global such as eigenvalues of the Laplacian matrix. Moreover, several sufficient conditions are derived to ensure all agents asymptotically track the average of all reference signals. Finally, a simulation example is given to verify the effectiveness of the designed protocol.
The word InsurTech has been around for a decade now however, it has recently gained a much crucial position in the insurance industry, with the development ofnew-age Technological advancements such as Artificial Intel...
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The word InsurTech has been around for a decade now however, it has recently gained a much crucial position in the insurance industry, with the development ofnew-age Technological advancements such as Artificial Intelligence, Blockchain, Internet of Things (IoT), Big data, Augmented and Virtual reality (AR and VR) and Robotics Process automation (RPA). Insurtech is proving to be a digital change that modernizes the Traditional insurance sector *** research focuses on drawing a comparison between the state of InsurTech in Developed and developing countries using claims processing, Underwriting automation, and the recent changes that have come into play. Data from four InsurTechsfrom the US have also been taken Namely - Haven life, Ethos life, Fabric by Gerber life, and Bestow.
Portugal still trails behind in Europe despite improvements in recent decades in the educational level of its population. This is mostly because of Portugal's high rates of student failure, especially in basic sub...
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Increasing urbanization has increased load on the city roads, traffic and parking systems. It is essential to leverage Information communication Technologies (ICT) to enhance traffic and parking system services in an ...
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The topic of this essay is remotely operating household appliances from any location in the globe. This makes it easier for those with physical disabilities to use their phones to control household equipment. There...
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This paper presents a novel approach to home automation utilizing the MQTT protocol. The system is implemented using an ESP32 node and a Node-RED server running on a Raspberry Pi, allowing users to control the system ...
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Industrial processes must be as efficient and reliable as possible. To achieve this goal, control and command systems capable of improving processes and minimizing errors that may occur must be utilized. The objective...
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Industrial processes must be as efficient and reliable as possible. To achieve this goal, control and command systems capable of improving processes and minimizing errors that may occur must be utilized. The objective of this paper is the development and implementation of a simulated industrial process using web technologies and controlled with the help of a programmable logic controller (PLC). Through this simulation, the operating model of a real process can be represented and tested, allowing for the examination of various control scenarios and strategies. This simulation enables the identification and elimination of potential errors that may occur during the operation of the real process, thus reducing risks and costs. Another aspect pursued is the method of communication between the PLC and the simulation. The communication protocol used to achieve communication is S7Comm. In addition to the outlined objectives, the paper aims to explore the potential benefits of integrating web technologies into industrial automation processes. By leveraging web -based interfaces and communication protocols, such as S7Comm, the system can offer enhanced accessibility and flexibility for monitoring and controlling industrial processes remotely.
This paper tackles the formation tracking control problem of multiple unmanned aerial vehicles (UAVs) with a weighted directed communication graph. A novel adaptive fully distributed model predictive control (DMPC) fr...
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ISBN:
(纸本)9798350354416;9798350354409
This paper tackles the formation tracking control problem of multiple unmanned aerial vehicles (UAVs) with a weighted directed communication graph. A novel adaptive fully distributed model predictive control (DMPC) framework is proposed, aiming to not only ensure closed-loop stability and feasibility of the local optimization problem, but also moderate the computation and communication consumption. Each local controller comprises an outer translation control loop and an inner rotation control loop. The outer loop employs Lyapunov-based model predictive control (MPC) to determine optimal translation control actions subject to input constraints. The MPC problem is formulated using only the relative neighborhood formation error between itself and its neighbors, thereby substantially reducing the total communication traffic. An adaptive estimator is also incorporated to estimate the future evolution of neighboring vehicles. Through closed-loop analysis, sufficient stability conditions regarding the selection of control parameters are established. Simulation results are provided to demonstrate the effectiveness of the proposed design.
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