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检索条件"主题词=Computer Algorithms"

共 3273 条记录，以下是3081-3090 订阅

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A Car Transportation System by Multiple Mobile Robots - iCART

A Car Transportation System by Multiple Mobile Robots - iCAR...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 2611-3132

作者： Mitsuru Endo Kenji Hirose Yasuhisa Hirata Kazuhiro Kosuge Takashi Kanbayashi Mitsukazu Oomoto Kei Akune Hiroyuki Arai Hiroyuki Shinoduka Kouki Suzuki Department of Bioengineering and Robotics Tohoku University Aoba 6-6-01 Aramaki Sendai 980-8579 JAPAN

ISBN: (纸本)9781424420575

In this paper, we propose a new car transportation system referred to as iCART(intelligent cooperative autonomous robot transporters). This system consists of two robots for the car transportation. Each robot is controlled by using a decentralized control algorithm for transporting the car in coordination. A trajectory for transporting the car is given to one of robots, and another robot estimates the trajectory through the interaction force between two robots. This car transportation system could transport any size of cars, and is available for any kinds of car transportation tasks such as parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The proposed car transportation system are developed and the control algorithm is experimentally applied to them. The experimental results illustrate the validity of the proposed system.

关键词： Cars transport system Robot Carina computer algorithms transport decentralized control algorithm trajectory

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Rate-adaptive Admission Control for Bandwidth Assurance in Multirate Wireless Mesh Networks

Rate-adaptive Admission Control for Bandwidth Assurance in M...

引用

IEEE International Conference on Communications

作者： Peng Zhao Xinyu Yang Chaoxin Hu Jiayin Wang Benyuan Liu Jie Wang Xi'an Jiaotong University University of Connecticut University of Massachusetts Lowell

ISBN: (纸本)9781457720529

Admission control (AC) is an effective mechanism for providing bandwidth assurance in wireless mesh networks. Early AC schemes over multirate WMNs typically use a pre-chosen rate or a MAC-layer adapted rate for each link, denying data sessions that could have been admitted should a better multirate AC be available. Taking full advantage of multirate WMNs, we present a rate-adaptive admission control protocol (RaAC) for IEEE 802.11-based WMNs. RaAC consists of three major components: (1) a rate adaption algorithm to meet the bandwidth requirement of the data session and satisfy the channel condition of the PHY layer;(2) a new path-selection metric to balance between hop counts, bandwidth, rates, and other network parameters;and (3) a routing-coupled, distributed, rate-adaptive admission control algorithm to admit data sessions with bandwidth assurance. Through simulations, we show that RaAC is efficient and effective in meeting bandwidth requirements.

关键词： Admission control bandwidth requirement Wireless mesh networks Bandwidth network parameters ALTERNATING CURRENT computer algorithms rate adaptive

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The Mirror Descent Control Algorithm for Weakly Regular Homogeneous Finite Markov Chains with Unknown Mean Losses

The Mirror Descent Control Algorithm for Weakly Regular Homo...

引用

IEEE Conference on Decision and Control

作者： Alexander V. Nazin Boris Miller Laboratory for Adaptive and Robust Control Systems Institute of Control Sciences RAS 65 Profsoyuznaya str. 117997 Moscow Russia School of Mathematical Sciences Monash University Clayton Victoria Vic 3800 Australia

ISBN: (纸本)9781612848006

We address the adaptive stochastic control problem for a discrete time system described by controlled Markov chain with finite number of states. The mirror descent randomized control algorithm on the class of controlled homogeneous finite Markov chains with unknown mean losses has been proposed and studied. Here we develop the approach represented in Nazin and Miller (2011). The main assumptions are the following: processes are independent and stationary, nonnegative random losses are almost surely bounded by a given constant, and the connectivity assumption for the controlled Markov chain holds. The uncertainty is that the mean loss matrix is unknown. The novelty of the approach is in extension of the class of controlled homogeneous finite Markov chains to the chains with connectivity assumption. The main result consists in demonstration of the asymptotical upper bound (that is asymptotic by time) and in determining the explicit constant which is weakly depending on the logarithm of the number of states.

关键词： Markov chain computer algorithms Tree graphs discrete time systems Finite descent asymptotic Mirrors Unknown Standing Orders

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Reduced Switching Loss Based DC-bus Voltage Balancing Algorithm for Three-Level Neutral Point Clamped (NPC) Inverter for Electric Vehicle Applications

Reduced Switching Loss Based DC-bus Voltage Balancing Algori...

引用

IEEE Energy Conversion Congress and Exposition

作者： Abhijit Choudhury Pragasen Pillay M. Amar Sheldon S. Williamson Power Electronics and Energy Research (PEER) Group P. D. Ziogas Power Electronics Laboratory Department of Electrical and Computer Engineering Concordia University Montreal Quebec H3G 1M8 Canada TM4 Inc 135 J. Bombardier Bourcherville Quebec J4B8P1 Montreal Canada

ISBN: (纸本)9781479957774

A performance comparison study for two proposed DC-bus voltage balancing algorithms is carried out, with a three-level NPC based permanent magnet synchronous machine (PMSM) drive for the electric vehicle propulsion application. Both the control algorithms are able to keep the two DC-link capacitor voltage variation within a tolerance level with wider range of speed and torque variation of the load drive cycle. However, with the second proposed control strategy inverter total switching losses can be reduced considerably, compared to the first proposed strategy. Both the losses are then compared with a conventional two-level inverter, with a wider variation in switching frequency. Results show a significant reduction in total inverter losses at higher switching frequencies with three-level inverter. Both the two- and three-level inverter control strategies are developed using space-vector pulse width modulation (SV-PWM) scheme. The switching and conduction loss distribution in different switches and diodes for both the two- and three-level inverters are also studied. Finally the total voltage harmonic distortion (%THD_v), percentage torque ripple (%T_(rip)), and capacitor voltage fluctuation (%V_(caprip)) are also compared. Switching losses are calculated in a PLECS environment using data sheet parameters from Infineon and control logics are developed in MATLAB/Simulink. For this study a 110 kW surface-PMSM is considered. A scaled down prototype is built in laboratory for both the inverters and tested with a 6.0 kW surface-PMSM. Both the simulation and experimental results show satisfactory performance of the proposed system.

关键词： Inventors three-level Electric vehicles Switching losses tolerance level voltage balance computer algorithms

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Resilient Networked Multiagent Systems: A Distributed Adaptive Control Approach

Resilient Networked Multiagent Systems: A Distributed Adapti...

引用

IEEE Annual Conference on Decision and Control

作者： Gerardo De La Torre Tansel Yucelen John Daniel Peterson School of Aerospace Engineering at the Georgia Institute of Technology Atlanta GA 30332 USA Mechanical and Aerospace Engineering Department and the Director of the Advanced Systems Research Laboratory at the Missouri University of Science and Technology Rolla MO 65409 USA Mechanical and Aerospace Engineering Department and a member of the Advanced Systems Research Laboratory at the Missouri University of Science and Technology Rolla MO 65409 USA

ISBN: (纸本)9781467360890

Control algorithms of networked multiagent systems are generally computed distributively without having a centralized entity monitoring the activity of agents;and therefore, adverse events such as attacks to the communication network and/or failure of agent-wise components can easily result in system instability and prohibit the accomplishment of system-level objectives. This paper studies resilient coordination of networked multiagent systems in the presence of misbehaving agents, i.e., agents that are subject to such adverse events. In particular, we consider a class of adverse conditions consisting of exogenous disturbances and interagent uncertainties, and present a distributed adaptive control architecture to retrieve the nominal networked multiagent system behavior. Departing from the existing relevant literature that make specific assumptions on the graph topology and/or the fraction of misbehaving agents, we show that the considered class of adverse conditions can be mitigated through a new adaptive control methodology that utilizes a local state emulator - even if all agents are misbehaving. A illustrative numerical example is provided to demonstrate the theoretical findings.

关键词： Agents adaptive control Adverse Event computer algorithms Adverse Reaction

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Sequential quadratic programming for the control of an architectural cable net geometry

Sequential quadratic programming for the control of an archi...

引用

American Control Conference

作者： Yvonne R. Sturz Manfred Morari Roy S. Smith Automatic Control Laboratory ETH Zurich Switzerland

ISBN: (纸本)9781467386838

In order to efficiently construct anticlastic concrete shell structures in architecture, flexible formwork can be used, whose main component is a cable net under tension. To cope with the fabrication tolerances of the cable net and thus to reduce the deviations between the nominal digital design model and the as-built one, which is needed to guarantee the properties of the shell, we propose a control algorithm which iteratively steers the geometry of the cable net to the desired one. Our contribution in this paper is twofold. We formulate an optimal control problem and provide two different formulations of the nonlinear equality and inequality constraints. Whereas one of the formulations is a set of implicit nonlinear equations, the other one is the solution to a second-order cone program, which can efficiently be solved. We use both formulations and combine them into a control algorithm, which is based on Sequential Quadratic Programming (SQP), and where the solution in each iteration is feasible for the nonlinear constraints. A simulation example is presented to demonstrate the performance of the developed control algorithm.

关键词： Artificial neural networks Geometry Noise measurement Buildings Topology Force Fabrication computer algorithms Noise measurement geometry sequential quadratic programming Buildings Artificial neural networks topology Force cable fabrication Nets built structure manufacturing tolerances

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Minimum-Energy Trajectory Planning and Control on a Straight Line with Rotation for Three-Wheeled Omni-Directional Mobile Robots

Minimum-Energy Trajectory Planning and Control on a Straight...

引用

IEEE/RSJ International Conference on Intelligent Robotics and Systems

作者： Hongjun Kim Byung Kook Kim Electrical Engineering Department Korea Advanced Institute of Science and Technology Daejeon Korea

ISBN: (纸本)9781467317375

The minimum-energy trajectory planning and control algorithm on a straight line with rotation is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). In order to lengthen the operation time of a mobile robot with carried batteries, we have chosen a practical cost function as the energy from the batteries to actuation motors. The optimal control theory using a Hamiltonian function is used to solve the minimum-energy trajectory, which gives the rotational velocity profile in analytic form and the translational velocity profile by numerical method. We also establish search algorithm to find the minimum-energy trajectory. These minimum-energy velocity trajectories are compared to the conventional trapezoidal velocity profiles via simulation to analyze actuation energy consumption, which reveal energy savings up to 4.76 %. Also a trajectory following control system is implemented to validate the actual performance.

关键词： TOMRs the translational control algorithm computer algorithms VELOCITY PROFILING trajectory planning operation time Straight line trajectory Hamiltonian functions Batteries Standing Orders rotation SEARCHING ALGORITHM Mobile robots Cost functions energy saving Numerical methods

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Control bandwidth recovery of flexible pointing systems

Control bandwidth recovery of flexible pointing systems

引用

American Control Conference

作者： David E. Zlotnik James R. Forbes Jack B. Aldrich Department of Aerospace Engineering University of Michigan Ann Arbor 48109 USA Department of Mechanical Engineering McGill University Montreal QC H3A 0C3 Canada Jet Propulsion Lab California Inst. of Technology Pasadena 91109 USA

ISBN: (纸本)9781467386838

Instrument pointing control systems mounted on spacecraft are inherently bandwidth-limited (due to lightly-damped flexible modes of the spacecraft) compared to the same system mounted to a rigid body (such as the ground). This work is concerned with the recovery of control bandwidth for space-based pointing systems via the application of μ-tip control, a passivity-based control methodology. First, the equations of motion of a pointing system are derived. Then, using a "massive payload assumption" a passive input-output map is established between a modified output, called the μ-tip rate, and a modified control input. Bandwidth recovery is confirmed by investigating the frequency response of the linearized system. Simulation results that demonstrate the performance of the developed control algorithm are presented.

关键词： Bandwidth Mathematical model Space vehicles Control systems Electronic mail Kinematics Potential energy Bandwidth Space vehicles electronic mail control systems Potential energy kinematics Mathematical Model Spacecraft computer algorithms frequency response Control Methods

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Nonlinear Fixed-Time Control Protocol for Uniform Allocation of Agents on a Segment

Nonlinear Fixed-Time Control Protocol for Uniform Allocation...

引用

IEEE Annual Conference on Decision and Control

作者： Sergey Parsegov Andrey Polyakov Pavel Shcherbakov Laboratory of Adaptive and Robust Control Systems Institute of Control Sciences Russian Academy of Sciences

ISBN: (纸本)9781467320658

The paper addresses the problem of row straightening of agents via local interactions. A nonlinear control protocol that ensures finite-time equidistant allocation on a segment is proposed. With the designed protocol, any settling time can be guaranteed regardless of the initial conditions. A robust modification of the control algorithm based on sliding mode control technique is presented. The case of multidimensional agents is also considered. The theoretical results are illustrated via numerical simulations.

关键词： Agents computer algorithms Segments protocols Sliding mode technique control protocol Control technology allocation Uniform Uniforms Straightening

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Control of Voltage Source Converter Based Multi-Terminal DC Grid under DC Fault Operating Condition

Control of Voltage Source Converter Based Multi-Terminal DC ...

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IEEE Energy Conversion Congress and Exposition

作者： Nima Yousefpoor Sungmin Kim Subhashish Bhattacharya Quanta Technology Raleigh NC 27607 USA Department of Electrical Engineering Seoul National University Seoul 151-742 Korea Department of Electrical Engineering North Carolina State University Raleigh NC 27695 USA

ISBN: (纸本)9781479957774

Recently, Voltage Source Converter (VSC) based Multi-Terminal DC (MTDC) transmission systems have gained more attention. Compared to current source converter technology, voltage source converters have several benefits including higher power quality, lower power transmission losses, and higher voltage capability. Flexibility in bidirectional power flow control is the main advantage of voltage source converters in large scale MTDC power transmission systems. However, VSC based MTDC transmission systems are vulnerable to DC side fault, and expensive DC circuit breakers are required to protect them against DC fault. This paper proposes a control method of a dc fault resilient voltage source converter that has ultra-fast electronic isolation capability following dc fault which can be protected against dc fault without using expensive DC circuit breakers. In this paper, the control scheme of MTDC grid based on droop control method with dead-band controller is proposed. The appropriate control algorithm of VSC based MTDC transmission system for DC fault operation and recovery after DC fault is also proposed. Finally, PSCAD simulation results are presented to evaluate the dynamic performance of VSC based MTDC grid with the proposed control algorithm under DC fault operating condition.

关键词： voltage source converter computer algorithms voltage source Control Methods multiterminal Transmission systems DC grid dynamic characteristics Power quality

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