One of the key aspects in racing is the ability of the driver to find the handling limits of the vehicle to minimize the resulting lap time. Many approaches for raceline optimization assume the tire-road friction coef...
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ISBN:
(纸本)9781728101439
One of the key aspects in racing is the ability of the driver to find the handling limits of the vehicle to minimize the resulting lap time. Many approaches for raceline optimization assume the tire-road friction coefficient to be known. However, this neglects the fact that the ability of the system to realize such a race trajectory depends on complex interdependencies between the online trajectory planner, the control systems and the non-modelled uncertainties. In general, a high quality control system can approach the physical limit more reliable, as it applies less corrective actions. We present a model-free learning method to find the minimum achievable lap-time for a given controller using online adaption of a scale factor for the maximum longitudinal and lateral accelerations in the online trajectory planner. In contrast to existing concepts, our approach can be applied as an extension to already available planning and control algorithms instead of replacing them. We demonstrate reliable and safe operation for different vehicle setups in simulation and demonstrate that the algorithm works successfully on a full-size racecar.
Accurate measurements of photosynthesis are vital for understanding the response of our planet to climate change and developing novel strategies for improving food production. Since photosynthesis is sensitive to a my...
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ISBN:
(纸本)9781509045839
Accurate measurements of photosynthesis are vital for understanding the response of our planet to climate change and developing novel strategies for improving food production. Since photosynthesis is sensitive to a myriad of inputs, including temperature, these measurements require precise control to produce meaningful and accurate data. This paper develops a biophysical model of energy balance in a leaf and environmental control system that incorporates plant physiology and the biophysical relationship between a leaf and its environment. This model is then parameterized for a commonly-used device used for measuring leaf photosynthesis. Feedback linearization is applied to this model to design a controller for leaf temperature. The model is validated and the controller is then implemented on actual measurements. The result is a family of more efficient control algorithms built from first-order principles governing the exchange of matter and energy between a leaf and its environment. To the best of our knowledge, this is the first attempt at developing such a control algorithm.
Technological advances have made wireless sensor nodes cheap and reliable enough to be brought into various application domains. The limited energy capacity of sensor nodes is the key factor that restricts their lifes...
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ISBN:
(纸本)9781467371605
Technological advances have made wireless sensor nodes cheap and reliable enough to be brought into various application domains. The limited energy capacity of sensor nodes is the key factor that restricts their lifespan. In this paper, a Predictive Control strategy for Dynamic Power Management of a set of wireless sensor nodes is proposed. The control formulation is based on Model Predictive Control with constraints and binary optimization variables, leading to a Mixed Integer Quadratic Programming problem. The proposed control algorithm guarantees services and performances levels with a minimum number of active nodes and/or a minimum load on such components. The strategy is evaluated on a real test-bench with wireless sensor nodes equipped with batteries and harvesting systems. Experimental results show the effectiveness of the proposed control method.
The paper describes the setup of an experimental microprocessor control system for electric drive systems. Particular the design of a customised designed periphery control FPGA board is described in detail. The setup ...
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ISBN:
(纸本)9781424457939
The paper describes the setup of an experimental microprocessor control system for electric drive systems. Particular the design of a customised designed periphery control FPGA board is described in detail. The setup has been used for research on sensorless drive control algorithms.
Rate control is an important component of an end-to-end video communication system. Currently, there are several proposals for rate control in the upcoming High Efficiency Video Coding (HEVC) standard, but none specif...
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ISBN:
(纸本)9781479903573
Rate control is an important component of an end-to-end video communication system. Currently, there are several proposals for rate control in the upcoming High Efficiency Video Coding (HEVC) standard, but none specifically for the multi-view extension of the standard. In this paper, we apply one of the HEVC single-view rate control schemes to the multi-view scenario, and propose two improvements. One improvement deals with Quantization Parameter (QP) initialization, and the other deals with interview Mean Absolute Difference (MAD) prediction. Experimental results demonstrate increased accuracy of rate control, reduced fluctuation of instantaneous bitrate, as well as a reduction in PSNR degradation compared to the existing rate control algorithm.
In this paper global tracking and parameter convergence are proven for an adaptive control algorithm with independently saturated proportional and derivative terms through a persistency of excitation condition, while ...
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ISBN:
(纸本)9781479978878
In this paper global tracking and parameter convergence are proven for an adaptive control algorithm with independently saturated proportional and derivative terms through a persistency of excitation condition, while guaranteeing the inputs to never reach their natural saturation limit. As far as the authors are aware this is the first work that achieves globally the motion control objective and system identification, avoiding actuator saturation.
Data structures and algorithms is a fundamental course in computer Science, which enables learners across any discipline to develop the much-needed foundation of efficient programming, leading to better problem solvin...
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ISBN:
(数字)9781394192014
ISBN:
(纸本)9781786308924
Data structures and algorithms is a fundamental course in computer Science, which enables learners across any discipline to develop the much-needed foundation of efficient programming, leading to better problem solving in their respective disciplines. A Textbook of Data Structures and algorithms is a textbook that can be used as course
This paper proposes a selective control algorithm to reduce switching losses of N-phase switching pole of 3-phase 4-leg interlinking converter (ILC) in AC/DC hybrid microgrid. Unbalanced load connected to 3-phase 4-le...
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ISBN:
(纸本)9781728133997
This paper proposes a selective control algorithm to reduce switching losses of N-phase switching pole of 3-phase 4-leg interlinking converter (ILC) in AC/DC hybrid microgrid. Unbalanced load connected to 3-phase 4-leg ILC causes unbalanced voltage condition and this problems can be complemented by N-phase switching pole of 4-leg ILC. However, if the switching pole on N is operated constantly regardless of control decision due to unbalanced load conditions, switching loss on the N-phase switching pole will cause power loss in the entire topology. To compensate this problem, selective control algorithm considering voltage unbalance factor (VUF) for N-phase switching pole in ILC is proposed. Proposed algorithm decides switching operation of N-phase switching pole depending on unbalanced load voltage. When occurring unbalanced load condition, voltage unbalance factor can be reduced by proposed control algorithm. At the same time, the current flowing through the N-phase switch pole and switching losses can be reduced.
In this paper, we study cooperative control problems with a multi-UAV system expressed as a fourth-order system using a consensus algorithm. We first show that a linearized model of quadrotors is expressed as a fourth...
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ISBN:
(纸本)9781467357159
In this paper, we study cooperative control problems with a multi-UAV system expressed as a fourth-order system using a consensus algorithm. We first show that a linearized model of quadrotors is expressed as a fourth-order system, and then propose a formation control algorithm for the fourth-order system after formulating a problem. The proposed control law is based on a consensus algorithm and a leader-follower structure is also applied to the control law so that a leader can individually provide each of the quadrotors with information of their desired states. And then, we show that the proposed control algorithm can guarantee accurate formation keeping when fundamental assumptions about the network composed of the multiple UAVs are satisfied. Finally, the proposed approach is validated by some simulations.
We consider the problem of minimizing the power generation cost by exploiting the distributed renewable energy sources (DRES) located in the power distribution network. The proposed strategy requires that the intellig...
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ISBN:
(纸本)9781467360890
We consider the problem of minimizing the power generation cost by exploiting the distributed renewable energy sources (DRES) located in the power distribution network. The proposed strategy requires that the intelligent agents, located at the microgenerator buses, measure their voltage and then adjust the amount of injected power, according to a feedback control law that is indeed a projected gradient descent strategy. Simulations are provided in order to illustrate the algorithm behavior.
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