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检索条件"主题词=Computer Algorithms"

共 967 条记录，以下是841-850 订阅

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Observer-based Control for Block-triangular Hybrid Automata

Observer-based Control for Block-triangular Hybrid Automata

引用

Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5971-6447

作者： Domitilla Del Vecchio University of Michigan USA

ISBN: (纸本)9781424414970;1424414970

The safety control problem for the class of block-triangular order preserving hybrid automata with imperfect state information is addressed. A dynamic feedback law is proposed, which exploits the order preserving properties of the dynamics to construct state estimation and control algorithms that have linear complexity in the number of variables. The proposed algorithms are applied to a collision avoidance problem arising in the context of intelligent transportation.

关键词： Hybrid automata observer-based control Intelligent Transportation Imperfect state linear complexity computer algorithms State estimation Security measures

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Attitude Control of Rigid Body Dynamics From Biased IMU Measurements

Attitude Control of Rigid Body Dynamics From Biased IMU Meas...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 919-1382

作者： Paul Pounds Tarek Hamel Robert Mahony Faculty of Engineering and Information Technology Australian National University Canberra ACT Australia Informatique Signaux et Systemes de Sophia Antipolis University of Nice France

ISBN: (纸本)9781424414970;1424414970

Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics and measurement signals.

关键词： attitude control computer algorithms Gyroscopes Attitude Rigid bodies attitude dynamics vehicle Biased ANTENNA attitude controllers Rigid

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Safe graph rearrangements for distributed connectivity of robotic networks

Safe graph rearrangements for distributed connectivity of ro...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5971-6447

作者： Michael Schuresko Jorge Cortes Department of Applied Mathematics and Statistics University of California Santa Cruz CA USA Department of Mechanical and Aerospace Engineering University of California San Diego CA USA

ISBN: (纸本)9781424414970;1424414970

This paper studies distributed algorithms for performing graph rearrangements that preserve the connectivity of a robotic network. Given a connected graph describing the topology of the network, preserving a fixed set of edges while performing a coordination task guarantees that connectivity is maintained. However, the preservation of a fixed set of edges often results in suboptimal and over-constrained robot operation. This paper presents a distributed algorithm to perform graph rearrangements that allow the robotic network to transform its interconnection topology between any two trees. We present a method for composing this algorithm with other control algorithms, and make preference guarantees about the choices of links to be preserved under the resulting composition. We use these ideas to propose a distributed formation morphing algorithm, and characterize its time complexity.

关键词： Network topology distributed algorithms computer algorithms Line graph connectivity Connected graph complexity classes Distribute edges Preserves topology

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Stability and Performance Analysis of a Congestion Control Algorithm for Networks

Stability and Performance Analysis of a Congestion Control A...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 919-1382

作者： Muyi Yang Yuanwei Jing Georigi M. Dimirovski Nannan Zhang Faculty of Information Science and Engineering Northeastern University Shenyang China Faculty of Engineering Computer Engg.Dept Dogus University Istanbul Turkey

ISBN: (纸本)9781424414970;1424414970

In this paper, we show that max-min fair congestion control methods with a stable symmetric Jacobian remain stable under arbitrary feedback delay and the stability condition of such methods does not involve any of the delays. To demonstrate the practicality of the obtained result, we change the original algorithm in Kelly's work to become robust under random feedback delay and fixed constants of the control equation. The performance analysis shows that it offers smooth sending rate, exponential convergence to efficiency, and fast convergence to fairness, all of which make it be meaningful for future high-speed networks.

关键词： computer algorithms Steady state Network High-speed networks stalls(animals) Feedback Converge delay Control Methods

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ILC-based Adaptive Minimum Entropy Control for General Stochastic Systems Using Neural Networks

ILC-based Adaptive Minimum Entropy Control for General Stoch...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 460-918

作者： Puya Afshar Hong Wang Control Systems Centre School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology Manchester UK Changjiang Visiting Professor Northeastern University China

ISBN: (纸本)9781424414970;1424414970

In this paper a new method for adaptive control of the general stochastic systems has been proposed. The method applies the minimum entropy control scheme to decrease the closed loop randomness of the output in an Iterative Learning Control (ILC) basis. Both modeling and control of the plant are performed using dynamic neural networks. For this purpose, the whole control horizon is divided into a certain number of time domain sub-intervals called Batches and a P-type ILC law is employed to train the model and controller parameters so that the closed-loop tracking error is decreased batch-by-batch. The method has the advantage of decreasing the output uncertainty versus the advances of batches along the time horizon. The analysis on the proposed ILC convergence is made and demonstrable simulation results are also provided to show the effectiveness of the obtained control algorithm.

关键词： Neural network BATCHES stochastic systems control horizon International Labour Conference computer algorithms Plant control adaptive control entropy Standing Orders minimum Simulation results

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Time-optimal Paths for a Dubins airplane

Time-optimal Paths for a Dubins airplane

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5511-5970

作者： Hamidreza Chitsaz Steven M. LaValle Department of Computer Science University of Illinois Urbana-Champaign Urbana IL USA

ISBN: (纸本)9781424414970;1424414970

We consider finding a time-optimal trajectory for an airplane from some starting point and orientation to some final point and orientation. Our model extends the Dubins car [15] to have altitude, which leads to Dubins airplane. We assume that the system has independent bounded control over the altitude velocity as well as the turning rate in the plane. Through the use of the Pontryagin Maximum Principle, we characterize the time-optimal trajectories for the system. They are composed of turns with minimum radius, straight line segments, and pieces of planar elastica. One motivation for determining these elementary pieces is for use as motion primitives in modern planning and control algorithms that consider obstacles.

关键词： plane maximum principle Turning computer algorithms Orientation Platanus hybrida trajectory Line sections Paths

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A Partial Order Approach for Low Complexity Control of Block Triangular Hybrid Automata

A Partial Order Approach for Low Complexity Control of Block...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1839-2300

作者： Domitilla Del Vecchio University of Michigan USA

ISBN: (纸本)9781424414970;1424414970

This paper addresses the safety control problem for a class of block triangular order preserving hybrid automata. In particular, the partial order structure of the system is exploited to obtain two main contributions. First, conditions are provided for the termination of the proposed algorithm. Second, the control algorithm has linear complexity in the number of variables.

关键词： Hybrid automata Partial ordering linear complexity Triangular computer algorithms order structure Security measures

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An Adaptive Switching Scheme for Network Control Systems Subject to Uncertainty

An Adaptive Switching Scheme for Network Control Systems Sub...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5971-6447

作者： Kaveh Moezzi Madani Ahmadreza Momeni Amir G. Aghdam Electrical and Computer Engineering Department Concordia University Montreal QUE Canada

ISBN: (纸本)9781424414970;1424414970

In this paper, a switching control algorithm for the stabilization of network control systems (NCS) with time-varying delay in the presence of disturbance is investigated. Discrete-time equivalent model of NCS with time delay and disturbance is derived. It is assumed that the time delay is unknown and time-varying, nonetheless bounded with a known bound. It is also assumed that the system is highly uncertain, and a set of controllers are given, which stabilize the whole uncertain parameter space. A switching scheme is developed subsequently to find the stabilizing controller at any time. A thorough stability analysis for NCS under the mentioned control scheme is provided. Simulation results are presented to show the efficacy of the proposed method in stabilization of an unstable NCS subject to time-varying delay and disturbance.

关键词： Networked control systems disturbance time varying Scheme time delay Uncertainty Controllers switching computer algorithms Stability analysis disturbances

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Design and Control Algorithm Research of Active Regenerative Bidirectional DC/DC Converter used in Electric Railway

Design and Control Algorithm Research of Active Regenerative...

引用

International Conference on Power Electronics

作者： Chan-Heung Park Su-Jin Jang Byoung-Kuk Lee Chung-Yuen Won Han-Min Lee Department of Information and Communication Engineering Sungkyunkwan University Su-won Korea Korea Railroad Research Institute Uiwang Korea

ISBN: (纸本)9781424418718

The regeneration power which is generated braking period of railway vehicles is increasing voltage of DC-line, and excessive voltage of DC-line is generating several problems. So, it's very important issue to DC traction system about dealing with regenerate power. Regeneration energy storage system is one of the methods to use the regeneration energy efficiently and to improve the problems. In this paper, we proposed the design and efficient control algorithm of the bidirectional DC/DC converter used in electric railway for utilization of regeneration energy. And as realization of prototype model, we verified the efficiency of bidirectional DC/DC converter.

关键词： railway electrification computer algorithms original mold rail vehicle Converters Bidirectional VOLTAGE Regeneration Energy sources

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Link Level Power Control of Optical Networks with Time-Delay

Link Level Power Control of Optical Networks with Time-Delay

引用

Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1383-1838

作者： Nem Stefanovic Lacra Pavel Faculty of Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto ONT Canada

ISBN: (纸本)9781424414970;1424414970

We analyze the effects of time-delay in optical communication networks. A link level power control scheme adjusts the OSNR value of the signals toward channel OSNR optimization. We utilize the model from [4] along with its game-theoretic based control algorithm. We incorporate time-delay into the closed loop system, for the general case where every link has a unique time-delay. We derive sufficient conditions for stability under arbitrary time-delays and network configurations.

关键词： Fiber optic networks link level time delay Sufficient conditions Power control Signal to Noise Ratio for Optics network configuration Closed loop systems computer algorithms

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