This paper presents a novel control algorithm for tracking of nonlinear dynamic systems. The tracking problem leads to linearized time-varying error equations. Hence new eigenvalue notions are introduced for linear ti...
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ISBN:
(纸本)9781424474264
This paper presents a novel control algorithm for tracking of nonlinear dynamic systems. The tracking problem leads to linearized time-varying error equations. Hence new eigenvalue notions are introduced for linear time varying systems, and a PD eigenstructure assignment scheme is proposed for linear time-varying structure via a differential Sylvester equation. Also shown is that closed-loop systems could be stabilized by assigning PD-eigenvalues appropriately, and a desired performance could be obtained by assigning the PD-eigenvectors according to the design specifications. The present control algorithm has an internal framework for testing the controllability of the time varying system via Lyapunov transform. The algorithm proposed is very general, and in principle applicable to systems of any order of complexity with any degree or kind of nonlinearity. An Unmanned Aerial Vehicle flight control application for a real aircraft is presented to validate the proposed algorithm.
Wireless networks are growing rapidly. TCP is the most widely-used protocol on Internet and so optimizing TCP performance is very important for fast efficient data transfer. The different existing TCP variants and sol...
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ISBN:
(纸本)9781634396226
Wireless networks are growing rapidly. TCP is the most widely-used protocol on Internet and so optimizing TCP performance is very important for fast efficient data transfer. The different existing TCP variants and solutions they have not been analyzed together to identify the bottlenecks in wireless networks. TCP has a major problem in its congestion control algorithm which does not allow the flow to achieve the full available bandwidth on fast long-distance links. This problem has been studied in this paper using a new high speed congestion control TCP protocol based on the Newton Raphson algorithm This paper further analyses involving six TCP performance evaluation constraints namely, TCP full bandwidth utilization, throughput, packet loss rate, fairness in sharing bandwidth, friendliness in short-RTT and long-RTT and these constraints are used to evaluate the proposed NRC-TCP(Newton Raphson Congestion Control) performance. This study shows that the proposed algorithm performs better compared with the other methods of application.
Ryo Kikuuwe and Hideo Fujimoto introduce the Proxy-based sliding mode control (PSMC), which is a control algorithm intended for position control of robotic systems. This paper implements PSMC at the Cartesian space of...
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ISBN:
(纸本)9781728131863
Ryo Kikuuwe and Hideo Fujimoto introduce the Proxy-based sliding mode control (PSMC), which is a control algorithm intended for position control of robotic systems. This paper implements PSMC at the Cartesian space of a movable platform of 2 degree of freedom (2-DOF). Numerical co-simulations in Matlab/Simulink ® and MSC-ADAMS ® framework demonstrate the good performance of the system in motion control application.
A multi-robot team can be endowed with a sensing graph whose edges indicate when one robot is visible to another. Visibility enables the robots to measure each others' relative position. The performance of differe...
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ISBN:
(纸本)9781509045839
A multi-robot team can be endowed with a sensing graph whose edges indicate when one robot is visible to another. Visibility enables the robots to measure each others' relative position. The performance of different multi-robot coordination algorithms are therefore dependent on the connectivity properties of the sensing graph. Many coordination methods assume that the sensing graph is undirected. When the robots are equipped with limited field-of-view sensors, the sensing graph becomes directed. This paper provides a control algorithm to maintain the strong connectivity of a directed sensing graph in the presence of bounded persistent disturbances.
Minimally invasive techniques bring revolutionary progress in surgical manipulation via reduced incision, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have not only benefite...
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ISBN:
(纸本)9781538604915
Minimally invasive techniques bring revolutionary progress in surgical manipulation via reduced incision, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have not only benefited patient on further cosmetic surgical performance, but also surgeon on improved manipulability by flexible mechanism. In order to achieve necessary dexterity, we developed a multiple degree of freedoms (DOFs) manipulator for surgical assistance. The surgical manipulator consists of two serial bendable segments, and each bendable segment is composed of three parallel universal-joint based bending linkages. The parallel configuration in a single bendable segment can achieve Omni-bending orientation in space, and the hybrid structure enlarges manipulator's flexibility via redundancy mechanism. A shape optimization algorithm is proposed to construct the inverse kinematics of the redundancy structure. The bending experiments of the surgical manipulator to evaluate the positioning accuracy are performed, the experimental results demonstrated that the mean positioning error of the end effector is within 1.2 mm. It is capable of providing a solution for accurate manipulation of soft tissue.
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