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检索条件"主题词=Computer algorithms"

共 3464 条记录，以下是2861-2870 订阅

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ROS+Unity: An Efficient High-fidelity 3D Multi-UAV Navigation and Control Simulator in GPS-Denied Environments

ROS+Unity: An Efficient High-fidelity 3D Multi-UAV Navigatio...

引用

Annual Conference of the IEEE Industrial Electronics Society

作者： Wei Meng Yuchao Hu Jiaxin Lin Feng Lin Rodney Teo Temasek Laboratories National University of Singapore

ISBN: (纸本)9781479917631

In this paper, we will introduce our newly developed 3D simulation system for miniature unmanned aerial vehicles (UAVs) navigation and control in GPS-denied environments. As we know, simulation technologies can verify the algorithms and identify potential problems before the actual flight test and to make the physical implementation smoothly and successfully. To enhance the capability of state-of-the-art of research-oriented UAV simulation system, we develop a 3D simulator based on robot operation system (ROS) and a game engine, Unity3D. Unity3D has powerful graphics and can support high-fidelity 3D environments and sensor modeling which is important when we simulate sensing technologies in cluttered and harsh environments. On the other hand, ROS can provide clear software structure and simultaneous operation between hardware devices for actual UAVs. By developing data transmitting interface and necessary sensor modeling techniques, we have successfully glued ROS and Unity together. The integrated simulator can handle real-time multi-UAV navigation and control algorithms, including online processing of a large number of sensor data.

关键词： Maneuvering simulators Unmanned Aerial Vehicle Simulation Systems navigation high fidelity Software Frameworks simultaneous operation FLIGHT TESTS Environments drone honey bees Harsh environments Sensor Data ROS1 gene computer algorithms

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Congestion control using an improved variant of the AIMD scheme

Congestion control using an improved variant of the AIMD sch...

引用

Proceedings of the 45th IEEE Conference on Decision and Control, Volume 3 of 14

作者： Eugenius Kaszkurewicz Amit Bhaya Dept. of Electrical Engineering COPPE Federal University of Rio de Janeiro P.O. Box 68504 RJ 21945-970 BRAZIL

ISBN: (纸本)1424401704;9781424401703

The Additive-Increase Multiplicative-Decrease (AIMD) congestion control algorithm is approached from a variable structure control perspective, leading to a variant of this classical algorithm in which a (sliding) equilibrium can be attained, while giving preference to either fairness or full link utilization in the reaching phase. The price to be paid is that each source must have information on the sending or injection rates of its neighbor(s), in addition to the usual bit of information regarding congestion in the bottleneck link(s). Simulations are presented showing the improved responsiveness and smoothness of convergence of the injection rates to a fair, full utilization equilibrium in the presence of delays.

关键词： INJECTION RATE Smoothness Traffic Bottlenecks Variable structure control Preferences preference Converge information computer algorithms simulating

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Improved Steady State and Transient Behavior of Static Power Converters by Means of an Operating Mode Identifier Algorithm

Improved Steady State and Transient Behavior of Static Power...

引用

Annual Conference of the IEEE Industrial Electronics Society

作者： E. Maurelia J. Espinoza R. Ramirez M. Reyes P. Melin Cesar A. Silva Javier Munoz Electrical Engineer Department Concepcion University Electronic Engineer Department Santa Maria University Department of Industrial Technologies Universidad de Talca

ISBN: (纸本)9781479902255

Nowadays Finite-Control-Set Model Predictive Control (FCS-MPC) is being successfully used in static power converters. The algorithm requires defining a functional in order to optimize it and thus find the best switch combination. So far the functional optimizes either the steady state or the transient operation. In fact, for steady state operation, the minimization of the switching frequency as well as high quality waveforms are the basic objectives. Contrary, during transient conditions the settling time minimization is usually used as a basic objective. This work presents an algorithm that is able to detect if the system is either under steady state or transient operating mode and applies the appropriate control algorithm. Hence, both operating modes are controlled under optimum conditions. Simulated results show the performance of the proposed control scheme.

关键词： Current control Transient identification Steady state identification Predictive control Predictive control Current control Transient performance Static power converters operation mode Steady state power conversion unit Economic Resources TRANSIENT OPERATION computer algorithms algorithms

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On Communication in Decentralized Pole-Placement Formation Control and Parallel Estimation

On Communication in Decentralized Pole-Placement Formation C...

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2009 American Control Conference (ACC 2009)

作者： Lingji Chen Jayesh Amin Raman K. Mehra Scientific Systems Company Inc. 500 West Cummings Park Suite 3000 Woburn MA 10801 USA

ISBN: (纸本)9781424445233

We consider a class of decentralized formation flying control algorithms that stem from assigning the closed loop poles for the Multi-Input-Multi-Output formation system, and examine the role communication plays. First we revisit Smith and Hadaegh [2007], where as many parallel estimators as there are spacecraft are used. We show an intuitive way of demonstrating the existing results, and by a re-interpretation of the quantities communicated, extend the results to the case where observability of the full formation state at each spacecraft is not available. Next we show that the pole-placement formation control can be carried out with only one estimator and no communication, for the double-integrator system used to model deep space formation flying. We treat the task of having one estimator on each spacecraft as separate from the task of control, and show how it can be accomplished with communication.

关键词： Communication Research Spacecraft Decentralized Formation flight computer algorithms Observability Parallel Lines Standing Orders PRINT

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Parameterized and Exact Computation 2006

引用

丛书名： Lecture Notes in computer Science

2006年

作者： Hans L. Bodlaender Michael A. Langston

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Dither Based Precise Position Control of Piezo Actuated Micro-Nano Manipulator

Dither Based Precise Position Control of Piezo Actuated Micr...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Saikat Kumar Shome Sourav Pradhan Arpita Mukherjee Uma Datta E & I Group CSIR-CMERI Dept of Electrical Engg National Institute of Technology Sr Scientist E & I Group CSIR-CMERI

ISBN: (纸本)9781479902255

This paper addresses the problem of hysteresis and presents a new control scheme for hysteresis compensation of piezo-electrically actuated micro-nano manipulators. The technology employs an Inverse Dahl model based feed-forward mechanism in combination with a feedback control algorithm along with simultaneous voltage and displacement dither strategy. The actuator performance is seen to improve as a function of injected noise level into the plant - a phenomenon known as dithering. The notion of stochastic resonance for nano positioning is studied to determine the optimal dither level for efficient plant performance. The efficacy of the proposed control scheme has been confirmed through rigorous simulations in terms of two specific tests - a) tracking error test and b) hysteresis curve area test. Results show an enhanced positioning precision of the manipulator with the proposed dither control than without it. Owing to its algorithmic simplicity, the proposed control genre can be extended to the parlance of other nano-scale applications.

关键词： Stochastic resonance Dahl model Feedback compensation Tracking error Nano positioning dithering Stochastic resonance feedback compensation follow error Position control delay compensation computer algorithms

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Input Constrained Non-Equilibrium Transient Trajectory Shaping Control for a Class of Nonlinear Systems

Input Constrained Non-Equilibrium Transient Trajectory Shapi...

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2010 49th IEEE Conference on Decision and Control

作者： Fengjun Yan Junmin Wang Department of Mechanical and Aerospace Engineering The Ohio State University Columbus Ohio 43210 U.S.A.

ISBN: (纸本)9781424477456

In this paper, a non-equilibrium transient trajectory shaping (NETTS) nonlinear control method is presented for a class of single-input-single-output (SISO) strict feedback nonlinear systems, with the control input magnitude and rate of change constraints being considered. Based on a set of Barrier Lyapunov Functions with an input signal constraint pre-estimation mechanism, the non-equilibrium transient trajectory shaping control technique can render the system tracking error transient trajectory travels within a shaped boundary while approaching zero. In such a method, by choosing the chain of barriers and the converging speed properly, the control input magnitude constraint can be met. Control signal continuous approximation and switching buffer size design methods are given as well to accommodate the input rate of change limit. Through a numerical example, the effectiveness of the proposed NETTS control technique is demonstrated by comparisons with different control algorithms.

关键词： computer algorithms Control technology trajectory control input change rate

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Decentralized algorithms for Stochastic and Dynamic Vehicle Routing with General Demand Distribution

Decentralized Algorithms for Stochastic and Dynamic Vehicle ...

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

作者： Marco Pavone Emilio Frazzoli Francesco Bullo Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge USA Center for Control Engineering and Computation University of California슠Santa Barbara USA

ISBN: (纸本)9781424414970;1424414970

We present decentralized algorithms for a class of stochastic and dynamic vehicle routing problems, known as the multiple-vehicle Dynamic Traveling Repairperson Problem (m-DTRP), in which demands arrive randomly over time and their locations have an arbitrary distribution, and the objective is to minimize the average waiting time between the appearance of a demand and the time it is visited by a vehicle. The best previously known control algorithms rely on centralized, a-priori task assignment, and are therefore of limited applicability in scenarios involving large ad-hoc networks of autonomous vehicles. By combining results from geometric probability and locational optimization, we provide a policy that solves, providing a constant-factor approximation to the optimal achievable performance, the decentralized version of the m-DTRP;such policy (i) does not rely on centralized and a priori task assignment, (ii) is spatially distributed, scalable to large networks, and adaptive to network changes. Simulation results are presented and discussed.

关键词： Vehicle routing Stochastic Decentralized Autonomous Vehicles Waiting time computer algorithms Policies algorithms Scalability

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A Novel Time Optimal Path Following Controller with Bounded Velocities for Mobile Robots with Independently Steerable Wheels

A Novel Time Optimal Path Following Controller with Bounded ...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Reza Oftadeh Reza Ghabcheloo Jouni Mattila Intelligent Hydraulics and Automation Department Tampere University of Technology 33101 Finland

ISBN: (纸本)9781467363563

Mobile robots with independently steerable wheels possess many high maneuverability features of omnidirectional robots while benefiting from better performance and capability of moving on rough terrains. However, motion control of such robots is a challenging task due to presence of singular configurations and unboundedly large steering velocities in the neighborhood of those singularities. Many proposed approaches rely on numerical solutions that keep the robot out of bulky regions around the singular points and hence lose some of the robot maneuverability. Based on a class of traditional path followers we design a new globally stable path following controller that exploits the high maneuverability of the platform. This design allows us to derive a set of closed-form analytical functions that describe the robot base velocity as a function of the wheels driving and steering velocities while abide to the robot non-holonomic constraints. Those functions are then utilized to find the maximum instantaneous velocity of the body that keeps the wheels velocities under the pre-specified bounds no matter how much the robot gets close or far from its singular configurations. The control algorithms developed in this paper have been evaluated on iMoro, a four wheel independently steered mobile manipulator designed and developed at IHA/TUT. Experimental data is also shown that show efficacy of the method.

关键词： Mobile robots Wheels Controllers Robot maneuverability Mobile manipulator Time optimal computer algorithms Motor Control

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MPC for Reducing Energy Storage Requirement of Wind Power Systems

MPC for Reducing Energy Storage Requirement of Wind Power Sy...

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American Control Conference

作者： Chiao-Ting Li Huei Peng Jing Sun Department of Mechanical Engineering University of Michigan Department of Naval Architecture and Marine Engineering University of Michigan

ISBN: (纸本)9781479901777

This paper discusses using the battery energy storage system (BESS) to mitigate wind power intermittency, so that wind power can be dispatchable on an hourly basis like fossil fuel power plants. In particular, model predictive control (MPC) is used to control the charge and discharge of BESS to compensate for wind power forecast errors and minimize operation costs to the wind farm owner. A ramp rate penalty on wind power scheduling is included in the optimization to make the optimal control trajectory smoother, while the performance is kept intact. Numerical simulations with a one-year long wind power dataset show that MPC controller is much more effective in reducing the operation cost to the wind farm owner than the heuristic control algorithm or conventional reserves, in that BESS with a much smaller capacity will be suffice to achieve the same cost reduction.

关键词： Wind energy Fossil fueled power plants Wind farms wind power system battery energy storage system COST REDUCTION computer algorithms Wind

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