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检索条件"主题词=Computer algorithms"

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Design of iterative learning control algorithms by generalized KYP synthesis

Design of iterative learning control algorithms by generaliz...

引用

American Control Conference

作者： Wojciech Paszke Eric Rogers Krzysztof Galkowski Institute of Control and Computation Engineering University of Zielona Gora ul. Podgorna 50 65-246 Zielona Gora Poland Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK

ISBN: (纸本)9781479932757

This paper gives new results on the design of iterative learning control algorithms in the repetitive process setting for error convergence and regulation of the transient dynamics. The analysis makes use of the generalized Kalman-Yakubovich-Popov lemma to develop a design algorithm different performance specifications are imposed in one or more frequency ranges. Also these new results allow, if required for an application, the design of controllers with dynamics.

关键词： performance specifications Design Algorithm computer algorithms Controllers dynamics frequency ranges algorithms Lemma synthesis controller design Standing Orders

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Guidance, Navigation, and Control of an Unmanned Hovercraft

Guidance, Navigation, and Control of an Unmanned Hovercraft

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Mediterranean Conference on Control & Automation

作者： Kilsoo Kim Young-Ki Lee Sehwan Oh David Moroniti Dimitri Mavris George J. Vachtsevanos Nikos Papamarkos George Georgoulas School of Aerospace Engineering Georgia Institute of Technology School of Electrical and Computer Engineering Georgia Institute of Technology Democritus University of Thrace KIC Laboratory Department of Informatics and Telecommunications Technology Technological Educational Institute of Epirus

ISBN: (纸本)9781479909964

This paper introduces a simulation and evaluation of guidance, navigation, and control algorithms applied to an autonomous hovercraft. A line-of-sight guidance law is adopted in conjunction with a neural network based adaptive dynamic inversion control scheme for the underactuated hovercraft following a prescribed path. The simulation result demonstrates that the guidance and control scheme can be effective in waypoint following of the underactuated hovercraft, especially, when external disturbances exist. It is also shown that the error signals are bounded using Lyapunov's direct method.

关键词： ERROR SIGNAL hovercraft Guidance Navigation and Control Standing Orders external disturbance Simulation results Guidance Neural network computer algorithms

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Nonlinear robust burn control in tokamaks with uncertainties in the fueling lines via Lyapunov redesign

Nonlinear robust burn control in tokamaks with uncertainties...

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American Control Conference

作者： Andres Pajares Eugenio Schuster Department of Mechanical Engineering and Mechanics Lehigh University

ISBN: (纸本)9781509045839

In future burning-plasma tokamaks like ITER, one of the main problems will be controlling the plasma density and temperature during long pulses in order to regulate the fusion power density. Such problem, known as burn control, requires the development of control algorithms in which modulation of the deuterium (D) and tritium (T) fueling rates may play an important role as an actuator. However, unmeasurable variations of the D-T concentration are expected in the fueling lines during such long-pulse operation. Therefore, there will be a need for robust burn controllers that can regulate the plasma density and temperature in spite of the presence of uncertainties in the D-T concentration in the fueling lines. In this work, a nonlinear controller is presented which is able to regulate the burn condition even in the presence of the aforementioned uncertainties. The controller performance is tested in simulations for a burning-plasma ITER-like scenario.

关键词： plasma density Tokamak devices Fueling computer algorithms Burns Uncertainty long pulse Controllers Redesign lines incineration control

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Distributed Hierarchical Control for Renewable Energy Integration in a Smart Grid

Distributed Hierarchical Control for Renewable Energy Integr...

引用

IEEE PES Innovative Smart Grid Technologies

作者： Arman Kiani Anuradha Annaswamy Institute of Automatic Control Engineering Technische Universitt Mnchen Department of Mechanical Engineering Massachussets Institute of Technology

ISBN: (纸本)9781457721588

The Smart Grid paradigm is influenced primarily by the need to integrate renewable energy from wind and solar resources. Two main tools that have been proposed to carry out integration are (i) decision and control that makes use of all available information via a cyber-physical infrastructure that includes communication, and computation, (ii) Demand Response (DR), the concept of controlling loads using smart meters and devices as well as economic signals. Given that the pertinent information is available at multiple time-scales and from multiple sources, decision and control algorithms need to necessarily have a distributed, hierarchical structure. In this paper, we propose a distributed cyber-physical control architecture to match energy supply to energy load at the sub-transmission and distribution levels. A hierarchical model of the overall cyber-physical energy system is introduced, and includes the dynamics of the grid at the primary, secondary, and tertiary levels. With a goal of ensuring frequency regulation using optimal allocation of resources including renewable energy resources (RER), a distributed control methodology is presented and numerically evaluated in the presence of intermittency in the RERs.

关键词： Smart grids Renewable energy Resource utilization stepping controls Smart meters energy load Frequency control Control Architecture optimal allocation Distribute computer algorithms intermittency ENERGY SYSTEMS energy supply auxiliary transmission

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Robustified Distributed Model Predictive Control for Coherence and Energy Efficiency-Aware Platooning

Robustified Distributed Model Predictive Control for Coheren...

引用

American Control Conference

作者： Massimo Zambelli Antonella Ferrara University of Pavia via Ferrata 5 Pavia 27100 Italy

ISBN: (纸本)9781538679012;9781538679265

Platooning has become one of the most appealing formations for intelligent vehicles safety enhancement and traffic regulation. Besides the traditional control algorithms, which are required to enforce at least local and string stability, more complex control schemes can be designed to cope with advanced requirements. In this paper, a suitable Distributed Model Predictive Control (DMPC) scheme, robustified with a second -order Integral Sliding Mode (ISM) correction term, is proposed to enforce and maintain coherence during cruising, while considering energy efficiency during acceleration/deceleration phases. While the former aspect has a complex impact on traffic regulation, especially when a large number of vehicles is considered, the latter is of primary importance in an increasingly eco-friendly transportation systems design. The proposed approach is well suited for real-world implementation, and can constitute a valid basis for more advanced control architectures. Simulation results highlight the effectiveness of the proposed architecture in maintaining the formation while guaranteeing a robust achievement of the required performance.

关键词： Traffic law Car following coherence enforcement Energy efficiency Cruises computer algorithms Large automobiles

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Boundary tracking using a suboptimal sliding mode algorithm

Boundary tracking using a suboptimal sliding mode algorithm

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IEEE Annual Conference on Decision and Control

作者： Prathyush P. Menon Christopher Edwards Yuri B. Shtessel Debasish Ghose Jim Haywood College of Engineering Mathematics and Physical Sciences University of Exeter Exeter EX4 4QF UK Department of Electrical Engineering University of Alabama Huntsville USA Department of Aerospace Engineering Indian Institute of Science Bangalore India University of Exeter and MetOffice

ISBN: (纸本)9781467360890

In this paper, a sliding mode control algorithm is proposed that allows a single, sensor enabled agent to navigate along the boundary of a contaminated region. The proposed control algorithm only requires knowledge of the local measurement of the scalar field. No gradient information is required for the spatial phenomenon and this distinguishes this work from much of the existing literature. The efficacy of the proposed approach is demonstrated using synthetic volcanic eruption dispersion data made available from a complex Lagrangian model.

关键词： computer algorithms Sliding mode Boundary Volcanic Eruptions Agents site measurements tracking Variable structure systems

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Research on Leader-Follower Cooperative for Multi-Unmanned Surface Vehicles Based on Sigmoid Method

Research on Leader-Follower Cooperative for Multi-Unmanned S...

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Artificial Intelligence and Electromechanical Automation (AIEA), International Conference on

作者： Chong Qu Gongxing Wu Shuli Jia LinLing Wang Automation Engineering Department Shanghai Marine Diesel Engine Research Institute Shanghai China College of Ocean Science and Engineering Shanghai Maritime University Shanghai China

ISBN: (数字)9781728182889

ISBN: (纸本)9781728182896

According to the actual needs of marine resource development and marine environmental protection, in order to solve the problem of cooperative operation of multiple Unmanned Surface Vehicles (USVs), a multi-USVs cooperative path tracking algorithm based on Sigmoid function is proposed. The characteristic model for multi-USVs synchronous navigation is established. The path tracking algorithm is studied for the leader USV based on the inverse trigonometric function method. Considering the turning speed, the follower USV collaborative control algorithm is discussed. The control algorithm is used for the cooperative navigation control of multi-USVs. In this paper, simulation experiments on cooperative navigation of multi-USVs are carried out. The experimental data shows the feasibility and reliability of the leader-follower cooperative mechanism and cooperative control algorithm.

关键词： Multiple Unmanned Surface Vehicle Cooperative control Leader-follower Sigmoid function coordinated control Ground vehicles computer algorithms Sigmoid Colon Resource development Unmanned Surface Vessel environment protection navigation

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algorithms, Data Structures, and Problem Solving With C++ 2

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1996年

作者： [美] Mark Allen Weiss

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Control-oriented modelling of gas-liquid cylindrical cyclones

Control-oriented modelling of gas-liquid cylindrical cyclone...

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American Control Conference

作者： Torstein Thode Kristoffersen Christian Holden Sigurd Skogestad Olav Egeland Department of Mechanical and Industrial Engineering Norwegian University of Science and Technology (NTNU) Department of Chemical Engineering Norwegian University of Science and Technology (NTNU)

ISBN: (纸本)9781509045839

Compact separators are increasingly used for subsea separation of hydrocarbons, because of their low weight and low cost. A problem is their small volume, which makes them very sensitive to flow variations. This can degrade separation performance, which in turn can cause operational problems and economic loss. Improved control can increase robustness and therefore, the focus of this paper is to derive a control-oriented model based on first principles to enable the development of robust control algorithms. The derived model is controlled by a PI feedback control algorithm and tuned using the SIMC tuning rules. The model is qualitatively verified in simulations, and the behaviour confirmed with reported observations from experimental work and field applications from literature.

关键词： Underweight cyclones Hydrocarbons tuning Cylindrical Turning focus FOCUSING Standing Orders simulating Separators Modeling Object oriented modeling computer algorithms economic losses

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Quadrotor Trajectory Tracking Control using Non-Linear Model Predictive Control with ROS Implementation

Quadrotor Trajectory Tracking Control using Non-Linear Model...

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International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Mohamed Owis Seif El-Bouhy Ayman El-Badawy Mechatronics Department German University in Cairo Cairo Egypt

ISBN: (纸本)9781728137889

This paper presents a Model Predictive Controller for trajectory tracking control of the quadrotor using the ACADO Toolkit on Matlab/Simulink. Model Predictive Control (MPC) prediction feature and ability to obtain optimal control action yields an accurate trajectory tracking performance. The controller is applied to a quadrotor system. The mathematical model was derived using Newton's and Euler's laws. Simulations for the trajectory tracking test was done for evaluating the trajectory tracking performance. Afterwards, an interface between RotorS Gazebo Simulator and Simulink was implemented using the Robot Operating System (ROS) for validation of the controller's performance. The paper presents the results of both simulations under disturbances to determine the suitability and validity of the proposed control algorithm.

关键词： adaptive control control engineering computing helicopters mobile robots nonlinear control systems optimal control predictive control trajectory control control engineering computing trajectory control Predictive control Nonlinear control systems Helicopters Mobile robots Optimal control trajectory tracking adaptive control nonlinear model predictive control computer algorithms control action Predictive controllers

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