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.
This paper describes the use of networked control algorithms in designing a robotic swarm. The main goal of a robotic swarm is to divide one task into multiple simpler tasks. Have we designed a swarm this way, the mai...
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ISBN:
(纸本)9781424458820
This paper describes the use of networked control algorithms in designing a robotic swarm. The main goal of a robotic swarm is to divide one task into multiple simpler tasks. Have we designed a swarm this way, the main challenge would be the problem of delay in communication between individual robots. This paper also goes through the Swarm Intelligence concept and proposes the Network Formation Control algorithms to control a group of robots.
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 ma...
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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.
Rate control aims to maximize reconstructed video quality while adapting coding bit rate to the fluctuating network bandwidth. This paper proposes an easy rate control algorithm for H.264 video coding based on a novel...
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ISBN:
(纸本)9781424458653
Rate control aims to maximize reconstructed video quality while adapting coding bit rate to the fluctuating network bandwidth. This paper proposes an easy rate control algorithm for H.264 video coding based on a novel ρ -q/Distortion model, whose data line shows quite a pleasing goodness-of-fit. Experimental results have demonstrated that, compared with rate control mechanism suggested in H.264 reference software, the proposed model provides a better reconstructed visual quality with a coding gain up to 0.37dB as well as much smaller bit rate control error with a maximum reduced bit rate up to 2.04kbps.
In this paper we study controlled synchronization of interconnected robotic systems with dynamic uncertainty. It is first demonstrated that a previously developed algorithm for robust tracking [1] renders the closed l...
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ISBN:
(纸本)9781424474264
In this paper we study controlled synchronization of interconnected robotic systems with dynamic uncertainty. It is first demonstrated that a previously developed algorithm for robust tracking [1] renders the closed loop system semi-passive. For the special case of two identical agents and in the absence of communication delays, the proposed control law ensures state synchronization for a large coupling gain. In the general case of heterogeneous agents communicating on balanced graphs, the control law guarantees ultimate boundedness of the synchronization and the tracking errors both in the delayed and the delay free case. Numerical examples are presented to verify the efficacy of the proposed control algorithms.
This paper presents a three-stage switching control method to deal with the non-equilibrium transient trajectory shaping (NETTS) control problem for a class of nonlinear systems. Through this method, the system tracki...
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ISBN:
(纸本)9781424477456
This paper presents a three-stage switching control method to deal with the non-equilibrium transient trajectory shaping (NETTS) control problem for a class of nonlinear systems. Through this method, the system tracking error non-equilibrium transient trajectory can be effectively shaped by constant boundaries and two pre-designed, exponentially-converging bounds. The tracking error is handled by a Barrier Lyapunov Function (BLF) in the first stage. Once the derivative of the tracking error reaches a desired negative value, the control law is switched into stage 2 where a trajectory shaping method is utilized by changing the coordinates and the trajectory of tracking error is bounded by two pre-designed, exponentially-converging boundaries. After the tracking error converging into a sufficiently small region around zero, the control law is switched to the BLF based method again for constraining the transient trajectory in the third stage. A numerical example is utilized to demonstrate the performance of the proposed three-stage NETTS switching control algorithm.
This paper studies distributed containment control for double-integrator dynamics in the presence of both stationary and dynamic leaders. In the case of stationary leaders, we propose a distributed containment control...
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ISBN:
(纸本)9781424474264
This paper studies distributed containment control for double-integrator dynamics in the presence of both stationary and dynamic leaders. In the case of stationary leaders, we propose a distributed containment control algorithm and study conditions on the network topology and the control gains to guarantee asymptotic containment control in any dimensional space. In the case of dynamic leaders, we study two cases: leaders with an identical velocity and leaders with nonidentical velocities. For the first case, we propose a distributed containment control algorithm to solve asymptotic containment control under a switching directed network topology. In particular, asymptotic containment control can be achieved for any dimensional space if the network topology is fixed and for only the one-dimensional space if the network topology is switching. For the second case, we propose a distributed containment control algorithm under a fixed network topology where the communication patterns among the followers are undirected and derive conditions on the network topology and the control gains to guarantee asymptotic containment control for any dimensional space. Experimental results on a multi-robot platform are provided to validate some theoretical results.
The purpose of this study was to develop and compare two control algorithms that could potentially utilize two channels of surface electromyogram (EMG) to navigate electromechanical devices such as a powered wheelchai...
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ISBN:
(纸本)9781424468799;9781424469246
The purpose of this study was to develop and compare two control algorithms that could potentially utilize two channels of surface electromyogram (EMG) to navigate electromechanical devices such as a powered wheelchair in all directions, i.e. forward (F), backward (B), right (R), and left (L). The first algorithm uses a non-timed muscle twitch to change between six modes (F, B, FR, FL, BR and BL), while the second algorithm uses a quick-timed twitch to switch between two modes (F and B). The second portion of this study consisted of acquiring EMG signals from the muscles of the forearm through a simple instrumentation circuit. The study was focused on evaluating the effectiveness of the controlling schemes. While the second algorithm offered faster manipulations, the first algorithm was more reliable and resulted in fewer collisions.
The paper treats the control problem of the hyper-redundant arms that perform the grasping function by coiling. First, the dynamic model of the continuum arm for the position control is studied. A frequency stability ...
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ISBN:
(纸本)9781617387197
The paper treats the control problem of the hyper-redundant arms that perform the grasping function by coiling. First, the dynamic model of the continuum arm for the position control is studied. A frequency stability criterion based on the KLP Lemma and P and PD control techniques are proposed. The control algorithms based on SMA actuators are introduced. Numerical simulations of the arm motion are presented.
In this paper, a new fault tolerant controller (FTC) algorithm for general stochastic nonlinear systems is studied. Different from the existing FTC methods, the measured information is the probability density function...
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ISBN:
(纸本)9781627481199
In this paper, a new fault tolerant controller (FTC) algorithm for general stochastic nonlinear systems is studied. Different from the existing FTC methods, the measured information is the probability density functions (PDFs) of the system output rather than its value, where the radial basis functions (RBFs) neural network technique is proposed so that the output PDFs can be formulated in terms of the dynamic weighings, so that the problem is transformed into a nonlinear FTC problem subject to the weight dynamical systems. The main objective of FTC requires detecting the occurrence of faults and maintaining the performance of the system in the presence of faults at a satisfying level. The FTC design consists of two steps. The first step is fault detection and diagnosis (FDD), which can produce an alarm when there is a fault in the system and also locate which component has a fault. The second step is to adapt the controller to the faulty case so that the system is able to achieve its target. A linear matrix inequality (LMI) based feasible FTC method is applied such that the fault can be detected and diagnosed. An illustrated example is included to demonstrate the use of control algorithm, and satisfactory results have been obtained.
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