We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling param...
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This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances ...
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— In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal r...
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This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, ...
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A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced vari...
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A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced vari...
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Floating booms are useful tools in the marine world, especially for marine demarcation where some kind of contamination of sea, ocean or coastal water is present. In this work we have developed a mathematical model fo...
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We consider an extension of the Rescorla-Wagner model which bridges the gap between conditioning and learning on a neural-cognitive, individual psychological level, and the social population level. In this model, the ...
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In this paper we show a new remote lab software architecture for automaticcontrol Education. This architecture is based on *** and Easy Java/JavaScript Simulations, which make it lightweight and accessible from smart...
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ISBN:
(纸本)9781538608111
In this paper we show a new remote lab software architecture for automaticcontrol Education. This architecture is based on *** and Easy Java/JavaScript Simulations, which make it lightweight and accessible from smart devices like smartphones or tablets. It is easily adaptable to different types of controllers and experiments, as the existing labs at the University Complutense of Madrid show.
作者：
Urszula PawlakMarcin PawlakDepartment of Mechanics
Metal Structures and Computer Methods Faculty of Civil and Architecture Kielce University of Technology al. 1000-lecia Państwa Polskiego 7 25-314 Kielce Poland Department of Power Engineering Electronics
Faculty of Electrical Engineering Automatic Control and Computer Kielce University of Technology al. 1000-lecia Państwa Polskiego 7 25-314 Kielce Poland
In the article, the energy characteristics of a terraced house located in Kielce were assessed. The analyzed house was put into use in 1982. Due to the old manufacturing technology, mainly in the area of the materials...
In the article, the energy characteristics of a terraced house located in Kielce were assessed. The analyzed house was put into use in 1982. Due to the old manufacturing technology, mainly in the area of the materials used, to limit significant heat losses, it has been thermally renewed many times. The aim of the calculations was to indicate the financial benefits, in example to reduce the costs of maintaining the house and to provide its residents with the proper comfort of use of the building, also taking into account the health aspects. The analysis of the object was made in several stages. Proposed are changes reducing the demand for non-renewable primary energy Ep, using modern thermal insulation materials, joinery with low heat transfer coefficient and renewable energy sources. As a result, an energy-efficient building that meets WT 2017 was obtained. The annual demand for non-renewable primary energy EP was determined using the Certo 2015 program in educational version 1.3.3.0.
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