This paper is concerned with the network-theoretic properties of so-called k-nearest neighbor intelligent vehicular platoons, where each vehicle communicates with k vehicles, both in front and behind. The network-theo...
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Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. Thi...
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Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. This problem addresses the practical needs of many applications, including industrial automation, crane control, satellite positioning and motion control within a medical stroke rehabilitation context. This paper provides a substantial generalization of this framework by providing a solution to the problem of convergence at intermediate points with simultaneous tracking of subsets of outputs to reference trajectories on subintervals. This formulation enables the NOILC paradigm to tackle tasks which mix "point to point" movements with linear tracking requirements and hence substantially broadens the application domain to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments. A solution to the problem is presented in the framework of NOILC and inherits NOILC s well-defined convergence properties. Design guidelines and supporting experimental results are included.
An algorithmic framework is developed for automatic deployment of car-like robots based on Linear Temporal Logic (LTL) formulae over a set of regions of interest in the environment. The environment and the regions of ...
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A number of algorithms has been proposed for extending ABR congestion avoidance algorithms in ATM networks to perform feedback consolidation at the branch points of multicast connections. Schemes that attempt to maxim...
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This paper presents a single multiplicative neuron model based on a polynomial architecture. The proposed neuron model consists of a non-linear aggregation function based on the concept of generalized mean of all mult...
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Robust Schur stability conditions are obtained for polynomials of orders two to five. For n=2 and 3, the conditions obtained are related to stability of the corner points, while for n=4 and 5, the conditions are relat...
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Robust Schur stability conditions are obtained for polynomials of orders two to five. For n=2 and 3, the conditions obtained are related to stability of the corner points, while for n=4 and 5, the conditions are related to stability of corner and possible supplementary points. The number of points increases substantially as the polynomial order increases. The obtained results are of importance in the robust design of control systems. The difficulty in extending the approach to higher-order polynomials is discussed. Special cases for such extensions are mentioned. Further applications of the results obtained may be of use in the stability study of two-dimensional systems. Some examples for the application of the stability conditions are given and, in particular, the two counterexamples presented in the literature are discussed.
Internet users rely on the good capabilities of TCP/IP networks for dealing with congestion. Classic algorithms, such as drop tail or even RED, do not give good results under many situations. The network delay and the...
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ISBN:
(纸本)9780889867949
Internet users rely on the good capabilities of TCP/IP networks for dealing with congestion. Classic algorithms, such as drop tail or even RED, do not give good results under many situations. The network delay and the number of users fluctuate from one moment to the next. Predictive control can deal with these conditions so performance can be improved. This paper presents how predictive control, with on-line linearized models, performs better than PID or classic predictive control when dealing with control congestion, because changes in the network delay and the current number of users can be updated in the model. Non-linear simulations illustrate the advantages and disadvantages of the various methods under different working scenarios.
The article presents the construction of an innovative electromagnetic mill, which in comparison to traditional solutions provide a significant reduction of energy consumption and higher technological performance. The...
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This paper proposes a RISC-V extension, named SigWavy, meant to optimize the PWM control for general purpose or application specific designs. The RISC-V extension named above is a PWM control Unit with a dedicated ISA...
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In this note, an explicit solution to the multivariable discrete linear quadratic (LQ) regulation problem is obtained in the limiting singular case where the input weighting matrix tends to zero. Such a solution follo...
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In this note, an explicit solution to the multivariable discrete linear quadratic (LQ) regulation problem is obtained in the limiting singular case where the input weighting matrix tends to zero. Such a solution follows from a suitable spectral factorization of the input spectrum density matrix under the assumption that the system is stabilizable and detectable, and its transfer function matrix is a full rank. The suitable spectral factor is shown to be the product of the system minimum-phase image and its unitary interactor matrix. The unitary interactor matrix defined here is a special case of the nilpotent interactor matrix defined in [5].
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