Dynamic point clouds can be compressed by eliminating spatial and temporal redundancy, but few research studies have considered both simultaneously. Existing research can only distinguish the specific foreground and b...
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This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO sy...
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This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.
The distributed optimal output synchronization problem for the leaderless heterogeneous multi-agent system with a general global cost function is investigated for the first time by linear quadratic(LQ) optimal control...
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The distributed optimal output synchronization problem for the leaderless heterogeneous multi-agent system with a general global cost function is investigated for the first time by linear quadratic(LQ) optimal control theory. Conventional algorithms for heterogeneous systems are quite complex, requiring the design of a virtual reference generator and the solving of regulation *** paper presents a novel distributed asymptotically optimal controller by incorporating the design of distributed observer and feedforward controller. A general form of the distributed controller is obtained by solving an augmented algebraic Riccati equation, which is parallel to classical optimal control theory. The optimal topology is an arbitrary directed graph containing only a spanning tree. It is shown that the proposed algorithms outperform the traditional consensus methods in the convergence speed by selecting proper observer gain matrices, and eliminate the reliance on the nonzero eigenvalues of Laplacian matrix. Simulation example further demonstrates the effectiveness of the proposed scheme and a faster superlinear convergence speed than the existing algorithm.
This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR *** particular,the authors propose a new value iteration method to generate a sequence of monoton...
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This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR *** particular,the authors propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value *** method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration,and thus,the proposed approach is capable of achieving a better approximation for a given computation time compared with the existing *** numerical examples are presented in this paper to illustrate the effectiveness of the proposed method.
Traditional consequent pole motor has the advantages of less magnetic costs, small magnetic resistance and strong inductance. It is widely studied in the design of the electrical propulsion system. However, it has the...
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Over the last decade, the relationship between humans and cyber-physical systems has grown closer, particularly in fields such as manufacturing and transportation. This paper presents a control framework within the en...
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Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based ...
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Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity *** guidance-route-based strategy has been demonstrated to be applicable to fixed-wing ***,it requires a global coordinator and there exists control lag,due to its own *** this reason,this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned ***,a hop-count scheme is introduced to achieve distributed implementation,in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local ***,the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape *** addition,the stall protection and collision avoidance are also ***,three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.
In this paper, the fixed-time stability of the attitude system of a quadrotor unmanned aerial vehicle (QUAV) under external time-varying disturbance is investigated. A novel disturbance observer with state dependent v...
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In this paper, a dynamic model of a cylindrical robot manipulator of RPP (Revolute-Prismatic-Prismatic) type based on classical laws of mechanics including Euler-Newton, Kane and Lagrange approaches is developed and p...
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Negative Bias Temperature Instability (NBTI) is the main reason for the degradation of gate oxide in P-channel power MOSFETs. Affected by long-term negative bias gate voltage and high temperature, the threshold voltag...
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