检索结果-内蒙古大学图书馆

Chinese control Conference (CCC)

作者： Cai Chaohong Goebel Rafal G. Sanfelice Ricardo R. Teel Andrew Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Seattle WA USA Seattle WA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: rsanfelice@ece.ucsb.edu Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: teel@ece.ucsb.edu

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are summarized. These tools are useful for the development of hybrid control algorithms.

关键词： Robust stability control systems Oscillators Evolution (biology) State-space methods Equations Chaos Stability analysis systems engineering and theory Biological system modeling

来源：评论

学校读者我要写书评

暂无评论

Network abstract linear programming with application to minimum-time formation control

Network abstract linear programming with application to mini...

引用

Proceedings of the 46th IEEE Conference on Decision and control, Pages 4135-4592

作者： Giuseppe Notarstefano Francesco Bullo The Dipartimento di Ingegneria dellInnovazione Università del Salento Lecce Italy The Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA

ISBN: (纸本)9781424414970;1424414970

We identify a novel class of distributed optimization problems, namely a networked version of abstract linear programming. For such problems we propose distributed algorithms for networks with various connectivity and/or memory constraints. Finally, we show how various minimum-time formation control problems can be tackled through appropriate geometric examples of abstract linear programs.

关键词： linear programming distributed algorithms time monitoring Network formation

来源：评论

学校读者我要写书评

暂无评论

control algorithms along relative equilibria of underactuated Lagrangian systems on Lie groups

Control algorithms along relative equilibria of underactuate...

引用

Proceedings of the 46th IEEE Conference on Decision and control, Pages 460-918

作者： Nikolaj Nordkvist Francesco Bullo Department of Mathematics Technical University of Denmark Lyngby Denmark Mechanical Engineering Department and with the Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA

ISBN: (纸本)9781424414970

We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation analysis and the design of inversion primitives and composition methods. We illustrate the algorithms on an underactuated planar rigid body and on a satellite with two thrusters.

关键词： control systems Lagrangian functions Mechanical systems Iterative algorithms Force control Satellites Velocity control USA Councils Actuators Automatic control

来源：评论

学校读者我要写书评

暂无评论

Hybrid dynamical systems: Robust Stability and control

Hybrid Dynamical Systems: Robust Stability and Control

引用

第二十六届中国控制会议

作者： Goebel Rafal Sanfelice Ricardo G. Teel Andrew R. 3518 NE 42 St. SeattleWA 98105USA Center for Control Dynamical Systemsand ComputationDepartment of Electrical and Computer Engineering University of CaliforniaSanta BarbaraCA 93106-9560USA

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are *** tools are useful for the development of hybrid control algorithms.

关键词： Hybrid systems stability control

来源：评论

学校读者我要写书评

暂无评论

RELAXED CHARACTERIZATIONS OF SMOOTH PATCHY control LYAPUNOV FUNCTIONS

引用

IFAC Proceedings Volumes 2007年第12期40卷 486-491页

作者： Rafal Goebel Christophe Prieur Andrew R. Teel Department of Mathematics University of Washington Seattle WA 98195-4350 LAAS–CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems & Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560

A smooth patchy control Lyapunov function for a nonlinear control system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy a certain arrangement property. In contrast to (Goebel et al., IEEE CDC, 2006), on each intersection of the domains, we do not impose a decrease condition of the local control Lyapunov functions when the index increases. We show a construction, based on such a patchy control Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise. Copyrighte 2007 IFAC

关键词： hybrid systems control Lyapunov function stabilization

来源：评论

学校读者我要写书评

暂无评论

Worst-case time complexity of a lattice formation problem 44

Worst-case time complexity of a lattice formation problem

引用

44th Annual Allerton Conference on Communication, control, and Computing 2006

作者： Savla, Ketan Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara 2338 Engineering Bldg II Santa BarbaraCA93106-5070 United States

ISBN: (纸本)9781604237924

We consider a formation control problem for a robotic network with limited communication and controlled motion abilities. We propose a novel control structure that organizes the robots in concentric layers and that associates to each layer a local leader. Through a load balancing algorithm on the asynchronous network of layers we allocate the desired number of robots on each layer. A final uniform spreading algorithm leads the robots to a lattice-like formation. This novel distributed communication and control algorithm runs in linear time in the worst case.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

On the dubins traveling salesperson problems: Novel approximation algorithms 2nd

On the dubins traveling salesperson problems: Novel approxim...

引用

2nd International Conference on Robotics Science and systems, RSS 2006

作者： Savla, Ketan Frazzoli, Emilio Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara United States Mechanical and Aerospace Engineering Department University of California Los Angeles United States

ISBN: (纸本)9780262693486

In this paper we study minimum-time motion planning and routing problems for the Dubins vehicle, i.e., a nonholonomic vehicle that is constrained to move along planar paths of bounded curvature, without reversing direction. Motivated by autonomous aerial vehicle applications, we consider the Traveling Salesperson Problem for the Dubins vehicle (DTSP): given n points on a plane, what is the shortest Dubins tour through these points and what is its length? Specifically, we study a stochastic version of the DTSP where the n targets are randomly sampled from a uniform distribution. We show that the expected length of such a tour is of order at least n2/3 and we propose a novel algorithm yielding a solution with length of order n2/3 with high probability. Additionally, we study a dynamic version of the DTSP: given a stochastic process that generates target points, is there a policy which guarantees that the number of unvisited points does not diverge over time? If such stable policies exist, what is the minimum expected time that a newly generated target waits before being visited by the vehicle? We propose a novel stabilizing algorithm such that the expected wait time is provably within a constant factor from the optimum.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points

Robust hybrid controllers for continuous-time systems with a...

引用

American control Conference (ACC)

作者： R.G. Sanfelice M.J. Messina S. Emre Tuna A.R. Teel Center for Control Dynamical Systems and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings

关键词： Robust control control systems Noise robustness Noise measurement State feedback Time measurement Hysteresis Differential equations Military computing Nonlinear control systems

来源：评论

学校读者我要写书评

暂无评论

Lyapunov Analysis of Sample-and-Hold Hybrid Feedbacks

Lyapunov Analysis of Sample-and-Hold Hybrid Feedbacks

引用

IEEE Conference on Decision and control

作者： Ricardo G. Sanfelice Andrew R. Teel Center for Control Dynamical Systems and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

For hybrid closed-loop systems arising from hybrid control of nonlinear systems, we show that the sample-and-hold implementation of the hybrid controller preserves (semiglobally and practically) the stability properties of the closed-loop system. We provide a general model for the hybrid closed-loop system where the hybrid controller is implemented digitally and it is interfaced to the nonlinear system through sample and hold devices. We model the sample device and the digital controller/hold device as single asynchronous hybrid systems with independent timing constants and data. The main result is established by means of a Lyapunov function for the hybrid closed-loop system resulting from the interconnection of its hybrid and nonlinear subsystems

关键词： Feedback control systems Nonlinear control systems Nonlinear systems Digital control Stability analysis Emulation control system synthesis Military computing Asymptotic stability

来源：评论

学校读者我要写书评

暂无评论

On Traveling Salesperson Problems for a double integrator

On Traveling Salesperson Problems for a double integrator

引用

IEEE Conference on Decision and control

作者： Ketan Savla Francesco Bullo Emilio Frazzoli Center for Control Dynamical Systems and Computation University of California Santa Barbara USA Aeronautics and Astronautics Department Massachusetts Institute of Technology USA

ISBN: (纸本)1424401704;9781424401703

In this paper we propose some novel path planning strategies for a double integrator with bounded velocity and bounded control inputs. First, we study the following version of the Traveling Salesperson Problem (TSP): given a set of points in Ropf d , find the fastest tour over the point set for a double integrator. We first give asymptotic bounds on the time taken for to complete such a tour in the worst-case. Then, we study a stochastic version of the TSP for double integrator where the points are randomly sampled from a uniform distribution in a compact environment in Ropf 2 and Ropf 3 . We propose novel algorithms that perform within a constant factor of the optimal strategy with high probability. Second, we study a dynamic TSP: given a stochastic process that generates targets, is there a policy which guarantees that the number of unvisited targets does not diverge over time? If such stable policies exist, what is the minimum wait for a target? We propose novel stabilizing algorithms whose performances are within a constant factor from the optimum, in Ropf 2 as well as in Ropf 3 . We also argue that these algorithms give similar performances for a particular nonholonomic vehicle, the Dubins vehicle

关键词： Stochastic processes Unmanned aerial vehicles Vehicle dynamics Approximation algorithms Velocity control Aerodynamics Polynomials USA Councils Path planning Operations research

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：