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Output feedback tracking of nonholonomic systems in chained form

Output feedback tracking of nonholonomic systems in chained ...

引用

1999 European control Conference, ECC 1999

作者： Lefeber, E. Robertsson, A. Nijmeijer, H. Faculty of Mathematical Science Dep. of Systems Signals and Control. University of Twente P.O. Box 217 Enschede7500 AE Netherlands Dep. of Automatic Control Lund Institute of Technology Lund University P.O. Box 118 LundSE-221 00 Sweden Faculty of Mathematical Science Dep. of Systems Signals and Control Univer. of Twente P.O. Box 217 Enschede7500 AE Netherlands Faculty of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

ISBN: (纸本)9783952417355

In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the 'certainty equivalence type' of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable. © 1999 EUCA.

关键词： Closed loop systems

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Sensor data fusion for terrain exploration by collaborating unmanned ground vehicles

Sensor data fusion for terrain exploration by collaborating ...

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11th International Conference on Information Fusion, FUSION 2008

作者： Nordin, Peter Andersson, Lars Nygårds, Jonas Dep. of Management and Engineering Linköping University Linköping Sweden Division of Command and Control Systems Swedish Defence Research Agency Linköping Sweden

ISBN: (纸本)9783000248832

This paper presents work in progress for the pre-Runners project. The goal is to experimentally demonstrate the value of unmanned ground vehicles (UGVs) in collaboration with a main vehicle in an outdoor setting. With uneven terrain and unexpected obstacles the main vehicle benefits from a priori information of the terrain ahead. This information can be gathered by a smaller, more agile, and risks tolerant autonomous "prerunner". The results presented, represent the first steps toward the important task of determining the traversable surfaces and communicating the results within the team. The information sharing between vehicles is based on Collaborative Smoothing and Mapping (C-SAM). The horizontal position is also estimated within the C-SAM. In parallel the vertical component and orientation is estimated by a filter fusing data from odometry, an imu and two lasers to allow computation of traversability maps to be shared within the team.

关键词： Ground vehicles

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A gossip based heuristic algorithm for heterogeneous multi-vehicle routing problems

A gossip based heuristic algorithm for heterogeneous multi-v...

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3rd IFAC Workshop on Distributed Estimation and control in Networked systems, NECSYS 2012

作者： Rosa, Daniele Franceschelli, Mauro Seatzu, Carla Bullo, Francesco Dep. of Electrical and Electronic Engineering Univ. of Cagliari Italy Center for Control Dynamical Systems and Computation Univ. of Santa Barbara CA United States

ISBN: (纸本)9783902823229

In this paper we propose a novel algorithm based on gossip communication for the Heterogeneous Multi-Vehicle Routing (HMVR) problem. A collection of tasks is arbitrarily placed in a plane and a set of robots cooperates to minimize the maximum time required to visit and execute all tasks. Each task (resp. each robot) has different cost (resp. speed). The proposed algorithm relies only upon pairwise asynchronous communications between robots and attempts to balance the routing and execution cost of the task assignment through a heuristic. The proposed heuristic exploits polynomial-time approximation algorithms to solve the Euclidean Traveling Salesman Problem (ETSP). Some characterization of the convergence properties of the algorithm are provided together with extensive simulations to corroborate the results. © 2012 IFAC.

关键词： Robots

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A Gaussian Process Regression for Natural Gas Consumption Prediction Based on Time Series Data

A Gaussian Process Regression for Natural Gas Consumption Pr...

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International Conference on Information Fusion

作者： Oussama Laib Mohamed Tarek Khadir Lyudmila Mihaylova Dep. of Computer Science University of Badji Mokhtar Annaba (UBMA) Annaba Algeria Dep. of Automatic Control and Systems Engineering (ACSE) University of Sheffield Sheffield UK

For several economical, financial and operational reasons, forecasting energy demand becomes a key instrument in energy system management. This paper develops a natural gas forecasting approach, which consists of two major phases: 1) it classifies the natural gas consumption daily pattern sequences into different groups with similar attributes. 2) the design and training of multiple autoregressive Gaussian Process models phase is carried out using the Algerian natural gas market data together with exogenous inputs consisting in weather (temperature) and calendar (day of the week, hour indicator) factors. The main novelty in this work consists of the investigation of multiple different clustering techniques for better analysis and clustering of natural gas consumption data. The impact of the obtained clusters, by each technique, is then summarized and evaluated with respect to the prediction accuracy.

关键词： Natural gas Forecasting Gaussian processes Load modeling Predictive models Clustering methods Kernel

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Development of rescue robot with expandable side crawler

Development of rescue robot with expandable side crawler

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IASTED International Conference on Robotics, Robo 2010

作者： Hirano, Go Furuno, Seiji Dep. of Electrical and Communication Engineering Faculty of Humanity-Oriented Science and Engineering Kinki University 11-6 Kayanomori Iizuka Fukuoka 820-8555 Japan Dep. of Control and Information Systems Engineering Kitakyushu National College of Technology 5-20-1 Shii Kokuraminami-ku Kitakyusyu Fukuoka 802-0985 Japan

ISBN: (纸本)9780889868595

In this paper, we develop a rescue robot that searches for the victim in the disaster scene. To go into a narrow space in such a scene, size of the robot should be small. But the ability to pass over the trench and the rubble is important. We propose the crawler type robot which has the expandable side crawler. This mechanism can enlarge the mobility of the robot by expanding the side crawler when it is necessary. And this rescue robot pass the rubble by using the side crawler as the arm. So that the swing mechanism for the side crawler is also installed. Details of the developed robot and several experiments are denoted in this paper.

关键词： Robots

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control system simulation for endoscopie surgical manipulator based on virtual chain approach

Control system simulation for endoscopie surgical manipulato...

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2012 1st International Conference on Innovative engineering systems, ICIES 2012

作者： Ibrahim, Khalil Ramadan, Ahmed Farmi, Mohamed Kobayashi, Yo Abo-Ismail, Ahmed Fujie, Masakatus G. Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dep. Tanta University Tanta Egypt Mechanical Department Mansoura University Mansoura Egypt Faculty of Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781467344388

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error. © 2012 IEEE.

关键词： MATLAB

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Compact TS-fuzzy models through clustering and OLS plus FIS model reduction

Compact TS-fuzzy models through clustering and OLS plus FIS ...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Abonyi J.A. Roubos M. Oosterom F. Szeifert Dep. of Process Engineering University of Veszprem Hungary Department of Information Technology and Systems Systems and Control Engineering Delft University of Technnology Delft Netherlands Dep. of Information Technology and Systems Systems and Control Engineering Delft The Netherlands

Identification of uncertain and nonlinear systems is an important and challenging problem. Fuzzy models of the Takagi-Sugeno (TS) type may be a good choice to describe such systems; however, in many cases these become soon complex. We propose a three-step method to obtain compact TS-models that can be effectively used to represent complex systems: 1) a new fuzzy clustering method is proposed for identification of compact TS-models; 2) the most relevant consequent variables of the TS-model are selected by an orthogonal least squares (OLS) method based on the obtained clusters; and 3) for selection of relevant antecedent variables, a new method is proposed based on Fisher's interclass separability (FIS) criterion. The overall approach is demonstrated by means of the MPG (miles per gallon) nonlinear regression benchmark. Results are compared with those obtained by standard linear, neuro-fuzzy and advanced fuzzy clustering-based identification tools.

关键词： Reduced order systems Fuzzy systems Clustering methods Function approximation Least squares methods Least squares approximation Information technology control engineering Nonlinear systems Linear systems

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Structure theorems for optimum hyperpaths in directed hypergraphs

Structure theorems for optimum hyperpaths in directed hyperg...

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2nd International Symposium on Combinatorial Optimization, ISCO 2012

作者： Ausiello, Giorgio Italiano, Giuseppe F. Laura, Luigi Nanni, Umberto Sarracco, Fabiano Dep. of Computer Control and Management Engineering Antonio Ruberti Sapienza Univ. of Rome Via Ariosto 25 Roma 00185 Italy Dep. of Computer Science Systems and Production Univ. of Rome Tor Vergata Via del Politecnico 1 Roma 00133 Italy

ISBN: (纸本)9783642321467

The cost of hyperpaths in directed hypergraphs can be measuread in various different ways, which have been used in a wide set of applications. Not surprisingly, dep.nding on the considered measure function the cost to find optimum hyperpaths may range from NP-hard to linear time. A first solution for finding optimum hyperpaths in case of a superior functions (SUP) can be found in a seminal work by Knuth [5], which generalizes Dijkstra's Algorithm [3] to deal with a grammar problem. In this paper we define a hierarchy of classes of optimization problems based on the properties of the cost measures. After showing that measures can be classified on the basis of the structure of the optimum hyperpath they determine, we present an alternative taxonomy of measure functions, based on their analytic properties, and prove structure theorems that relate the two hierarchies. © 2012 Springer-Verlag.

关键词： Costs

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Solutions for Digital Interaction of a Resilient Energy Community in a Service-oriented Framework 12

Solutions for Digital Interaction of a Resilient Energy Comm...

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12th International Conference and Exposition on Electrical and Power engineering, EPE 2022

作者： Sanduleac, Mihai Ionescu, Constantin Mandis, Alexandru Gropa, Victor Efremov, Cristina Sanduleac, Vlad Department of Power Systems Faculty of Energy Engineering University Politehnica of Bucharest Bucharest Romania Dep. of Energy Generation and Use Faculty of Energy Engineering University Politehnica of Bucharest Bucharest Romania Faculty of Energetics and Electrical Engineering Technical University of Moldova Chisinau Moldova Department of Computer Science and Engineering Faculty of Automatic Control and Computers University Politehnica of Bucharest Romania

ISBN: (数字)9781665489942

ISBN: (纸本)9781665489942

Energy communities are emerging entities which need their own Information and Communication System. Resilience is a key metric of such communities, and it has to be implemented for both energy supply versus public network outages and for its information system versus cyber-attacks, acting as cyber-citadels which have to resist external malicious attacks while having also digital interactions with external entities. The paper presents solutions for a resilient energy community with appropriate implementations of digital interaction for data exchange, in order to acquire external energy service for specialized companies and to deliver also information and communication-related services for external users. Principles of a Contractual Data Protection Regulation are presented, as an adaptation of data protection tailored for automated energy services and based on secure data exchange. The principles are verified in a demonstration project which has also external entities with digital interaction. © 20XX IEEE.

关键词： Cybersecurity

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Computational modelling of TRIANGULAR sub-boundary-layer vortex generators

Computational modelling of TRIANGULAR sub-boundary-layer vor...

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2018 International Conference on Materials and Energy, ICOME 2018

作者： Fernandez-Gamiz, Unai Ruiz De Loizaga, Jon Errasti, Iñigo Boyano, Ana Zulueta, Ekaitz Lopez-Guede, Jose Manuel Nuclear Engineering and Fluid Mechanics Dep. University of the Basque Country Nieves Cano 12 Vitoria-Gasteiz Araba01006 Spain Nieves Cano 12 Vitoria-Gasteiz01006 Spain Automatic control and System Engineering Dep. University of the Basque Country Nieves Cano 12 Vitoria-Gasteiz Araba01006 Spain

Vortex generators (VGs) are used increasingly more by the wind turbine manufacture industry as flow control devices to improve rotor blade aerodynamic performance. The VG height is usually designed with equal thickness of the local boundary layer at the VG position. Nevertheless, these conventional VGs may produce excess residual drag in some applications. The so-called sub boundary layer VGs can provide enough momentum transfer over a region several times their own height for effective flow-separation control with much lower drag. The main objective is to investigate how well the simulations can reproduce the physics of the flow of the primary vortex generated by a triangular VG mounted on a flat plate with negligible pressure gradient with the angle of attack of the vane to the oncoming flow β= 18. Three different device heights H= 5mm, H1= 6,25mm, H2= 4,16mm have been studied and compared both qualitatively and quantitatively. To that end, computational simulations have been carried out using RANS method and at Reynolds number Re = 2600 based on the boundary layer momentum thickness θ= 2.4 mm at the VG position. The computational results show good agreement with the experimental data available in AVATAR project. © The Authors, published by EDP Sciences, 2020.

关键词： Boundary layers

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