A variety of powerful tools and results in systems and control theory rely on classical Kalman-Yakubovich-Popov-Zames results establishing equivalence between special frequency domain inequalities (FDIs), linear matri...
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A variety of powerful tools and results in systems and control theory rely on classical Kalman-Yakubovich-Popov-Zames results establishing equivalence between special frequency domain inequalities (FDIs), linear matrix inequalities (LMIs) and time domain inequalities (TDIs). Recent developments have addressed FDIs within (semi)finite frequency ranges to increase flexibility in the system analysis and synthesis. In this paper it is shown that validity of a general FDI within a restricted frequency range is equivalent to validity of the corresponding TDI under rate limitations specified by a matrix-valued integral quadratic constraint. The latter property of a system is termed "restricted dissipativity". Its special cases are "restricted passivity" and "restricted finite gain property". The equivalence between restricted FDI and restricted dissipativity is established for both continuous-time and discrete-time settings. The paper together with the previous developments extends Kalman-Yakubovich-Popov-Zames FDI-LMI-passivity results to FDIs specified within restricted frequency ranges.
Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computati...
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Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.
It is well-known that for linear systems internal asymptotic stability implies external stability in the sense that when the external input is in L/sub p/ then also the state will be in L/sub p/. However, for the cont...
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It is well-known that for linear systems internal asymptotic stability implies external stability in the sense that when the external input is in L/sub p/ then also the state will be in L/sub p/. However, for the control of linear systems with saturation where the controlled system is nonlinear this implication is no longer directly applicable. Several people have studied the effect of external inputs in L/sub p/ either directly or in the context of ISS as introduced by Sontag. In this paper we study the effect of external stochastic disturbances on linear systems with input saturation and we establish that when we can achieve internal global asymptotic stability then we can also achieve a bounded variance for the state.
This paper proposes a new multiagent planning approach to coordination synthesis that views distributed agents as discrete-event processes. The connection between discrete-event control synthesis and coordination plan...
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ISBN:
(纸本)1581138644
This paper proposes a new multiagent planning approach to coordination synthesis that views distributed agents as discrete-event processes. The connection between discrete-event control synthesis and coordination planning is first established, thereby enabling the exploitation of the vast body of knowledge and associated software synthesis tools from 'The Supervisory control of Discrete-Event Systems' for automatic coordination synthesis of distributed agents. Importantly, these coordinating agents designed collectively generate a behaviour guaranteed not to contradict any specified inter-agent constraint, is nonblocking and optimal. A simple planning methodology is proposed in terms of procedures supported by CTCT, an existing, freely available design tool developed based on the control synthesis framework. A simple example illustrates the use of the CTCT-based methodology to synthesize coordination modules for distributed agents. Discussions in relation to previous work examine the relative significance of the new multiagent planning framework.
作者：
Brščić, DraženUniversity of Zagreb
Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 ZagrebHR-10000 Croatia
This paper presents the current work on the development of a tool for remote control of mobile robots. The tool consists of a local controller on the robot side and a user interface for simulation and remote control t...
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A microrobot-based nanohandling station, which is able to handle objects in the micrometer range and below, is introduced. Following a short description of the microro-bot's mobile platform the station's contr...
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This paper is concerned with the application of a heuristic approach in the design of a fault-tolerant control system for ship steering. It proposes an advanced reconfigurable control system (RCS) for ship course chan...
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A microrobot-based nanohandling station, which is able to handle objects in the micrometer range and below, is introduced. Following a short description of the microrobot's mobile platfonn the station's contro...
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A microrobot-based nanohandling station, which is able to handle objects in the micrometer range and below, is introduced. Following a short description of the microrobot's mobile platfonn the station's control system is described. The application of an extended Kohonen network for the low-level pose control of the mobile platform is presented in detail as well as some results achieved.
This paper presents the current work on the development of a tool for remote control of mobile robots. The tool consists of a local controller on the robot side and a user interface for simulation and remote control t...
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This paper presents the current work on the development of a tool for remote control of mobile robots. The tool consists of a local controller on the robot side and a user interface for simulation and remote control that connects with the robot through the network. The user interface is implemented as an HTML page with a Java applet for remote control and communication and a virtual environment written in VRML for visualization. This way users have the ability to connect to a dedicated WWW server and download the user interface. This paper describes the concept of the tool design and the developed user interface.
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