This paper considers optimized network topology design and distributed control for linear discrete-time systems consisting of subsystems interconnected through states, inputs, and a cost function. By using a distribut...
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ISBN:
(纸本)9781612848006
This paper considers optimized network topology design and distributed control for linear discrete-time systems consisting of subsystems interconnected through states, inputs, and a cost function. By using a distributed control law, which makes use of the communicated states of other subsystems, closed-loop performance is increased at the expense of communication costs. This raises the question of how to find a topology and associated distributed control law with optimal trade-off between communication costs and closed-loop performance. As an answer to this question, we propose an approach to simultaneous optimization of network topology and control law with respect to a cost function which combines a quadratic performance criterion with costs associated to the presence of communication links. The problem is formulated as mixed-integer semi-definite problem (MISDP) where the discrete optimization of the network topology subject to communication constraints and embedded subproblems for structured controller synthesis lead to an upper bound for the combined cost. An example is used to illustrate the method.
In this paper we address the question of “Why is it that a mobile robot, programmed in a certain way and placed in some environment to execute a program, behaves in the way it does?”. We present three real world exp...
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In this paper we address the question of “Why is it that a mobile robot, programmed in a certain way and placed in some environment to execute a program, behaves in the way it does?”. We present three real world experiments in which we first obtain transparent controllers to express sensor-motor couplings of a mobile robot. We then use these models to analyze the robot behaviour formally; in particular to understand how the sensor readings are related to motor commands, to evaluate the derived controllers from a mathematical point of view and even to predict the behaviour of the robot in untested environments.
A discrete-time sliding-mode control for the trajectory tracking problem of four driving-steering wheels (4DW/SW) autonomous vehicle SEEKUR is presented in this paper. SEEKUR is a holonomic, all-weather, outdoor robot...
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In this paper, we develop a micro-gripper that actuated by piezoelectric cantilever for the need of micro parts assembly. The displacement-voltage relationship model is given. For hysteresis of piezoelectric ceramic, ...
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In this paper, we develop a micro-gripper that actuated by piezoelectric cantilever for the need of micro parts assembly. The displacement-voltage relationship model is given. For hysteresis of piezoelectric ceramic, we present a mix control algorithm, which employs the hysteresis offset control model based on Dahl and PID control model. The results of micro-assembly prove that the model is efficiency.
Achieving high performance optimization algorithms for embedded applications can be very challenging, particularly when several requirements such as high accuracy computations, short elapsed time, area cost, low power...
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Abstract This paper describes the development of an active vibration control system for a light and flexible stress ribbon footbridge. The 13 m span Carbon Fiber Reinforced Plastics (CFRP) stress ribbon bridge was bui...
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Abstract This paper describes the development of an active vibration control system for a light and flexible stress ribbon footbridge. The 13 m span Carbon Fiber Reinforced Plastics (CFRP) stress ribbon bridge was built in the laboratory of the department of Civil and Structural engineering, Berlin Institute of Technology. Its lightness and flexibility result in high vibration sensitivity. To reduce pedestrian-induced vibrations, very light pneumatic muscle actuators are placed at handrail level introducing control forces. First, a reduced discretized analytical model is derived for the stress ribbon bridge. To verify the analytical prediction, experiments without feedback control are conducted. Based on this model, a velocity feedback control strategy is designed to actively control first mode vibrations. To handle the nonlinearities of the muscle actuator a subsidiary nonlinear force controller is implemented based on exact linearisation methods. The stability of the entire closed-loop system with actuator saturation is investigated by the Popov Criterion. control performance is verified by experiments. It is demonstrated that handrail introduced forces can efficiently control the first mode response.
A Sliding Mode (SM) Regulator is proposed for an Antilock Brake System (ABS) control problem by employing Block control SM and regulation concepts. This regulator has robustness against matched and unmatched perturbat...
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The aim of this paper is to design and analyze an observer based on high-order sliding mode to estimate states and unknown inputs in a continuous stirred tank reactor (CSTR). Additionally, the designed HOSM allows to ...
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In this paper, we discuss in time domain the convergence of the iterative process for fractional-order nonlinear systems. The PDα-type iterative learning updating laws are considered. Most of the classical fractional...
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Considering its central importance to sensor networks, time synchronization has received extensive attention by the research community. Nevertheless, we argue in this paper that existing approaches introduce undesirab...
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Considering its central importance to sensor networks, time synchronization has received extensive attention by the research community. Nevertheless, we argue in this paper that existing approaches introduce undesirable trade-offs. For example, while GPS offers excellent accuracy for outdoor deployments, the high cost and power consumption of GPS receivers make them prohibitive to many applications. Message-passing protocols, such as FTSP, introduce different sets of compromises and constraints. In this paper, we present an inexpensive and ultra-low power (
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