In this study,we consider an unknown discretetime,linear time-invariant,autonomous system and characterise,the minimal number of discrete-time steps necessary to compute the asymptotic final value of a *** results pre...
In this study,we consider an unknown discretetime,linear time-invariant,autonomous system and characterise,the minimal number of discrete-time steps necessary to compute the asymptotic final value of a *** results presented in this paper have a direct link with the celebrated final value *** apply these results to the design of an algorithm for minimal-time distributed consensus and illustrate the results on an example.
For concurrent consideration of reliability and safety of manufacturing systems on the one hand, and flexibility and performance on the other, a specialized control architecture was proposed recently. It consists of a...
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It is popular that there exist multiple objectives in practical control system. To solve this problem, a dynamic multi-objective control algorithm based on NSGA-II is presented. Based on the multi-objective evolutiona...
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ISBN:
(纸本)9781605583259
It is popular that there exist multiple objectives in practical control system. To solve this problem, a dynamic multi-objective control algorithm based on NSGA-II is presented. Based on the multi-objective evolutionary algorithm and the tight relation between the system states of the neighboring sampling instants, a multi-objective iterative compatible control algorithm is proposed which can cope with both the convex/non-convex control problem as well as improve the computing speed. Considering the two objectives speed and energy cost in the control of IPMCs propelled robotic fish, the algorithm is successfully applied to it to illuminate its validity. The result also shows the potential for the multi-objective evolutionary algorithm to the real-time control field.
Due to the benefits of modularity, reusability, and productivity, component-based technology is becoming popular in robot middleware systems. Many component-based robot platforms. This paper reviews the requirements a...
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In this paper, the information consensus filter (ICF) is adapted to non-linear process and measurement models by employing an extended information filter (EIF). The nonlinear ICF is a decentralized estimator, where ea...
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This paper presents a patient specific deformable heart model that involves the known electric and mechanic properties of the cardiac cells and tissue. The accuracy and efficiency of the algorithm was tested for aniso...
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This paper proposes an approach to robust model predictive control for distributed systems with chain *** by the application of a platoon of autonomous vehicles in linear motion, we consider a system structure in whic...
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This paper proposes an approach to robust model predictive control for distributed systems with chain *** by the application of a platoon of autonomous vehicles in linear motion, we consider a system structure in which the dynamics of each subsystem is specified in relative error coordinates and in affine form, considering the input of the preceding subsystem as disturbance(since locally not known a-priori). Employing principles of RMPC suggested before by Kerrigan et al. for the case of non-distributed systems, we first show how robust strong feasibility can be guaranteed for the distributed case. The drawback of this approach is that the zone of robustness is obtained in a relatively conservative form, and that the control error, in general, cannot be forced to zero. Thus,in the second part, we include a scheme for communicating predicted control trajectories between the subsystems in order to improve the control performance and to render the solution less conservative.
Concurrent access among multiple mobile readers brings about a new problem called reader collision that a readerpsilas transmission is interfered by the others. There have been several works to solve the reader collis...
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Concurrent access among multiple mobile readers brings about a new problem called reader collision that a readerpsilas transmission is interfered by the others. There have been several works to solve the reader collision problem. While they employ time division, frequency division, space division, or centralized scheduling approach, in this paper, we introduce a cooperative, distributed reader collision avoidance algorithm. In particular, it is suitable for energy-efficient wireless mobile network environment cooperated with RFID, since the proposed DiCa (Distributed Tag Access with Collision-Avoidance) is capable of not only avoiding collisions but also changing power state autonomously through only distributed simple interactions between adjacent readers.
Based on Gaussian basis functions, a new method for calculating the Hamilton-Jacobi-Bellman equation for deterministic continuous-time and continuous-valued optimal control problems is proposed. A semi-Lagrangian disc...
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Based on Gaussian basis functions, a new method for calculating the Hamilton-Jacobi-Bellman equation for deterministic continuous-time and continuous-valued optimal control problems is proposed. A semi-Lagrangian discretization scheme is used to obtain a discrete-time finite-state approximation of the continuous dynamics. The value function of the discretized system is approximated by a Gaussian network. Limit behavior analysis provides a proof of convergence for the scheme. The performance of the presented approach is demonstrated for an underpowered inverted pendulum as numerical ***, a comparison to the approximation by continuous piecewise affine functions(the current state of the art) shows the benefits of the approximation technique proposed here.
Due to advantages in enough number of channels and favorable bandwidth, 2.4 GHz ISM band is used as the most prevalent band for the IEEE802.15.4 LR-WPAN. However, there are an increasing number of other devices and sy...
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Due to advantages in enough number of channels and favorable bandwidth, 2.4 GHz ISM band is used as the most prevalent band for the IEEE802.15.4 LR-WPAN. However, there are an increasing number of other devices and systems which may interfere with the IEEE 802.15.4 communication. Therefore, the coexistence issue is one of the most critical challenges for the IEEE 802.15.4. In this paper, we propose an Adaptive Multi-Channel Utilization scheme (AMCU), to enable a WPAN to coexist with other interfering systems. By utilizing multiple channels dynamically, it is possible that an interfered device or coordinator is recovered quickly, avoiding interference during run time as well as during association stage. In addition, in normal state, each device maintains very low duty cycle as in the standard.
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