In autonomous distributed robot systems, many robots cooperate together to carry out many difficult tasks that single robot cannot realize. But, in order to cooperate together the robots should communicate with each o...
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In autonomous distributed robot systems, many robots cooperate together to carry out many difficult tasks that single robot cannot realize. But, in order to cooperate together the robots should communicate with each other. Therefore, the communication among robots is very important problem to be solved. In this paper, we propose and evaluate an adaptive reservation-time division multiple access (AR-TDMA) medium access control protocol. We carried out computer simulation to evaluate the performance of proposed protocol. The simulation results show that the proposed protocol has better transmission characteristics compared with a conventional protocol.
It is shown that for open-loop stable plants the task of an MPC can be solved by identifying the plant model only instead of the redundant prediction model. Interesting structural considerations can be derived from co...
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It is shown that for open-loop stable plants the task of an MPC can be solved by identifying the plant model only instead of the redundant prediction model. Interesting structural considerations can be derived from comparison of the topologies and structural forms of regulators obtained by pole-placement design, the GTDOF scheme and the MPC . A new simple method is also introduced for adaptive and combined iterative identification and control for time-delay plants.
This paper considers an algebraic approach for selection of the control structure aiming at facilitating the design of decentralised control schemes. This requires the selection of inputs, outputs, as well as their co...
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This paper considers an algebraic approach for selection of the control structure aiming at facilitating the design of decentralised control schemes. This requires the selection of inputs, outputs, as well as their coupling that will allow the generic solvability of a variety of decentralised control problems. The approach is based on the use of necessary and sufficient conditions for generic and exact solvability of decentralised control problems, expressed in terms of properties of Plücker invariants and Markov type matrices. The results lead to a classification of desirable input and output partitions and a parametric design of structural invariants.
Fault diagnosis is a challenging task in the control of hybrid systems. In this work we present a methodology for detection and isolation of faults to hybrid control systems using a diagnoser. For this purpose a gener...
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Fault diagnosis is a challenging task in the control of hybrid systems. In this work we present a methodology for detection and isolation of faults to hybrid control systems using a diagnoser. For this purpose a general framework is proposed. We discuss the notion of diagnosability of hybrid systems in the framework of hybrid input output automata (HIOA), imposing the conditions for a hybrid system to be diagnosable. The diagnoser is designed using hybrid structure hypothesis tests. The states of the hybrid system model reflect the normal and the failed status of the system components. This approach is applicable to a wide range of real systems since hybrid systems involve both continuous and discrete dynamics
Oscillation of the cerebral blood flow (CBF) is a common feature in several physiological or pathophysiological states of the brain. It is promising to identify the disorders of the cerebral circulation based on the c...
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Dynamic optimization by multiple shooting requires integration and sensitivity calculation. A new semi-implicit Runge-Kutta algorithm for numerical sensitivity calculation of index-1 DAE systems is presented. The algo...
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Dynamic optimization by multiple shooting requires integration and sensitivity calculation. A new semi-implicit Runge-Kutta algorithm for numerical sensitivity calculation of index-1 DAE systems is presented. The algorithm calculates sensitivities with respect to problem parameters and initial conditions, exploiting the special structure of the sensitivity equations. The algorithm is a one-step method which makes it especially efficient compared to multiple-step methods when frequent discontinuities are present. These advantages render the new algorithm particularly suitable for dynamic optimization and nonlinear model predictive control. The algorithm is tested on the Dow Chemicals benchmark problem.
This paper is concerned with the stability of uncertain linear systems with mixed neutral and discrete delays. The uncertainty under consideration is of polytopic type. A new analysis approach which combines the descr...
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This paper is concerned with the stability of uncertain linear systems with mixed neutral and discrete delays. The uncertainty under consideration is of polytopic type. A new analysis approach which combines the descriptor system transformation and relaxation matrix is proposed to derive some less conservative stability criteria. The criteria are dependent on both neutral delay and discrete delay. Numerical examples are given to indicate improvements over some existing results.
Switching adaptive control scheme is developed, which provides global asymptotic stability property with respect to state vector of the plant with functional uncertainty. In the presence of disturbance the scheme ensu...
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Switching adaptive control scheme is developed, which provides global asymptotic stability property with respect to state vector of the plant with functional uncertainty. In the presence of disturbance the scheme ensures boundedness of all trajectories of the system. Under some mild conditions proposed solution ensures convergence of state vector of the plant to specified neighborhood of the origin for arbitrary initial conditions and bounded disturbances.
This paper discusses walking control of Theta, an innovative humanoid walking robot equipped with a double spherical hip joint and a knee joint switchable between active and passive operation mode, which has been deve...
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This paper discusses walking control of Theta, an innovative humanoid walking robot equipped with a double spherical hip joint and a knee joint switchable between active and passive operation mode, which has been developed at the University of Tokyo. The walking generator and controller are presented, including some implementation aspects. It is based on the inverted pendulum approach with the innovative feature of fully using the double support phase for the walking generation and control. A method for estimating the body orientation without using gyroscopes and accelerometers is also proposed, together with the main ideas regarding the control of the active/passive knee. Relevance to practical application is proved by hardware experiments
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