This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordi...
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This paper presents an embedded system for autonomous control of iRobot Create that consists of real time target tracking and robot navigation. Tracking and navigation algorithms were implemented using the TI DM6437 E...
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This paper presents an embedded system for autonomous control of iRobot Create that consists of real time target tracking and robot navigation. Tracking and navigation algorithms were implemented using the TI DM6437 EVM board. The robot's performance demonstrates that a visual tracking and navigation can be efficiently and robustly implemented, and TI DSP is suitable for running both algorithms simultaneously due to its low power consumption and high-speed performance. The proposed tools have a steep learning curve, and they can be used as a platform for the further development.
This paper presents a multi-agent algorithm to address the source-seeking problem in which the task is to locate the source of some signal (e.g., a radio transmitter, a location of chemical contamination, etc.). This ...
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A methodology for the design of optimal robust dissipative observers is introduced. The problem is formulated as the minimization of the effect of additive disturbances on the observation error. The ℋ ∞ and the mini...
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A methodology for the design of optimal robust dissipative observers is introduced. The problem is formulated as the minimization of the effect of additive disturbances on the observation error. The ℋ ∞ and the minimal invariant ellipsoid are used as performance criteria. The design procedure is reduced to a finite-dimensional optimization problem subject to a matrix inequality constraint. A comparison example is presented to compare the performance under disturbances of the proposed design methodology with the original one.
A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Part...
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A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Particle Swarm Optimization inspired algorithm. A swarm-user interface is also presented and offers a way for a human operator to interact with and guide the robotic swarm without limiting its emergent intelligence. The architecture is designed as a multi-agent system developed using JADE Framework. Three types of agents were defined: local behaviour agent, social behaviour agent and graphical user interface (GUI) agent. Each robot is associated with a pair of a local and a social behaviour agents which implement the reactive component and the interaction between the robots. The swarm forms a hierarchical structure composed of subswarms and neighbourhoods based on tasks and goals defined by the user or the swarm itself. The GUI agent is used as a link between the human expert and the swarm. The architecture was tested on a swarm of e-puck robots.
This paper describes how the previously developed concept of Pseudo control Hedging (PCH) can be integrated in a Fault Tolerant Flight controller (FTFC) as a safe flight envelope protection system of the first degree....
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This paper considers the problem of using an integral sliding mode strategy to reduce the disturbance terms acting on nonlinear systems in regular form. It is proved that the definition of a suitable sliding manifold ...
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In this paper, a intelligent digital controller is proposed for the nonlinear interconnected systems which are represented by a Takagi-Sugeno (T-S) fuzzy model. For development of the digital controller, it uses a int...
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In this paper, a intelligent digital controller is proposed for the nonlinear interconnected systems which are represented by a Takagi-Sugeno (T-S) fuzzy model. For development of the digital controller, it uses a intelligent digital redesign (IDR) method which finds the digital control gain to minimize the norm between the state variables of the analog and digital closed-loop systems. Also, the sufficient stabilization condition of the digital closed-loop system is derived in terms of linear matrix inequalities (LMIs). Finally, a numerical example is provided to verify the effectiveness of the porposed technique.
We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adap...
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We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.
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