In this article we extend existing results for the passivity-based design of cooperative control laws to systems with arbitrary relative degree. To this end, we exploit the feedback equivalence of strict feedback syst...
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Reconflgurable guidance and control are major keys for reliable and safe planetary entry of space exploration vehicles. Major challenges in these missions are posed by uncertainties in atmospheric properties like dens...
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The coupled field-circuit model of a linear accelerator is presented in this paper. It is a three-stage construction. The field model was developed with using the finite element method (FEM). The circuit model was obt...
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ISBN:
(纸本)9781424438976
The coupled field-circuit model of a linear accelerator is presented in this paper. It is a three-stage construction. The field model was developed with using the finite element method (FEM). The circuit model was obtained by using basic principles in a variational (Lagrangian) form. The mathematical model has been compared with the physical one.
Lyapunov methods and density functions provide dual characterizations of the solutions of a nonlinear dynamic system. This work exploits the idea of combining both techniques, to yield stability results that are valid...
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Lyapunov methods and density functions provide dual characterizations of the solutions of a nonlinear dynamic system. This work exploits the idea of combining both techniques, to yield stability results that are valid for almost all the solutions of the system. Based on the combination of Lyapunov and density functions, analysis methods are proposed for the derivation of almost input-to-state stability, and of almost global stability in nonlinear systems. The techniques are illustrated for an inertial attitude observer, where angular velocity readings are corrupted by non-idealities.
In this article we extend previous results for backstepping and passivity-based design of cooperative control laws to a class of chained form systems that includes certain driftfree nonholonomic *** exploit the cascad...
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In this article we extend previous results for backstepping and passivity-based design of cooperative control laws to a class of chained form systems that includes certain driftfree nonholonomic *** exploit the cascaded structure and feedback equivalence to passive systems to derive suitable control laws using a modified backstepping methodology.A virtual output is obtained and shared within the group in such a way that full state synchronization for the group is *** a static,strongly connected and balanced communication network we prove stability of the proposed ***,an extension to higher order chained forms is shown,providing a methodology to coordinate general nonholonomic *** effectiveness of the method is demonstrated by synchronizing a collective of unicycles.
Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two r...
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Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.
This work extends the probabilistic roadmap (PRM) framework by efficiently incorporating the force closure (FC) criterion into motion planning. A new FC verification approach is proposed that eliminates the need for t...
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This work extends the probabilistic roadmap (PRM) framework by efficiently incorporating the force closure (FC) criterion into motion planning. A new FC verification approach is proposed that eliminates the need for testing FC in the intermediate configurations of the local planner. The algorithm is tested for special kinds of planar robots that have two wheeled-tip fingers. The wheels are actuated and can roll along the object's edges. We propose a general planning algorithm for this new mechanism without any limitations on the fingers structure and the task. The algorithm is implemented and the simulation results in ADAMS verify the validity of our algorithm.
Ruts formed as a result of vehicle traversal on soft ground are used by expert off road drivers because they can improve vehicle safety on turns and slopes thanks to the extra lateral force they provide to the vehicle...
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Ruts formed as a result of vehicle traversal on soft ground are used by expert off road drivers because they can improve vehicle safety on turns and slopes thanks to the extra lateral force they provide to the vehicle. In this paper we propose a rut detection and tracking algorithm for autonomous ground vehicles (AGVs) equipped with a laser range finder. The proposed algorithm utilizes an extended Kalman filter (EKF) to recursively estimate the parameters of the rut and the relative position and orientation of the vehicle with respect to the ruts. Simulation results show that the approach is promising for future implementation.
Finite-Time stability of Linear Time Invariant systems with matched perturbations using dynamic output feedback is achieved under the assumptions of well-defined relative degree and a known bound of the perturbations....
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Finite-Time stability of Linear Time Invariant systems with matched perturbations using dynamic output feedback is achieved under the assumptions of well-defined relative degree and a known bound of the perturbations. The approach is based on high order sliding modes, using global controllers and differentiator. A separation criteria that allows to detect the convergence of the differentiator and posterior gain adaptation is presented. Analysis of the performance under noise and sampling is presented.
Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and con...
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ISBN:
(纸本)9781615679089
Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and control. In this paper, novel robust control algorithm using Sliding Mode control is presented for a three-dimensional, high Earth orbit satellite formation scenario. The paper presents the comparison of results of three types of Sliding Mode controllers (SMC): the first one is a tan-hyperbolic SMC, the second one is a constant plus proportional rate SMC and the third one is a power rate SMC. Hybrid propulsion system minimises the use of on-board power for close formations. Artificial Potential Field method is used for collision-free path planning of the satellites in the formation. Simulation results show that for the formation flying scenario considered in this study, the constant plus proportional rate SMC and the power rate SMC gives better performance over the tan-hyperbolic SMC. Simulation results prove that for the tetrahedron formation considered in this study, the total control effort is less when the constant plus proportional rate controller and the power rate controller are used compared to the tan-hyperbolic sliding mode controller. Very little formation center movement is observed for the three SMCs.
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