This article presents the problem of finite time state observation for a class of non-linear systems with multiple outputs affected by modeling uncertainties and unknown inputs. The proposed adaptable method is based ...
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This article presents the problem of finite time state observation for a class of non-linear systems with multiple outputs affected by modeling uncertainties and unknown inputs. The proposed adaptable method is based on the non-homogeneous high-order sliding mode control approach. The observability is derived in terms of certain geometric restrictions on the vector fields of the system. A method for the exact reconstruction of the unknown inputs is stated. The method does not require the system to be transformed to any normal form. Simulation results support the proposed method.
Mobile robot path planning is a nondeterministic polynomial time (NP) problem, traditional optimization methods are not very effective to it, which are easy to plunge into local minimum. In this paper, we devise an ev...
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Mobile robot path planning is a nondeterministic polynomial time (NP) problem, traditional optimization methods are not very effective to it, which are easy to plunge into local minimum. In this paper, we devise an evolutionary algorithm to solve the robot path planning problem. In the present work, we propose a method of robot path planning in partially unknown environments based on shuffled frog leaping (SFL) optimization algorithm. The proposed algorithm allows a mobile robot to navigate through static obstacles and finds its path in order to reach from its initial position to the target without collision. We firstly transform the problem of robot path planning into a minimization one, and then define the fitness of a frog based on the positions of the target and the obstacles in the environment. The position of the globally best frog in each iterative is selected, and reached by the robot in sequence. In addition, the environment is partially unknown for the robot due to the limit detection range of its sensors. The robot processor updates its information during the motion. We perform some simulations in different static environments, and the results show that the robot reaches its target with colliding free obstacles. The optimal path is generated with this method when the robot reaches its target. We implement our simulations on khepera II mobile robot in webots™ simulator environment.
A control method for small domestic power plants using renewable energy is described in this paper. This method is not only capable of optimizing the working point of the plant but also implements active power factor ...
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This article deals with the control of mobile embedded devices via wireless transceiver. The only way how to control the mobile devices such as robots, is to use a wireless data transfer. The possible wireless transce...
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Although resting state fMRI seems an ideal tool for investigating clinical populations, especially in case of reduced cooperation or tolerance, unbiased methods with high sensitivity for disease relevant pathologies r...
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This paper addresses the computation of the L2-induced gain for switched linear systems. The main contribution of the paper is to completely characterize the induced gain of a switched system though a differential ine...
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The exploration and three dimension map building of mobile robot tasks in an unknown environment are normally do not have any future reference information. The mobile robot has to estimate positions and poses itself. ...
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The exploration and three dimension map building of mobile robot tasks in an unknown environment are normally do not have any future reference information. The mobile robot has to estimate positions and poses itself. Finding the distinguishable objects in environment are also required in order to create the pose reference points. Therefore, the selected sensors and register mapping algorithm are significant. The sensors which can provide both of depth and image data are still deficient. Recently, the Photonic Mixture Device camera (PMD) is a three dimension sensor which generates real-time high rate volume output of surrounding scenario as well as gray scale data. However, one PMD camera drawback is low resolution output. From this problem, the idea to fusion another high resolution CCD camera to PMD depth data is purposed. In this study hence presents the mobile robot exploration using integration of CCD and PMD camera in order to create the three dimension mapping. The Iterative Closest Point (ICP) algorithm is used for matching clouding points and minimizing the interval pose of the two scans. Eventually, the difference three dimension mapping output between fusion CCD camera and use only pure depth data are presented and evaluated.
This paper aims to improve the performance of cooperative simultaneous localization and mapping (SLAM) by fusing multiple vehicles' local maps in a distributed manner. The information consensus filter is used to c...
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This paper deals with possibilities of manual control of wheeled robots. The problem is tested on a robot- soccer application. The manual computer-assisted control module creates an interface between game controller a...
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Current on-line wave-net learning algorithm adapts the primary identified process model with the new changes in time varying processes without a consideration of abnormal situations in the process operation. Therefore...
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ISBN:
(纸本)9781424467600
Current on-line wave-net learning algorithm adapts the primary identified process model with the new changes in time varying processes without a consideration of abnormal situations in the process operation. Therefore, if a disturbance occurs and makes changes in the process, current on-line learning updates the primary model to an unsuitable model. This paper proposes a procedure that first determines normal variations of time-varying processes from abnormal variations incorporating an adaptive dynamic principal component analysis (Adaptive DPCA) and updates the model only based on normal variations. A double continuously stirred tank reactors (CSTR) case study is invoked to show the effectiveness of the proposed approach. The results show the effectiveness of the method.
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