A solution for a class of multi-robot task allocation problems is presented in this work. The basic problem requires that the robots from a team gather randomly spread samples from an environment and deposit them to a...
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A solution for a class of multi-robot task allocation problems is presented in this work. The basic problem requires that the robots from a team gather randomly spread samples from an environment and deposit them to a storage facility. We focus on a finite-state (discrete) formulation, where the environment is abstracted to a weighted graph, and clusters of samples randomly appear in the nodes of this graph. Under the assumption that a central unit that communicate with all robots exists, we derive algorithmic solutions that simultaneously run on (and exchange information between) the central unit and individual robots. Although these algorithms are derived for a problem with specific assumptions, we include ideas for adjusting the solution for related problems belonging to the same class.
By considering arbitrary Holder p-norms in the state space, the current paper studies the existence of exponentially contractive sets that are invariant with respect to the trajectories of discrete-time switching line...
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ISBN:
(纸本)9781467325301
By considering arbitrary Holder p-norms in the state space, the current paper studies the existence of exponentially contractive sets that are invariant with respect to the trajectories of discrete-time switching linear systems. We first provide necessary and sufficient conditions for testing if state-space sets (characterized by certain attributes such as shape, scaling factor and decreasing rate) are invariant with respect to the trajectories of a given switching system. Next, we synthesize state feedbacks so as the sets characterized by given attributes are invariant with respect to the trajectories of the closed-loop switching system. For the usual Holder p -norms, corresponding to p∈{1,2,∞}, we also discuss the numerical tractability of the theoretical results. A numerical example is included for practical illustration.
The systems from automotive industry contain fast processes that require fast sampling rate. Moreover, the existing digital hardware contains processing registers that have finite precision and the representation can ...
ISBN:
(纸本)9781467347358
The systems from automotive industry contain fast processes that require fast sampling rate. Moreover, the existing digital hardware contains processing registers that have finite precision and the representation can be restricted to a finite number of bits. Thus, the controller must be implemented on these limited word length control units in the context of fast sampling rate. The drawback of the classical discrete time representation appears at high sampling frequency when discrete z- representation of the model can cause instability. This disadvantage is even stronger as the number of bits used for finite word length implementation is smaller. In this paper, a predictive controller designed in discrete time δ domain is proposed and it is successfully applied for a driveline system, considering different word length representation.
Hybrid electric vehicles are one of the most suitable alternative for conventional automobiles. This paper describes a control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to ma...
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ISBN:
(纸本)9789898565211
Hybrid electric vehicles are one of the most suitable alternative for conventional automobiles. This paper describes a control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to maintain a reasonable state of charge (SOC), at the end of the drive cycle. The main goal is to split the requested power from the driver between the internal combustion engine, and the electric motor, such way to decrease the fuel consumption, and to maintain the dynamic performances. The algorithm was tested using Matlab Simulink and ADVISOR interface. The results include statistical comparisons of the standard drive cycles using default model and the modified control strategy.
An algorithmic framework is developed for automatic deployment of car-like robots based on Linear Temporal Logic (LTL) formulae over a set of regions of interest in the environment. The environment and the regions of ...
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In this paper the problem of time-varying network induced delay in industrial applications, such as remote DC motor speed control, is addressed. The goal of this paper is to provide a control design methodology that c...
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This paper presents an optimized FPGA implementation of the 5 step modified space vector modulation algorithm. The algorithm is modeled in Matlab Simulink using System Generator software from Xilinx. After validation ...
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Traditional gradient based methods are used for the estimation of directional field anisotropy and the associated values called coherence/strength that denote the consistency of the orientation. Using a geometric inte...
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We develop a collection of user-friendly MATLAB routines for partitioning a given environment into various types of cell decompositions. The environment is assumed planar, bounded by a convex polygon, and cluttered wi...
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During the last few years automotive actuators have become mechatronic systems in which mechanical components coexist with electronics and computing devices and because pressure control valves are used as actuators in...
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