Drive cycle following is important for concept comparisons when evaluating vehicle concepts, but it can be time consuming to develop good driver models that can achieve accurate following of a specific velocity profil...
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Drive cycle following is important for concept comparisons when evaluating vehicle concepts, but it can be time consuming to develop good driver models that can achieve accurate following of a specific velocity profile. Here, a new approach is proposed where a simple driver model based on a PID controller is extended with an Iterative Learning control (ILC) algorithm. Simulation results using a nonlinear vehicle and controlsystem model show that it is possible to achieve very good cycle following in a few iterations with little tuning effort. It is also possible to utilize the repetitive behavior in the drive cycle to accelerate the convergence of the ILC algorithm even further.
Advanced Heavy Water Reactor (AHWR), a large nuclear reactor in which heat removal is based on natural circulation of light water in coolant channels, is described by an 80 th order model for accurate representation ...
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ISBN:
(纸本)9781479971664
Advanced Heavy Water Reactor (AHWR), a large nuclear reactor in which heat removal is based on natural circulation of light water in coolant channels, is described by an 80 th order model for accurate representation of its core neutronics behavior. The model, besides being nonlinear, is stiff and control design and analysis studies for AHWR are accompanied by serious numerical ill-conditioning problems. Hence, there is a strong motivation for obtaining reduced order model for AHWR. In particular, the application of model order reduction based on Davison's and Marshall's dominant mode retention and Singular Perturbation techniques has been explored. Also, their performance, relative to each other, has been assessed by comparing the characteristics of the three model reduction techniques with the characteristics of the original higher order model. All of these three techniques are found to be very effective in obtaining a lower order simpler models for AHWR.
The droop controller is widely used for the parallel operation of inverters. However, the conventional droop controller has a trade-off between the power sharing and the regulations of the output voltage amplitude and...
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Many robot planning approaches use cell decomposition methods for finding a sequence of regions that the robot should traverse. When a fully-actuated robot is used, the robot reference trajectory is simply constructed...
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Many robot planning approaches use cell decomposition methods for finding a sequence of regions that the robot should traverse. When a fully-actuated robot is used, the robot reference trajectory is simply constructed by linking through line segments the middle points of common facets of successive traversed cells. This paper improves this approach by proposing three different optimizations that yield the waypoints through which the robot piecewise linear route is passing. The optimizations use different metrics defined as sums of norms for the linear segments that compose the route. The norms L 1 , L 2 squared and L ∞ are used and standard optimization problems result in each case. Examples are included for showing the usefulness of these optimizations, since shorter routes can be obtained under a negligible computational overhead.
Nowadays automation systems are required to be flexible in order to cope with the ever changing requirements of the applications in terms of complexity, extensibility or dynamism. The use of reconfiguration techniques...
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This paper addresses a collision avoidance problem in a multi-robot system. Each robot has a set of possible trajectories, each trajectory fulfilling its individual task. The trajectories consist of sequences of regio...
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ISBN:
(纸本)9781479978878
This paper addresses a collision avoidance problem in a multi-robot system. Each robot has a set of possible trajectories, each trajectory fulfilling its individual task. The trajectories consist of sequences of regions to be followed, and the time for moving inside each region is known. The problem is to avoid inter-robot collisions by imposing initial time delays for each trajectory. Two solutions are developed, depending on the possibility of imposing a certain trajectory from the available set of paths for each robot. The solutions have the form of mixed integer linear programming optimizations that return the initial time delays and, when necessary, the chosen trajectory for each robot. Finally, we perform a statistical study on the proposed solutions and we conclude that one formulation is preferable to the others.
We propose a novel method for maximum-likelihood-based parameter inference in nonlinear and/or non-Gaussian state space models. The method is an iterative procedure with three steps. At each iteration a particle filte...
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Complementary filters coupled with MEMS IMU are preferred in applications where computational simplicity, low power and low cost is of prime importance. Such algorithms are equipped with fixed filter’s gain, however ...
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In the present paper, a hybrid architecture based on multi-agent systems is proposed, where it is included a module for formal evaluation. This module, allows the processes verification involved in the level/layer/env...
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ISBN:
(纸本)9781479987375
In the present paper, a hybrid architecture based on multi-agent systems is proposed, where it is included a module for formal evaluation. This module, allows the processes verification involved in the level/layer/environment steps. It is also developed a methodology for trajectory tracking based on the generation of a reliable virtual space, on which the navigation takes place under operative conditions (safety and effectiveness). Time processing operations reduction is expected during the inspection.
In this paper, a transformerless PV inverter is proposed, which is formed by adding a neutral leg into conventional half bridge inverter. It consists of one neutral leg and one inverter leg. The presence of the neutra...
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