Over the last decade, the relationship between humans and cyber-physical systems has grown closer, particularly in fields such as manufacturing and transportation. This paper presents a control framework within the en...
详细信息
ISBN:
(数字)9798331509644
ISBN:
(纸本)9798331509651
Over the last decade, the relationship between humans and cyber-physical systems has grown closer, particularly in fields such as manufacturing and transportation. This paper presents a control framework within the engineering domain, wherein a human operator collaborates with a swarm of unmanned aerial vehicles (UAVs) to achieve a shared goal. First, we construct a human-swarm mutual trust model that empowers both parties with a degree of autonomy. Second, we adopt a distributed optimization algorithm integrated with control barrier functions to manage the swarm's motion. The cooperative control framework is demonstrated in a 3D scenario, and simulation results verify the feasibility of the proposed method.
This paper gives a novel differential game scheme to solve the collision avoidance problem for multi-agent *** on the concept of artificial potential field(APF),we combine obstacle avoidance objectives with trajectory...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
This paper gives a novel differential game scheme to solve the collision avoidance problem for multi-agent *** on the concept of artificial potential field(APF),we combine obstacle avoidance objectives with trajectory optimization targets as the performance *** feedback strategies are based on the solutions of coupled Riccati ***,it is proved that the feedback strategies will converge to a Nash equilibrium(NE).Finally,simulation results are provided to show the advantages,which make agents arrive at the targeted position collision-free with a reduced time.
Pickup vehicle scheduling in the steel logistics park is a critical issue in determining the outbound effciency of steel products. Steel products are distributed in the yards of the steel logistics park with mixed sto...
详细信息
Real-time estimation of State of Charge (SOC) for lithium-ion batteries is one of the core technologies in Battery Management Systems (BMS). Accurate SOC estimation is fundamental for managing lithium-ion batteries. I...
详细信息
To address sub-synchronous oscillation (SSO) issues caused by grid-connected direct-drive permanent magnet synchronous generators(D-PMSGs),this study proposes a suppression strategy that replaces the current inner loo...
详细信息
The photovoltaic grid-connected inverter is an important interface between the photovoltaic power generation system and power *** high-quality operation is directly related to the output power quality of the power ***...
详细信息
The photovoltaic grid-connected inverter is an important interface between the photovoltaic power generation system and power *** high-quality operation is directly related to the output power quality of the power *** order to further optimize the control effect of the quasi-Z source grid-connected photovoltaic inverter,a fuzzy proportional complex integral control(PCI)method is proposed for the current internal loop *** method can eliminate the steady-state error,and has the characteristic of zero steady-state error adjustment for the AC disturbance signal of a specific *** inductance-capacitance-inductance(LCL)filter is adopted in the grid-connected circuit,and the feedback capacitive current is taken as the control variable of the inner loop to form the active damping control method,which can not only effectively suppress the resonance of the LCL circuit,but also significantly inhibit the high-order harmonics in the grid-connected ***,a system simulation model is built in MATLAB/Simulink to verify the superiority and effectiveness of the proposed method.
This paper considers the problem of estimating unknown sparse time-varying signals for stochastic dynamic *** deal with the challenges of extensive sparsity,we resort to the compressed sensing method and propose a com...
详细信息
This paper considers the problem of estimating unknown sparse time-varying signals for stochastic dynamic *** deal with the challenges of extensive sparsity,we resort to the compressed sensing method and propose a compressed Kalman filter(KF)*** algorithm first compresses the original high-dimensional sparse regression vector via the sensing matrix and then obtains a KF estimate in the compressed low-dimensional ***,the original high-dimensional sparse signals can be well recovered by a reconstruction *** ensure stability and establish upper bounds on the estimation errors,we introduce a compressed excitation condition without imposing independence or stationarity on the system signal,and therefore suitable for feedback *** further present the performance of the compressed KF ***,we show that the mean square compressed tracking error matrix can be approximately calculated by a linear deterministic difference matrix equation,which can be readily evaluated,analyzed,and ***,a numerical example demonstrates that our algorithm outperforms the standard uncompressed KF algorithm and other compressed algorithms for estimating high-dimensional sparse signals.
In the human pose estimation task, on the one hand, 3-D pose always has difficulty in dividing different 2-D poses if the view is limited;on the other hand, it is hard to reduce the lifting ambiguity because of the la...
详细信息
High cost of environmental interaction and low data efficiency limit the development of reinforcement learning in robotic grasping. This paper proposes an end-to-end robotic grasping method based on offline reinforcem...
详细信息
Deducing the twisting pattern of spreader is very important for crane operators in steel warehouse, since crane spreaders have to be rotated repeatedly at steel bar transport sites. To improve the efficiency of the st...
详细信息
暂无评论