Centrality is widely recognized as one of the most critical measures to provide insight in the structure and function of complex networks. While various centrality measures have been proposed for single-layer networks...
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This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differ...
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ISBN:
(纸本)9781467383479
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization. Using some important properties of these theoretical tools we show that the constraints can be validated at all times. Exact and sub-optimal constructions of the collision avoidance optimization problem are provided. The results are validated through extensive simulations over standard autonomous aerial vehicle dynamics.
In this paper, we analyze the L 2 -gain of a class of switched linear systems under sampled-data state-feedback control. We consider switched linear systems whose switching signal is a regenerative process. Using the ...
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In this paper, we analyze the L 2 -gain of a class of switched linear systems under sampled-data state-feedback control. We consider switched linear systems whose switching signal is a regenerative process. Using the lifting approach and piecewise-constant approximations, we derive a sequence whose limit inferior upper-bounds the L 2 -gain of the closed-loop system. Each term of the sequence can be found by solving a linear matrix inequality. We illustrate the results by the L 2 -gain analysis of a linear system with a failure-prone controller.
The tracking/rejection of periodic disturbances in linear systems is achievable via internal model principle-based techniques, such as repetitive control. However, when the frequency of the signal to track/reject is u...
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ISBN:
(纸本)9781509013159
The tracking/rejection of periodic disturbances in linear systems is achievable via internal model principle-based techniques, such as repetitive control. However, when the frequency of the signal to track/reject is uncertain or time-varying, the performance of these controllers decays dramatically. This article discusses the basics of Model Reference Adaptive control with Minimal controller Synthesis, and assesses its applicability to this problem from a comparative study of the performance of this type of controllers and a repetitive controller, both designed to regulate the speed of a DC motor subject to periodic disturbances. The study is supported by experimental results.
Modern technology offers many opportunities to do things differently and hence a key challenge for academic staff is to decide which technology or approach do they use, how do they use it and of course, why should the...
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A combinatorial approach has been recently proposed for multi-parametric quadratic programming and has shown to be more effective in finding the complete solution than existing geometric methods for higher-order syste...
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A combinatorial approach has been recently proposed for multi-parametric quadratic programming and has shown to be more effective in finding the complete solution than existing geometric methods for higher-order systems. In this paper, we propose a method for exploring the combinatorial tree which exploits some of the underlying geometric properties of adjacent critical regions as the supplementary information in combinatorial approach to exclude a noticeable number of feasible candidate active sets from combinatorial tree. This method is particularly well-suited for cases where many combinations of active constraints are feasible but not optimal. Results indicate that this method can find all critical regions corresponding to non-degenerate multi-parametric programming. A postprocessing algorithm can be applied to complete the proposed method in the cases in which some critical regions might not be enumerated due to degeneracies in the problem.
Hidden Markov models have successfully been applied as models of discrete time series in many fields. Often, when applied in practice, the parameters of these models have to be estimated. The currently predominating i...
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This paper gives a brief survey of several ideas in the literature on how to increase student enthusiasm and engagement with learning by incorporating multimedia production into assignments. A description is given on ...
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This paper examines a new event-triggered control design approach for discrete-time linear parameter-varying (LPV) systems to reduce the data transmission of the scheduling variables and states to the controller. A pa...
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ISBN:
(纸本)9781467386838
This paper examines a new event-triggered control design approach for discrete-time linear parameter-varying (LPV) systems to reduce the data transmission of the scheduling variables and states to the controller. A parameter dependent state-feedback controller and an event-triggering condition are designed jointly to stabilize the closed-loop system. Then, a procedure is proposed to obtain an event-based reference tracking controller for the LPV systems such that the steady-state response of the system output tends to a desired reference signal and the required tracking performance specifications are satisfied. Sufficient conditions for the design of the event-triggered controller are obtained in the form of linear matrix inequalities (LMI). Simulation results are presented to demonstrate the effectiveness of the proposed control design approach.
Due to the difficult characterization of the propagation model, most studies on racking of mobile nodes assume the correct knowledge of the power-distance gradients or the path-loss exponents (PLEs). In this paper, we...
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