In this paper, we consider the problem of vehicular positioning enhancement with emerging connected vehicles (CV) technologies. In order to actually describe the scenario, the Interacting Multiple Model (IMM) filter i...
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ISBN:
(纸本)9781479980925
In this paper, we consider the problem of vehicular positioning enhancement with emerging connected vehicles (CV) technologies. In order to actually describe the scenario, the Interacting Multiple Model (IMM) filter is used for depicting varies of observation models. A CV-enhanced IMM filtering approach is proposed to locate a vehicle by data fusion from both coarse GPS data and the Doppler frequency shifts (DFS) measured from dedicated short-range communications (DSRC) radio signals. Simulation results state the effectiveness of the proposed approach.
Augmented finite transition systems generalize nondeterministic transition systems with additional liveness conditions. We propose efficient algorithms for synthesizing control protocols for augmented finite transitio...
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A method to ensure recursive feasibility and asymptotic stability for a distributed model predictive control scheme in case of temporary communication failure is presented. The considered networks are made up of dynam...
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This paper considers a consensus problem of linear multi-agent systems with sampled relative outputs of neighboring agents. An observer-based consensus protocol is proposed for solving such problems. A sufficient and ...
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ISBN:
(纸本)9781479947249
This paper considers a consensus problem of linear multi-agent systems with sampled relative outputs of neighboring agents. An observer-based consensus protocol is proposed for solving such problems. A sufficient and necessary condition for consensus is obtained using matrix and sampled control theory. Furthermore, provided that the system of each agent is stabilizable and detectable, a multi-step algorithm is given to design the consensus protocol. Finally, the effectiveness of the theoretical results is demonstrated through a numerical simulation.
The Autonomous Robotic Patrolling and Surveillance environment (AuRoPaS) is a testbed at the automaticcontrol Laboratory of ETH Zurich to experimentally validate tracking, observation, and monitoring strategies for s...
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The Autonomous Robotic Patrolling and Surveillance environment (AuRoPaS) is a testbed at the automaticcontrol Laboratory of ETH Zurich to experimentally validate tracking, observation, and monitoring strategies for security systems. The setup comprises two high performance closed-circuit television (CCTV) cameras and mobile robots to simulate different types of surveillance scenarios. We propose a velocity based model predictive control scheme for the camera movements, which allows us to generate smooth trajectories and acquire stable images from targets. Experimental results demonstrate the successful reference tracking of the camera controller. We illustrate the integration of high level algorithms into the testbed by applying two stochastic patrolling strategies. The patrolling performances are evaluated on a scenario with moving targets visiting prioritized regions.
A load management scheme applied to micro grid, in a smart grid environment is presented in this paper. A smart micro grid simulator is developed and used for the validation of the study. The simulator is provided wit...
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ISBN:
(纸本)9781450329088
A load management scheme applied to micro grid, in a smart grid environment is presented in this paper. A smart micro grid simulator is developed and used for the validation of the study. The simulator is provided with synchronized measurement facility that is wirelessly connected to computational network. The proposed load management scheme is a direct load control adopted as a demand response program executed on frequency based decisions. Copyright 2014 ACM.
This paper presents a method for the on-line identification of the payload carried by a single-link flexible manipulator whose movement is constrained to the vertical plane. The vertical movement of the robot makes th...
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This paper presents a method for the on-line identification of the payload carried by a single-link flexible manipulator whose movement is constrained to the vertical plane. The vertical movement of the robot makes the effect of gravity not negligible, and determines therefore, the non-linear behaviour of the analysed system. The proposed estimator is based on the algebraic derivative approach in the frequency domain. The short period of time it takes for the algorithm to make an estimate, and its low computational burden make it suitable for real-time and adaptive control applications. The proposed estimator is experimentally tested in several situations carefully chosen to reproduce routine operations of the flexible manipulator.
We report on experiments that investigate the dynamics, identification and control of thermoacoustic phenomena in a Rijke tube apparatus. These experiments are relatively simple to construct and conduct in a typical, ...
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This paper is a review of currently identified application possibilities of the inerter in railway vehicle suspensions. We survey the current state of research in the field, including main results, discussions and con...
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