In this paper the authors investigated a new trajectory-tracking method for the wheeled mobile robots in the presence of static and dynamic obstacles. The model of steering and obstacle avoidance consists in a system ...
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Differential Ant Stigmergy Algorithm (DASA) is a recent meta-heuristic method which represents an adaptation of Ant Colony Optimization (ACO) to continuous optimization problems. Other adaptations of ACO to continuous...
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This paper proposes a singular perturbation approximation for semistable linear systems. In particular, we derive a novel expression of error systems in the Laplace domain. As a result, we obtain an ℋ 2 -error bound i...
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ISBN:
(纸本)9781479901890
This paper proposes a singular perturbation approximation for semistable linear systems. In particular, we derive a novel expression of error systems in the Laplace domain. As a result, we obtain an ℋ 2 -error bound in terms of the sum of eigenvalues of an index matrix, which coincides with a controllability gramian of the state-derivative. Furthermore, we show that the singular perturbation model appropriately preserves the semistability of the original system and also guarantees the stability of the error system. The efficiency of the proposed method is shown through a numerical example of a Markov chain model approximation.
The method of generalized incremental balanced truncation is introduced in this paper, providing a technique for model reduction of nonlinear systems in which the autonomous part of the vector field is anti-symmetric....
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ISBN:
(纸本)9781467357159
The method of generalized incremental balanced truncation is introduced in this paper, providing a technique for model reduction of nonlinear systems in which the autonomous part of the vector field is anti-symmetric. This approach differs from existing balancing-like reduction techniques in the definition of two novel, incremental energy functions, which provides several advantages. First, stability properties of the reduced-order model can be guaranteed, hereby considering the stability of trajectories for both zero and nonzero input. Second, a computable bound on the reduction error is derived. The reduction technique is illustrated by means of application to an example of a nonlinear electronic circuit.
This paper proposes an approach of digital controller design on microcontrollers based on control surface disretization. As experimental setup a simple system composed of a DC motor, the PWM drive and a encoder was bu...
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This paper is concerned with decentralized control design for uncertain linear systems;the main aim is to reduce computational complexity and/or problem size. Two approaches to robust decentralized control are studied...
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The primary goal of the paper is to demonstrate one way of online realization of experiments with hard real-time control. We describe a new customized solution based on Linux RTAI, RTAI-XML server, Comedi and jRTAILab...
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This paper presents part of material concerning decentralized control, taught in graduate course control of Complex Systems. We present some basic aspects of decentralized control design concerning stability and perfo...
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A difficult challenge in hybrid electric vehicles (HEVs) and full electric vehicles (EVs) is the torque control of externally excited synchronous machines (EESMs). Effective torque control requires an efficient soluti...
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PROFIBUS is a very complex protocol created in 3 layers of the reference communication model. The paper shows experimental way to explain the behaviour of devices on bus under normal traffic and diagnostic events. The...
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