The paper proposes a systematic way to find the communication structure of cooperative adaptive cruise controllers for vehicle platoons. It investigates under what conditions the controlled vehicles follow asymptotica...
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The paper proposes a systematic way to find the communication structure of cooperative adaptive cruise controllers for vehicle platoons. It investigates under what conditions the controlled vehicles follow asymptotically the time-headway spacing policy. The result is a requirement on the individual vehicle delay, which is a quantity that is directly related to the dynamics of the controlled vehicles. If the delay is too large, communication from vehicles ahead improve the performance of the vehicle within the platoon. This requirement leads to the answer of the question which vehicles have to communicate their velocity to which other vehicles and how should the vehicles combine the information received to asymptotically observe the time-headway requirement.
This paper proposes a self-organising networked controller for disturbance attenuation in multi-agent systems. A disturbance affecting a single agent has some effect on all neighbouring agents through the communicatio...
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This paper proposes a self-organising networked controller for disturbance attenuation in multi-agent systems. A disturbance affecting a single agent has some effect on all neighbouring agents through the communication network. To avoid large disturbance effects, the proposed self-organising controller switches off the communication whenever the effect of the disturbance on the corresponding agent exceeds a given bound. As a consequence, the structure of the networked controller is adjusted to the current disturbance. It is proved that the proposed controller bounds the effect of arbitrary disturbances on all undisturbed agents. The results are illustrated by their application to a robot formation.
Forgetting of old information is an indispensable part of the real-time estimation whenever tracking of the time varying parameters is required. Its realization depends primarily on available knowledge of the paramete...
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Forgetting of old information is an indispensable part of the real-time estimation whenever tracking of the time varying parameters is required. Its realization depends primarily on available knowledge of the parameter dynamics and nature of input excitation. The paper deals with a class of time varying systems in which the parameters can be (due to prior knowledge) partitioned into two or more groups with respect to their distinct speed of variation. Under no further assumptions the Bayesian approach results in a forgetting scheme which permits application of two or more forgetting factors at the same time. Some properties of the algorithm are analyzed and its performance is illustrated with simulation examples.
This paper presents the model–based diagnosis in the framework of discrete–event systems. Timed automata are used as a discrete–event representation which is suitable for consistency–based diagnosis. The diagnosti...
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This paper presents the model–based diagnosis in the framework of discrete–event systems. Timed automata are used as a discrete–event representation which is suitable for consistency–based diagnosis. The diagnostic statement is based on the observation whether the measured event–time sequences are consistent with the timed automata. The diagnostic algorithm can be applied online because it determines the fault occurrence recursively for the measured event–time sequences. The result is applied to diagnose valve faults in a chemical process.
The paper proposes a new structure for fault-tolerant control of nonlinear systems subject to persistent faults. The principle of Internal Model control (IMC) is extended to ensure fault tolerance with respect to faul...
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Infrared (IR) and visible images are commonly used in the detection and tracking of a moving target. A novel contour extraction scheme for a moving vehicle is proposed in this paper. Firstly, a motion segmentation tec...
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This paper is devoted to the construction of wavelet-type transforms with the purpose to represent functions belonging to the Hardy-space H2. The concept of the affine wavelet-transform defined in the space L2 is exte...
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control reconfiguration concerns the problem of finding a new control configuration and new controller parameters after faults have brought the nominal controller out of operation. This paper develops the idea of the ...
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control reconfiguration concerns the problem of finding a new control configuration and new controller parameters after faults have brought the nominal controller out of operation. This paper develops the idea of the generalised virtual actuator, which is a reconfiguration block to be inserted between the faulty plant and the nominal controller. General properties of the reconfigured closed-loop system like the separation principle for the generalised virtual actuator are proved and guidelines are given for the choice of the free parameters. The new reconfiguration scheme includes several ideas that have been recently developed for specific situations and makes it possible to use a uniform reconfiguration algorithm in all these situations. The results are illustrated by presenting a solution to the COSY benchmark problem.
The evaluation of regional geological hazard susceptibility is of great significance to the prevention and control of geological hazard. In this paper, the "4-20"Lushan earthquake disaster area as the resear...
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