In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are desi...
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In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are designed to guarantee consensus over undirected network. By jointly researching the effects of agent dynamics and network topology, allowable delay bounds depending on the maxima of concave functions are easy to calculate. Especially, the maximum delay bound is derived when the network topology is completely connected. The main approach for the same involves designing the control gains on the basis of the solution of a parametric algebraic Riccati equation. Finally, the theoretical results are demonstrated via numerical simulations.
Clay products are formed by pressing raw clay bodies. The resulting green ware products contain a certain amount of water that varies around 20% by mass. Before entering the next production phase the water has to be r...
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Clay products are formed by pressing raw clay bodies. The resulting green ware products contain a certain amount of water that varies around 20% by mass. Before entering the next production phase the water has to be removed from the green ware. This is attained by convection drying. Since the energy consumed in a drying process represents a significant part of the total energy consumed for production of clay products the optimisation of the drying process is especially sensible. We are focusing on the possibilities for reducing the energy consumption that are reached by introduction of a proper control of the process. Both theoretical and experimental analyses of the process serve for proper design of a control system, whose functions and the fmal goal are all finally proved in practice.
This paper concerns the integration of demand balance control and traffic flow coordination control in a hierarchical framework for complex urban traffic networks. At the first level, a complex traffic network is firs...
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In this paper a modeling method and a control approach is proposed for minimising both travel times and traffic emission on freeways. A simulation-based investigation among emission models is performed to determine th...
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This paper proposes an online reconfiguration method for discrete event systems described by nondeterministic Input/Ouput automata. The method modifies the control law to circumvent the effects of sensor and internal ...
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This paper proposes an online reconfiguration method for discrete event systems described by nondeterministic Input/Ouput automata. The method modifies the control law to circumvent the effects of sensor and internal system failures. It is based on a necessary and sufficient reconfigurability condition published recently. The main result is an online reconfiguration procedure that is based on backward and forward recovery strategies for discrete event systems subject to faults. After a failure has occurred, checkpoint states and control laws are iteratively computed until a state is found from which the process can be resumed. The applicability of the approach is demonstrated on a “pick & place system”.
Process monitoring of the substrate surface condition of nonlinear, unstable, uncertain reactive sputter processes is crucial for reproducible film forming. But the substrate state is not easily measurable during depo...
Process monitoring of the substrate surface condition of nonlinear, unstable, uncertain reactive sputter processes is crucial for reproducible film forming. But the substrate state is not easily measurable during deposition. This contribution proposes a new method to design a nonlinear reduced interval observer based on the Berg model including uncertain process parameters. A lower and an upper estimate are generated, and the thereby defined interval is guaranteed to contain the plant state. The input-to-state stability, the framer property and the accuracy of the interval observer are proven. Simulation studies show the applicability of the proposed design method by a narrow estimated interval width.
The paper proposes the modeling and control design of a variable-geometry suspension system. The goal of the modification of wheel camber is to track road trajectory and enhance the lateral stability of the vehicle. T...
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The paper proposes the modeling and control design of a variable-geometry suspension system. The goal of the modification of wheel camber is to track road trajectory and enhance the lateral stability of the vehicle. The purpose of the system is to assist the driver to perform various maneuvers by influencing the camber angles of the rear wheels. First a tyre model and a dynamical model of the suspension are described. Second, the uncertainties of the system, which are considered at the control design of a variable-geometry suspension are formalized. The control design is based on the robust H ∞ /μ method, which meets the performance specifications and guarantees robustness against model uncertainties.
This paper extends an event-based method for the cooperative control of two mobile objects to cope with unknown signal delays induced by the communication network and the computation times of the controllers. The obje...
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ISBN:
(纸本)9781665436601
This paper extends an event-based method for the cooperative control of two mobile objects to cope with unknown signal delays induced by the communication network and the computation times of the controllers. The objects are locally controlled and move autonomously along their planned trajectories. The first object called the stand-on object can freely change its trajectory at any time. The second object named the give-way object has to adapt its trajectory to avoid collisions by invoking communication at event time instants. It is provided with an event-based control unit introduced in a previous paper. Whereas the signal delays were neglected in earlier publications, in this paper these delays are considered and the event generation is improved accordingly. An event-based delay estimator generates an estimate of the signal delays, which is utilised for the event generation by using a two-state Markov model that represents the properties of the network. The event-based approach is derived by combining methods from communication technology and control theory. A simulation study with two quadrotors shows the benefits of the method.
This paper proposes a method for the trajectory planning of an unmanned aerial vehicle (UAV) acting as an aerial base station of a communication network. The UAV base station provides wireless communication for moving...
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This paper proposes a method for the trajectory planning of an unmanned aerial vehicle (UAV) acting as an aerial base station of a communication network. The UAV base station provides wireless communication for moving ground vehicles with different quality-of-service (QoS) requirements. The ground vehicles follow locally planned trajectories, which are communicated to the aerial base station. The UAV possesses a network estimator which determines the channel properties between the UAV and each ground vehicle. Whenever the QoS deceeds a threshold the UAV trajectory is changed based on this estimate by a trajectory planning unit in a way to fulfil all individual QoS requirements of the ground vehicles if possible. In contrast to literature, this approach considers the communication relay between moving vehicles with different QoS requirements. The performance of the method is demonstrated in a simulation study.
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