This paper presents a new method for control reconfiguration of nonlinear, inputaffine systems subject to actuator failures. For full-state linearizable systems it is shown that after the occurrence of an actuator fai...
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作者:
M PłaczekM MaćkowskiP NowakSilesian University of Technology
Faculty of Mechanical Engineering Institute of Engineering Processes Automation and Integrated Manufacturing Systems Konarskiego 18A 44-100 Gliwice Poland Silesian University of Technology
Faculty of Automatic Control Electronics and Computer Science Institute of Informatics Akademicka 16 44-100 Gliwice Poland
The goal of presented work was to build an electronic device in order to test the effectiveness of different EMC-improving solutions. Three EMC tests were done in order to check the created device compliance with the ...
The goal of presented work was to build an electronic device in order to test the effectiveness of different EMC-improving solutions. Three EMC tests were done in order to check the created device compliance with the electromagnetic compatibility directive. Each of them was conducted for both industrial and non-industrial parameters (voltage and field strength), according to IEC PN-EN 61000 standards. Three tests were done: conductive immunity test in EM clamp, radiated immunity test in GTEM chamber, radiated emission test in GTEM chamber. Firstly, the device's conductive immunity was examined. The set of possible solutions was created by examining existing designs, papers, books and producers' recommendations. In result, different component configurations were chosen to determine the most EMC-effective one. Next, electromagnetic compatibility of proposed device configurations was tested in the GTEM chamber (radiated immunity and radiated emission). Tests results are presented on charts and analysed in order to verify if designed device face requirements of the electromagnetic compatibility directive. It was verify which of proposed electromagnetic compatibility improving solutions can solve problems with electromagnetic compatibility.
Robust Principal Component Analysis (RPCA), which is a popular parsimony model, is becoming increasingly important for researchers to do data analysis and prediction. The RPCA formulation is made of two components: sp...
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The main objective of the synchronization of multi-agent systems is the asymptotic convergence of the agents towards a common trajectory. This paper considers the synchronization of linear discrete-time agents over a ...
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The main objective of the synchronization of multi-agent systems is the asymptotic convergence of the agents towards a common trajectory. This paper considers the synchronization of linear discrete-time agents over a network in which only point-to-point connections are allowed. The main result is a new control algorithm designed to ensure asymptotic synchronization of the networked agents. The control algorithm of each agent works in the following steps: (i) establish a coupling to a neighboring agent that is currently not connected to another agent. (ii) synchronize the coupled agents in finite time and search for another agent to be coupled. A deterministic coupling of the agents is required and achieved by the use of a periodically changing coupling sequence. Considering the synchronization of integrators reveals the similarity to a gossiping algorithm. However, this paper extends the results reported in the literature because a necessary and sufficient condition for the synchronization of discrete-time multi-agent systems with arbitrary linear dynamics is presented.
Social computing, as the technical foundation of future computational smart societies, has the potential to improve the effectiveness of opensource big data usage, systematically integrate a variety of elements includ...
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Social computing, as the technical foundation of future computational smart societies, has the potential to improve the effectiveness of opensource big data usage, systematically integrate a variety of elements including time, human, resources, scenarios, and organizations in the current cyber-physical-social world, and establish a novel social structure with fair information, equal rights, and a flat configuration. Meanwhile, considering the big modeling gap between the model world and the physical world, the concept of parallel intelligence is introduced. With the help of software-defined everything, parallel intelligence bridges the big modeling gap by means of constructing artificial systems where computational experiments can be implemented to verify social policies, economic strategies, and even military operations. Artificial systems play the role of "social laboratories" in which decisions are computed before they are executed in our physical society. Afterwards, decisions with the expected outputs are executed in parallel in both the artificial and physical systems to interactively sense, compute, evaluate and adjust system behaviors in real-time, leading system behaviors in the physical system converging to those proven to be optimal in the artificial ones. Thus, the smart guidance and management for our society can be achieved.
In this paper, we investigate the trajectory tracking problem for the 6-DOF quadrotor aircraft with both internal uncertainties and external disturbances. The nonlinear system model is established based on Modified Ro...
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This paper concerns the design of the communication structure of a self-organizing networked controller of multi-agent systems. The agents have individual dynamics, are unidirectionally coupled within a basic communic...
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ISBN:
(纸本)9781467371605
This paper concerns the design of the communication structure of a self-organizing networked controller of multi-agent systems. The agents have individual dynamics, are unidirectionally coupled within a basic communication structure and have to follow a command signal. To avoid large control errors and to simultaneously reduce the communication effort, the agents request additional information from other agents, only if their local control error exceeds a given bound. As a consequence, the communication topology of the overall system is adjusted to the current control task and, as a result of the self-organization, presents an image of the currently acting command signal. A quantitative bound of the control error is used to develop an algorithm for designing the communication structure and the activation condition for the information request. The approach is demonstrated by its application to a robot formation problem.
This paper presents a self-organizing networked controller for the disturbance attenuation in physically inter-connected systems. To avoid large control errors, the local controllers send information to the other loca...
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ISBN:
(纸本)9781467371605
This paper presents a self-organizing networked controller for the disturbance attenuation in physically inter-connected systems. To avoid large control errors, the local controllers send information to the other local controllers, if the coupling input to their corresponding subsystem exceeds a given bound. As a consequence, the communication topology is adjusted to the current control task and presents an image of the acting disturbances at all times. It is proven that the self-organizing controller leads to a practically stable overall system and that the effect of the disturbance can be bounded by an appropriate choice of the information activation condition. The approach is demonstrated by its application to a thermofluid process.
A PID regulator tuning method is introduced for HAMMERSTEIN and WIENER type block-oriented cascade factorable nonlinear models. Then the YOULA-parameterization approach is discussed which allows to develop an observer...
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