The paper analyses the maximum controlled Invariant Sets of vehicle actuators. In the calculation of the shape of the sets a nonlinear polynomial Sum-of-Squares (SOS) programming method is applied. The aim of the anal...
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ISBN:
(纸本)9781479947287
The paper analyses the maximum controlled Invariant Sets of vehicle actuators. In the calculation of the shape of the sets a nonlinear polynomial Sum-of-Squares (SOS) programming method is applied. The aim of the analysis is to identify the similarities and differences between the different actuator interventions and provide a theoretical basis for their coordination. The maximum controlled Invariant Sets of the steering and the brake control systems are analyzed at various velocities and road conditions. In the analysis the nonlinear characteristics of the lateral tire force are considered with a polynomial approximation. The results of the analysis are illustrated through a simulation example.
A substantial literature exists on the stability and control of 2D systems, including repetitive processes where iterative learning control algorithms designed in this setting have been experimentally verified. Most o...
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This paper proposed an automatic method for the classification of meningioma subtypes based on the unsupervised color segmentation method and feature selection scheme. Firstly, a color segmentation method is utilized ...
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The lack of tracking and storing capabilities for the results of web-based learning activities is an issue that remains unsolved. Transitions or interactions defined by teachers through a set of conditions still requi...
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ISBN:
(纸本)9781479931927
The lack of tracking and storing capabilities for the results of web-based learning activities is an issue that remains unsolved. Transitions or interactions defined by teachers through a set of conditions still require programming skills that stay far beyond the desired final results. In addition to this, authoring tools should bepowerful enough to let lecturers generate contents which are high-quality, interactive, and tuned to each student's cognitive preferences and progress. Availability and processing capabilities, or motivation, relevance, etc., must also be aspects to address in this context. For these reasons, this paper aims to review the existing web application authoring toolkits focusing on distance education. In particular, we analize their main features, requirements and issues, as well as the most promising areas for future improvemenst in this field.
The paper deals with robust model predictive control designed using recurrent neural network. A dynamic neural network is trained to act as the one-step ahead predictor, which is then used successively to obtain k-ste...
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The paper deals with robust model predictive control designed using recurrent neural network. A dynamic neural network is trained to act as the one-step ahead predictor, which is then used successively to obtain k-step ahead prediction of the plant output. Based on the neural predictor, the control law is derived solving a constrained optimization problem. The robustness of the considered predictive scheme is derived using the concept of an error model. Based on the developed robust model, a optimization problem is redefined. Two solutions are portrayed. The first one is to change the cost function in order to consider the robust model of the plant, while the second one is to impose constraints on the process output using derived uncertainty bands.
It is well known that in most bilateral teleoperation systems, variable time-delays arise in the communications. Motivated by this fact, the present work reports the extension to the (asymmetric) variable time-delays ...
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It is well known that in most bilateral teleoperation systems, variable time-delays arise in the communications. Motivated by this fact, the present work reports the extension to the (asymmetric) variable time-delays case of the adaptive controller for bilateral teleoperators with uncertain parameters and constant time-delays, reported in Nuño et al (2010) [Nuño, E., Ortega, R. and Basañez, L. (2010). An adaptive controller for nonlinear teleoperators. Automatica, 46(1), 155–159]. Compared to the previous work, the stability analysis does not rely on the cascade interconnection structure of the local and remote nonlinear dynamics and the linear interconnection map. Instead, the paper employs a different Lyapunov candidate function that incorporates a strictly positive term, the local and remote position error. With the only assumption that a bound of the time-delays is known, the paper also presents a sufficient condition that ensures the asymptotic convergence of position errors and velocities to zero. Some simulations, in free space and interacting with a stiff wall, illustrate the performance of the proposed control scheme in the presence of variable time–delays.
The Z-source neutral point clamped (NPC) inverters can realize buck-boost energy conversion with all satisfying advantages of the three-level inverters. A significant problem related to this topology is the fluctuatio...
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ISBN:
(纸本)9781479940318
The Z-source neutral point clamped (NPC) inverters can realize buck-boost energy conversion with all satisfying advantages of the three-level inverters. A significant problem related to this topology is the fluctuation of the neutral-point potential (NP). However, the previous modulation techniques for this topology cannot achieve the considerate stable voltage. In this paper, based on the analysis of the relationship among the shoot-through duty cycle and the NP voltage, the average NP current, switching frequency capacitor value, a new feed-forward compensator by modifying the shoot-through duty cycle which can improve to balance the NP voltage balancing is proposed. Meanwhile, in consideration of a low voltage gain caused by the NP voltage balance method, a new control method based on a maximum constant boost control method is proposed, which brings the benefits in both high voltage gain and low-frequency ripple. The considerate stable NP voltage and the high voltage gain have been proven in simulation and through experimental results from a prototype converter.
For the actual demand for carbon cycle research in China, from 2012 to 2013, we start the research and development on IPv6-based Chinese terrestrial ecosystem flux research network (CNGI/ChinaFLUX). IPv4/IPv6-based re...
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Due to wide frequency band, the long-distance communication is prone to be jammed by traditional radios. Furthermore, severe interference will lead to serious deterioration of performance. To solve this problem, the p...
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