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Robust flocking for non-identical second-order nonlinear multi-agent systems

Autonomous intelligent Systems 2021年第1期1卷 81-90页

作者： Xiuxian Li Housheng Su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

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Simulator Design Using a General Purpose PC and Off-The-Shelf Interface Boards for GNSS/INS Integrated Navigation System

Simulator Design Using a General Purpose PC and Off-The-Shel...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Jae Hoon Son Yeong Hye Lee Junwoo Jurug Yongtaek Hwang Jiwoo Hwang Minsu Kim Gyeongmin Park JunMin Park Hoyoung Yoo Chansik Park Sang Heon Oh Sang Jeong Lee Dong-Hwan Hwang Department of Electronics Engineering Chungnam National University Daejeon Korea Department of Intelligent Systems & Robotics Chungbuk National University Daejeon Korea Advanced Technology Laboratory Microinfinity Co. Ltd. Daejeon Korea

When a navigation systems are developed, lots of tests have to be performed. If a simulator is available which can generate signal and data of real environment, huge amount of time and cost can be reduced for development. In this paper, a simulator design method is proposed for GNSS/INS integrated navigation system using a general-purpose PC and OTS interface boards. In order to verify the proposed design method, a simulator of GPS L1 C/A and HG1700AG58 is implemented using a PC with intel i7-8700 CPU, USRP 2952-R, PCI-1780U-AE, FSCC/4-PCIe and LabVIEW2015. The implementation results show that GNSS signal and IMU data can be used for GNSS/INS integrated navigation system design.

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Techno-Economic Assessment of a Large-Scale Electrolysis Plant in Hydrogen and Ancillary Service Markets

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IFAC-PapersOnLine 2024年第13期58卷 140-145页

作者： Yassine Ennassiri Giulio Ferro Michela Robba Gilney Damm Edemar O. Prado DIBRIS—Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova 16145 Italy IMSE Laboratory Gustave Eiffel University Marne-la-Vallée France Power Electronics and Control Research Group GEPOC Federal University of Santa Maria SantaMaria 97105-900 RS Brazil

Hydrogen electrolysis systems have seen considerable interest from energy communities as a potential solution for shifting from fossil-based energy resources to clean energy alternatives. The system consists of transforming electricity into hydrogen via water electrolysis. As it is expected to have a large-scale connection with the grid to compensate the fluctuation of renewables, it is important to understand the system’s technical and economic feasibility. Therefore, this work aims to provide a high-level techno-economic assessment for the participation of a large-scale electrolysis plant in hydrogen and grid ancillary service markets. The plant generates revenue from two sources: hydrogen and frequency regulation. Based on market prices of electricity and hydrogen, a linear programming (LP) optimization has shown that a 50MW electrolysis plant can generate a 33% increase in profit if the plant includes the grid support market in the business model. Additionally, simulations under unstable grid frequency have shown high reactivity of the system to maintain grid stability.

关键词： optimization hydrogen production frequency regulation linear programming

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Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unmanned Aerial Vehicles

Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unm...

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American control Conference (ACC)

作者： Drew Scott Satyanarayana G. Manyam David W. Casbeer Manish Kumar Isaac E. Weintraub Department of Mechanical and Materials Engineering University of Cincinnati Research Scientist Infoscitex corp. a DCS company Dayton OH Air Force Research Laboratory WPAFB Technical Area Lead Cooperative & Intelligent Control Control Science Center OH Air Force Research Laboratory WPAFB Electronics Engineer Control Science Center OH

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which are subject to location-dependent noise restrictions. We solve this problem by searching a constraint tree for which the subproblem at each node is a set of shortest path problems subject to the noise and fuel constraints and conflict zone avoidance. A labeling algorithm is presented to solve this subproblem, including the conflict zones which are treated as dynamic obstacles. We present the experimental results of the algorithms for various graph sizes and number of agents.

关键词： Shortest path problem Heuristic algorithms Noise Search problems Autonomous aerial vehicles Path planning Labeling

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Weakening CO poisoning over size-and support-dependent Pt_(n)/X-graphene catalyst(X=C,B,N,n=1-6,13)

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Rare Metals 2023年第4期42卷 1138-1145页

作者： An-Qi Dong Hui Li Han-Ming Wu Kai-Xiang Li Yuan-Kai Shao Zhen-Guo Li Shu-Hui Sun Wei-Chao Wang Wei-Bo Hu Department of Electronics and Tianjin Key Laboratory of Photo-Electronic Thin Film Device and Technology Nankai UniversityTianjin300071China College of Information Science and Engineering Jiaxing UniversityJiaxing314001China Zhejiang Engineering Research Center of Intelligent Human Health Situation Awareness Jiaxing UniversityJiaxing314001China National Engineering Laboratory for Mobile Source Emission Control Technology China Automotive Technology&Research Center Co.LtdTianjin300300China Institute National de la Recherche Scientifique(INRS) CentreÉnergie Matériaux et TélécommunicationsVarennesQuébecJ3X 1P7Canada College of Electronic Information and Optical Engineering Nankai UniversityTianjin300071China

CO poisoning is one of the obstacles for platinum catalysts toward the electro-catalysis process for proton exchange membrane fuel cell(PEMFC)or direct methanol fuel cell(DMFC).Herein,we aim to weaken the CO poisoning... 详细信息

关键词： sizes methanol size

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LIRS-ArtBul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform 1

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7th International Conference on Interactive Collaborative robotics, ICR 2022

作者： Apurin, Artem Abbyasov, Bulat Safarova, Liaisan Dobrokvashina, Alexandra Tsoy, Tatyana Martínez-García, Edgar A. Magid, Evgeni Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University Kremlyovskaya Str. 35 Kazan420111 Russia Institute of Engineering and Technology Department of Industrial Engineering and Manufacturing Autonomous University of Ciudad Juarez Zona Pronaf Condominio Manuel Díaz H. No. 518-B Chihuahua Cd Juárez32315 Mexico Tikhonov Moscow Institute of Electronics and Mathematics HSE University Tallinn Str 34 Moscow123458 Russia

ISBN: (数字)9783031236099

ISBN: (纸本)9783031236082

Service robotics is a promising area of commercializing robotic solutions of various kinds, from education and medical services to entertainment and advertisement. It might be useful to construct a series of different specialized service robots that have a modular construction and share the same chassis. Such approach allows to reuse encapsulated locomotion libraries instead of their development from scratch for each model of a robot and easily add or replace particular robot modules depending on a target task or an operational environment. This paper provides a tutorial on developing an omnidirectional mecanum wheeled chassis for a modular multipurpose robotic platform. We describe a chassis design, modelling in Blender, selection of components, assembly process and basic locomotion software development. We used Gazebo simulator for robot behaviour emulation due to its support of the Robot Operating System (ROS). For control Raspberry PI 4 and Arduino Mega2560 modules were employed. The chassis model behavior was validated in virtual environments of Gazebo and, after assembling, in real world locomotion scenarios. The chassis will be further employed in development of several new in-house mobile platforms, which could serve for particular purposes within the service robotics field. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Mobile robots

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Stability analysis of systems with two additive time-varying delay components via the zero-valued equations 48

Stability analysis of systems with two additive time-varying...

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48th Annual Conference of the IEEE Industrial electronics Society, IECON 2022

作者： Liu, Meng He, Yong Jiang, Lin School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Liverpool Department of Electrical Engineering & Electronics LiverpoolL69 3GJ United Kingdom

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

In the case of introducing the double integral state into the augmented vector, the time-varying delay square terms in the derivative of the Lyapunov-Krasovskii functional (LKF) usually needs to be treated with some negative-determination lemmas in the existing literatures, which are only sufficient conditions and are conservative to some extent. In this work, by introducing some new augmented variables, some zero-valued equations are proposed to avoid the appearance of these time-varying delay square terms, which have great potential to reduce the conservatism. Then, a stability result in terms of linear matrix inequalities is derived via the presented zero-valued equations. Finally, a representative example is provided to testify the usefulness and meliority of the raised stability criterion. © 2022 IEEE.

关键词： Additives

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Eco-Friendly 0G Networks: Unlocking the Power of Backscatter Communications for a Greener Future

arXiv

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arXiv 2024年

作者： Javaid, Shumaila Fahim, Hamza He, Bin Saeed, Nasir Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji University Shanghai201210 China Department of Electrical and Communication Engineering College of Engineering UAE University Al-Ain15551 United Arab Emirates

Backscatter Communication (BackCom) technology has emerged as a promising paradigm for the Green Internet of Things (IoT) ecosystem, offering advantages such as low power consumption, cost-effectiveness, and ease of deployment. While traditional BackCom systems, such as RFID technology, have found widespread applications, the advent of ambient backscatter presents new opportunities for expanding applications and enhancing capabilities. Moreover, ongoing standardization efforts are actively focusing on BackCom technologies, positioning them as a potential solution to meet the near-zero power consumption and massive connectivity requirements of next-generation wireless systems. 0G networks have the potential to provide advanced solutions by leveraging BackCom technology to deliver ultra-low-power, ubiquitous connectivity for the expanding IoT ecosystem, supporting billions of devices with minimal energy consumption. This paper investigates the integration of BackCom and 0G networks to enhance the capabilities of traditional BackCom systems and enable Green IoT. We conduct an in-depth analysis of BackCom-enabled 0G networks, exploring their architecture and operational objectives, and also explore the Waste Factor (WF) metric for evaluating energy efficiency and minimizing energy waste within integrated systems. By examining both structural and operational aspects, we demonstrate how this synergy enhances the performance, scalability, and sustainability of next-generation wireless networks. Moreover, we highlight possible applications, open challenges, and future directions, offering valuable insights for guiding future research and practical implementations aimed at achieving large-scale, sustainable IoT deployments. © 2024, CC BY-SA.

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Extension Principle and controller Design for Nonlinear Systems

Extension Principle and Controller Design for Nonlinear Syst...

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European control Conference (ECC)

作者： Altuğ İftar Farshad Khorrami Department of Electrical and Electronics Engineering Eskişehir Technical University Eskişehir Turkey Department of Electrical and Computer Engineering Control/Robotics Research Laboratory (CRRL) New York University 5 Metrotech Center Brooklyn NY U.S.A.

We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter, we present the necessary and sufficient conditions for a system to be an extension of another and show that when the expanded system is an extension of the original system, any controller designed for the expanded system can be contracted for implementation on the original system. Subsequently, we demonstrate how an overlappingly decomposed NLTI system can be expanded so that the expanded system is an extension of the original system, how decentralized controllers can be designed for the expanded system, and how these controllers can be contracted for implementation on the original system. An example is also provided to illustrate the extension and contraction concepts and show controller design using the proposed principles.

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A Sub-mother UAV System Capable of Autonomous Aerial Docking

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年

作者： Li, Gang Lu, Yi He, Bin Pang, Tao Cheng, Bin Zhang, Pengpeng College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai200120 China Shanghai Sunshine Rehabilitation Center Shanghai201613 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai200120 China East China Institute of Computing Technology Shanghai201822 China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China College of Electronic and Information Engineering Tongji University Shanghai China

Completing the docking between two multi-rotor unmanned aerial vehicles (UAVs) in the air has great significance for expanding the application scenarios of multiple UAVs and improving their endurance capability. In this regard, this paper first designs a safe and autonomous docking scheme and constructs a sub-mother UAV *** address the issue of unstable flight in downwash airflow, this paper designs a high-performance control method suitable for the sub-mother UAV system based on Incremental Nonlinear Dynamic Inversion (INDI) and achieves robust attitude control with strong disturbance rejection capability. A UWB-based Ortho-UWB 3D positioning method is proposed in this paper with orthogonal installation, which, after being integrated with visual methods, enables high-precision 3D relative positioning during the docking process of the sub-mother UAV ***, the paper designs a complete docking process for the sub-mother UAVs and incorporates safety constraints into the docking process to ensure the safety of the docking process for both UAVs. Experiments of successfully docking the sub UAV to the mother UAV from bottom to top prove the feasibility and effectiveness of this scheme. © 2024 IEEE.

关键词： Disturbance rejection

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