This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw tra...
详细信息
The variable-thickness folded wing structure is simplified in this study as a variable-thickness folded cantilever trapezoidal sandwich plate laminated with porous foam metal aluminum and carbon fiber, and its free vi...
详细信息
This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of ext...
详细信息
This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.
Although depth completion has achieved remarkable performance relying on deep learning in recent years, these models tend to suffer a performance degradation when exposed to new environments. Online adaptation, where ...
详细信息
Unmanned Aerial Vehicle (UAV) swarm collaboration enhances mission effectiveness. However, fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments. Aim...
详细信息
Unmanned Aerial Vehicle (UAV) swarm collaboration enhances mission effectiveness. However, fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments. Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment, this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints. Considering the fixed-wing UAV swarm flight problem in complex environment, a virtual tube model based on generator curve is established. The tube keeping, centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary. On this basis, a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace. This cooperative control method eliminates the need for respective pre-planned trajectories, reduces communication requirements, and achieves a high level of intelligence. Simulation results show that the proposed behavior-based UAV swarm cooperative control method is able to make the fixed-wing UAV swarm, which is faster and unable to hover, fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes, and the spacing between the UAVs is larger than the minimum safe distance during the flight.
The dynamic linear state feedback control problem is addressed for a class of nonlinear systems subject to ***,using the dynamic change of coordinates,the problem of global state feedback stabilization is solved for a...
详细信息
The dynamic linear state feedback control problem is addressed for a class of nonlinear systems subject to ***,using the dynamic change of coordinates,the problem of global state feedback stabilization is solved for a class of time-delay systems under a type of nonhomogeneous growth *** the aid of an appropriate Lyapunov-Krasovskii functional and the adaptive strategy used in coordinates,the closed-loop system can be globally asymptotically stabilized by the dynamic linear state feedback *** growth condition in perturbations are more general than that in the existing *** correctness of the theoretical results are illustrated with an academic simulation example.
Purpose-The paper aims to build the connections between game theory and the resource allocation problem with general *** proposes modeling the distributed resource allocation problem by Bayesian *** this paper,three b...
详细信息
Purpose-The paper aims to build the connections between game theory and the resource allocation problem with general *** proposes modeling the distributed resource allocation problem by Bayesian *** this paper,three basic kinds of uncertainties are ***,the purpose of this paper is to build the connections between game theory and the resource allocation problem with general ***/methodology/approach-In this paper,the Bayesian game is proposed for modeling the resource allocation problem with *** basic game theoretical model contains three parts:agents,utility function,and decision-making ***,the probabilistic weighted Shapley value(WSV)is applied to design the utility function of the *** achieving the Bayesian Nash equilibrium point,the rational learning method is introduced for optimizing the decision-making process of the ***-The paper provides empirical insights about how the game theoretical model deals with the resource allocation problem uncertainty.A probabilistic WSV function was proposed to design the utility function of ***,the rational learning was used to optimize the decision-making process of agents for achieving Bayesian Nash equilibrium *** comparing with the models with full information,the simulation results illustrated the effectiveness of the Bayesian game theoretical methods for the resource allocation problem under ***/value-This paper designs a Bayesian theoretical model for the resource allocation problem under *** relationships between the Bayesian game and the resource allocation problem are discussed.
We consider the problem of consensus of a second-order multi-agent system in the situation where an eavesdropper tends to impact the security of the network.A secure encoding scheme that guarantees both consensus and ...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
We consider the problem of consensus of a second-order multi-agent system in the situation where an eavesdropper tends to impact the security of the network.A secure encoding scheme that guarantees both consensus and security of the multiagent network is *** the network,the agents transmit messages to one another through digital channels,and there exists an eavesdropper whose aim is to overhear the state information of the agents in the *** of transmitting the states of themselves,the agents in the network send states of auxiliary systems to defend against the *** concept of topological entropy is utilized to restrict the eigenvalues of the encoding matrix.A sufficient condition is given to guarantee that the network achieves consensus,and the eavesdropper cannot get the accurate estimation of the state of any agent.A simulation example is given to show the performance of the agents and the eavesdropper under the designed encoding scheme.
This paper studies distributed filtering problem of homogeneous sensor *** part of sensors can get observations of the process and consensus based filters are *** the distributed detectability and the suboptimal filte...
详细信息
ISBN:
(纸本)9781479947249
This paper studies distributed filtering problem of homogeneous sensor *** part of sensors can get observations of the process and consensus based filters are *** the distributed detectability and the suboptimal filter design are *** converting the stability problem of estimation errors of sensors under time-varying topologies to the robust stability problem of some uncertain system,two sufficient distributed detectability conditions are *** is LMI-based and the other is given by the eigenvalues of the process matrix and Laplacian matrices.A suboptimal algorithm to design the consensus based filter gains is proposed and the convergence of the algorithm is *** examples are given to illustrate the results.
A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence ...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence of disturbances will lead to poor control accuracy and even *** a two-degree-of-freedom(2-DoF) rigid manipulator,a composite algorithm combing model predictive control(MPC) and a generalized proportional integral observer(GPIO) is *** the proposed method,feedback linearization technology is used to decouple the *** order to improve the ability of disturbance rejection,a GPIO is used to estimate the lumped disturbances and the estimated values are added to the control law by feedforward *** is conducted to validate the proposed algorithm.
暂无评论