The pseudo transient-analysis method is regarded as one of the most effective method to find DC operating points for nonlinear circuits. In this paper, we combine the ramping method and the damped pseudo-transient ana...
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The pseudo transient-analysis method is regarded as one of the most effective method to find DC operating points for nonlinear circuits. In this paper, we combine the ramping method and the damped pseudo-transient analysis algorithm together in order to improve the simulation efficiency. By combing the two algorithms together, the oscillation problem and time-consuming problems can be greatly eliminated. Numerical examples are shown to demonstrate the efficiency of proposed algorithms.
Since the energy constraint is a fundamental issue for wireless sensor networks(WSNs),the expectation of network lifetime has become a critical performance *** actual applications,due to the data traffics may fluctuat...
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Since the energy constraint is a fundamental issue for wireless sensor networks(WSNs),the expectation of network lifetime has become a critical performance *** actual applications,due to the data traffics may fluctuate randomly,there is a compelling need for a routing strategy that is robust to the variation amplitude of time varied data *** this paper,we jointly consider the lifetime maximization and a routing strategy with robustness,both of which are in compliance with the framework of cross-layer *** two correlated subproblems can be further modeled as a nonlinear optimization *** using the risk measures defined in the financial mathematics,the proposed optimization problem can be relaxed while the non-convex constraint can be transformed into a solvable *** Simulation results are further provided to validate our robust routing proposal.
Adopting MPC to a fast changing system has always been a challenging problem due to the computational *** the equivalent aggregation strategy and the fast algorithm based on MPC proposed, the computational efficiency ...
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ISBN:
(纸本)9781479947249
Adopting MPC to a fast changing system has always been a challenging problem due to the computational *** the equivalent aggregation strategy and the fast algorithm based on MPC proposed, the computational efficiency has been promoted greatly. This paper improves the fast algorithm combined with the equivalent aggregation strategy, and investigates the feasibility of adopting the fast algorithm based on MPC to DC-AC power inverter system which switching time is 52 μs. Simulation and the experiment have verified that the fast online MPC algorithm applied on the fast sampling system with embedded platform implementation works well.
In this paper, we study the coordinated obstacle avoidance algorithm of multi-agent systems when only a subset of agents has obstacle dynamic information, or every agent has local interaction. Each agent can get parti...
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In this paper, we study the coordinated obstacle avoidance algorithm of multi-agent systems when only a subset of agents has obstacle dynamic information, or every agent has local interaction. Each agent can get partial measuring states information from its neighboring agent and obstacle. Coordinated obstacle avoidance here represents not only the agents moving without collision with an obstacle, but also the agents bypassing and assembling at the opposite side of the obstacle collectively, where the opposite side is defined according to the initial relative position of the agents to the obstacle. We focus on the collective obstacle avoidance algorithms for both agents with first-order kinematics and agents with second-order dynamics. In the situation where only a fixed fraction of agents can sense obstacle information for agents with first-order kinematics, we propose a collective obstacle avoidance algorithm without velocity measurements. And then we extend the algorithm to the case in switched topology. We show that all agents can bypass an obstacle and converge together, and then assemble at the opposite side of the obstacle in finite time, if the agents׳ topology graph is connected and at least one agent can sense the obstacle. In the case where obstacle information is available to only a fixed fraction of agents with second-order kinematics, we propose two collective obstacle avoidance algorithms without measuring acceleration when the obstacle has varying velocity and constant velocity. The switched topology is considered and extended next. We show that agents can bypass the obstacle with their positions and velocities approaching consensus in finite time if the connectivity of switched topology is continuously maintained. Several simulation examples demonstrate the proposed algorithms.
In this paper,we propose a control algorithm for quadruped walking robots to track the Zero Moment Point(ZMP)trajectory using Preview *** critical moment of trot pace,we can assume the robot as a linear inverted pendu...
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ISBN:
(纸本)9781479947249
In this paper,we propose a control algorithm for quadruped walking robots to track the Zero Moment Point(ZMP)trajectory using Preview *** critical moment of trot pace,we can assume the robot as a linear inverted pendulum so that the linear inverted pendulum model can be applied to describe the dynamic behavior of our quadruped robot.A preview controller therefore is designed for this non-minimum phase system to get the optimal input of the *** reference trajectory can be decomposed into two *** is on the direction of movement,and the other is on the vertical direction of *** the preview controller we can track the reference in both two directions and the optimal trajectory tracking can be achieved.
This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters a...
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This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters and nonlinear in the states. According to the equivalent frequency distributed model of fractional integrator, the direct Lyapunov approach is adopted to derive a nonlinear adaptive non-fragile observer. The gain for the non-fragile observer is systematically obtained in terms of linear matrix inequality(LMI). A numerical example is provided to illustrate the efficiency and validity of the proposed approach.
As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. Ho...
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As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. However, these methods may fail when shading conditions occur and the power loss can over as much as 70% due to the multiple maxima in I – P curve in shading conditions v.s. single maximum point in uniformly solar irradiance. In this paper, a Real Maximum Power Point Tracking (RMPPT) strategy under Partially Shaded Conditions (PSCs) is introduced to deal with this kind of problems. An optimization problem, based on a predictive model which will change adaptively with environment, is developed to tracking the global maxima and corresponding adaptive control strategy is presented. No additional circuits are required to obtain the environment uncertainties. Finally, simulations show the effectiveness of proposed method.
This system present a feasibility of computer-aided diagnosis, planning and simulation for orthodontic treatment. In the Visualization Toolkit (VTK) and Microsoft Foundation Classes (MFC) integrated environment, a fle...
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This system present a feasibility of computer-aided diagnosis, planning and simulation for orthodontic treatment. In the Visualization Toolkit (VTK) and Microsoft Foundation Classes (MFC) integrated environment, a flexible, friendly and functional interface for orthodontic treatment was designed. The methods of how to integrate VTK and MFC in different system are described, and the three-dimensional model of the dentition is reconstructed by using marching-cubes (MC) algorithms. Finally, the three-dimensional model for rendering and interaction is also introduced.
In this paper, new Lyapunov-based reset rules are constructed to improve ℒ 2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and fin...
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In this paper, new Lyapunov-based reset rules are constructed to improve ℒ 2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and finite gain ℒ 2 stability are presented. It is shown that the ℒ 2 gain of the closed loop system with resets can be improved compared with the base system. Numerical example supports our results.
Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-fr...
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Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-free map-matching algorithm with a probabilistic model as well as an efficient approximate inference *** that algorithm is computationally efficient,it still puts high demands on the computation and driving *** paper adopts the model and presents an extended probabilistic self-localization algorithm using hybrid maps which include terrain maps and road network *** show that the extended probabilistic algorithm enhances the real-time performance and relaxes the requirement of the shape of the *** proposed vehicle self-localization algorithm meets positioning requirements of ITS and it can provide references for actual use of map-matching algorithm in ITS.
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