This paper studies a coordinated transportation problem of a group of unmanned ground vehicles(UGVs). These ground vehicles belong to two categories: master vehicles and slave vehicles. A two-step strategy is proposed...
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ISBN:
(纸本)9781467374439
This paper studies a coordinated transportation problem of a group of unmanned ground vehicles(UGVs). These ground vehicles belong to two categories: master vehicles and slave vehicles. A two-step strategy is proposed to solve this problem. First, let the master vehicles move along ideal trajectories. Then, let the slave vehicles move into the area surrounded by master vehicles and move together with them. By the two-step strategy, the coordinated transportation problem is divided into a tracking problem and a containment problem. A P In-type tracking protocol and a P In-type containment protocol(P and I stand for Proportion and Integration, respectively;Inimplies that the protocol includes high-order integral terms) are proposed to solve these two problems. It is proved that the coordinated transportation problem can be solved by two proposed protocols with proper parameters if for each follower there exists at least one leader which has a directed path to this follower. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed algorithms.
Considering two disadvantages in traditional gravity matching aided inertial navigation system,low matching accuracy and error accumulation,we propose an improved gravity matching algorithm and aided method for inerti...
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ISBN:
(纸本)9789881563842
Considering two disadvantages in traditional gravity matching aided inertial navigation system,low matching accuracy and error accumulation,we propose an improved gravity matching algorithm and aided method for inertial navigation *** of using the sequence sampling,the single point sampling is applied to improve the structure of proposed algorithm,enhancing the matching speed and *** the aided navigation system method,we use combination of Sage-Husa adaptive filter and strong-tracked Kalman filter to make further optimal estimation of the matching *** results show the effectiveness of the real-time ICCP algorithm and the combined filter *** to the traditional methods,proposed method provides higher matching and navigation accuracy.
Analysis and design of simulation scenario, design and application of scenario system are problems needed to be solved in the development and performance verification of simulation system. Consequently, a standardized...
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ISBN:
(纸本)9781479947249
Analysis and design of simulation scenario, design and application of scenario system are problems needed to be solved in the development and performance verification of simulation system. Consequently, a standardized development method for developing scenario based on a kind of combat information simulation system is proposed in this paper. Firstly, according to the requirements for generation of scenario which are decided by simulation system, the combining of military conceptual model and the entity oriented modeling method(EATI method) is used to build scenario structure model accurately and without distortion. Secondly, description of content and realizing form for scenario are constrained and standardized by extensible markup language(XML). Finally, a visualized and flexible scenario system model is built based on former theory analysis, which is independent of simulation system. This paper not only solves the problem existed in scenario and scenario system, but also implements rapid development of scenario, which provides important theory guiding meaning.
In this work, a state estimation problem is considered for a hidden Markov model subject to event-based sensor measurement updates sent through a reliable communication channel. The change of probability approach is u...
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ISBN:
(纸本)9781467374439
In this work, a state estimation problem is considered for a hidden Markov model subject to event-based sensor measurement updates sent through a reliable communication channel. The change of probability approach is utilized to consider the estimation problem, and an analytical expression for the probability distributions of the states conditioned on all the past hybrid point- and set-valued measurement information caused by the event-triggering scheme is obtained. Also, it is shown that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results,and thus can be solved by applying the proposed results.
Hydro-viscous speed clutch (HVC) is a central control element of the driver system. Because of nonlinearities and hysteresis of the clutch, the setting of control parameters has a significant impact on the performance...
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ISBN:
(纸本)9781479987719
Hydro-viscous speed clutch (HVC) is a central control element of the driver system. Because of nonlinearities and hysteresis of the clutch, the setting of control parameters has a significant impact on the performance of the speed controlsystem. This paper studies the HVC of a vehicle temperature controlsystem, and analyzes the parameters tuning method of a PID controller for the closed-loop controlsystem. By employing a two-storey optimized control framework, the resulting model from identification can be used to complete the control parameters auto-tuning. Simulation and experimental results have showed that this auto-tuning method can obtain a group of parameters in terms of a desired performance index, which guarantees the balance of dynamic characteristics, stability and anti-jamming in closed-loop system.
This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed...
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ISBN:
(纸本)9781467374439
This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying gain, each agent can have its own time-varying gain. Sufficient conditions for solving the mean square leader-following consensus problem are obtained: 1) the communication topology graph has a spanning tree;2) the summation of every time-varying gain from zero to infinite is infinite;3) all time-varying gains are infinitesimal of the same order as time goes to infinity;and 4) all roots of a so-called "parameter polynomial" are inside the unit circle. Finally, a simulation example is given to verify the theoretical results.
Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving env...
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ISBN:
(纸本)9781467376648
Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving environment of UGV with the sensor data objectively and share these data with other UGV efficiently becomes the focus of the research of the UGV. To solve the above problems, a novel GIS platform for UGV application in the unknown environment is proposed in this paper based on the features of UGV. First, the GIS database is redesigned and the properties such as road width, lane number, lane info, and if_traffic are proposed. The data structure of the database is redesigned to fit the need of UGV to describe the environment simply and explicitly. Then a two-line road model is proposed to model the feature of the road network clearly. This model can meet the driving need of UGV and represent the traffic rules of the urban environment. Moreover, the turning path in the intersection is designed to be an arc instead of a right angle path considering the dynamic features of UGV. Finally a cost map for navigating the UGV locally is generated with the road model and the environment information from the sensors. The GIS platform designed in this paper proves to be able to offer guidance and help to UGV for driving through the unknown environment wisely and quickly without human intervention. And it shows promising application of sharing data with other UGV efficiently by using cost map instead of the original sensor data.
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composit...
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ISBN:
(纸本)9781479947249
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free ...
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ISBN:
(纸本)9781479947249
Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free channel access combined with special reuse of the channel provides significant benefits in the energy/throughput trade-off. However, the protocol may introduce scheduling delay if, on the same path, an outbound link on a router is scheduled to transmit before an inbound link on that router. The total scheduling delay can be quite large since it accumulates at every hop on a path. This paper presents a method to solve this problem to improve the performance of the network system. Compared to the origin STDMA protocol, simulation results present us the superior performance of the proposed algorithm.
This paper presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Volta...
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ISBN:
(纸本)9781479947249
This paper presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Voltage band method and restricted voltage scanning method is used to increase the scanning speed. A method is proposed to determine whether partial shading occurs. The main advantage of the proposed method is the ability to search the global peak *** results shows the good performance of proposed method.
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