In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are desi...
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In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are designed to guarantee consensus over undirected network. By jointly researching the effects of agent dynamics and network topology, allowable delay bounds depending on the maxima of concave functions are easy to calculate. Especially, the maximum delay bound is derived when the network topology is completely connected. The main approach for the same involves designing the control gains on the basis of the solution of a parametric algebraic Riccati equation. Finally, the theoretical results are demonstrated via numerical simulations.
This paper is concerned with the design of polynomial observers for positive polynomial interval systems. In order to design the polynomial observer a solution based on Sum Of Squares (SOS) programming is provided. Th...
This paper is concerned with the design of polynomial observers for positive polynomial interval systems. In order to design the polynomial observer a solution based on Sum Of Squares (SOS) programming is provided. The design conditions are presented in terms of SOS, which can be numerically and symbolically solved via SOSTOOLS and a Semi-Definite Program (SDP) solver. Finally, numerical examples are given to show the feasibility of the proposed approaches.
Robust and efficient AUV path planning is a key element for persistence AUV maneuvering in variable underwater environments. To develop such a path planning system, in this study, differential evolution(DE) algorithm ...
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Robust and efficient AUV path planning is a key element for persistence AUV maneuvering in variable underwater environments. To develop such a path planning system, in this study, differential evolution(DE) algorithm is employed. The performance of the DE-based planner in generating time-efficient paths to direct the AUV from its initial conditions to the target of interest is investigated within a complexed 3D underwater environment incorporated with turbulent current vector fields, coastal area,islands, and static/dynamic obstacles. The results of simulations indicate the inherent efficiency of the DE-based path planner as it is capable of extracting feasible areas of a real map to determine the allowed spaces for the vehicle deployment while coping undesired current disturbances, exploiting desirable currents, and avoiding collision boundaries in directing the vehicle to its destination. The results are implementable for a realistic scenario and on-board real AUV as the DE planner satisfies all vehicular and environmental constraints while minimizing the travel time/distance, in a computationally efficient manner.
This paper addresses the consensus of a class of nonlinear fractional-order multi-agent systems (FOMAS) with positive real uncertainty. First a fractional non-fragile dynamic output feedback controller is put forward ...
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The stabilization of Rotary Inverted Pendulum based on Lyapunov stability theorem is investigated in this *** key of designing controls by Lyapunov method is the construction of Lyapunov function.A logarithmic functio...
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ISBN:
(纸本)9781509046584
The stabilization of Rotary Inverted Pendulum based on Lyapunov stability theorem is investigated in this *** key of designing controls by Lyapunov method is the construction of Lyapunov function.A logarithmic function is constructed as the Lyapunov function and is compared with the usual quadratic function *** comparative results show that the constructed logarithmic function has higher numerical accuracy and convergence speed than the usual quadratic *** this basis,the control of stabilizing rotary inverted pendulum is designed based on the constructed logarithmic function by Lyapunov *** effectiveness of the designed control is verified by experiments,and is compared with the control designed based on quadratic function.
In this paper,design and performance analysis of differential evolution(DE) algorithm in tuning linear active disturbance rejection controller(LADRC) for load frequency control(LFC) of multi-area power systems is *** ...
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In this paper,design and performance analysis of differential evolution(DE) algorithm in tuning linear active disturbance rejection controller(LADRC) for load frequency control(LFC) of multi-area power systems is *** does not need a detailed mathematical model of the controlled plant and the performance is related to two tuning *** problem is formulated as an optimization problem and DE is employed to search for the optimal controller parameters by minimizing the time domain objective *** LFC design on a three-area power system shows that the proposed method is easy to apply for multi-area power systems and good damping performance can be achieved.
Dense and accurate reconstruction plays a fundamental role in mobile robot's environment perception and navigation. It's also necessary for obstacle avoidance and path planning of mobile robots. We propose a m...
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Dense and accurate reconstruction plays a fundamental role in mobile robot's environment perception and navigation. It's also necessary for obstacle avoidance and path planning of mobile robots. We propose a method to incrementally reconstruct the scene from monocular sequence by fusing the depth from geometry computation and generative adversarial networks(GAN) prediction. The depth from geometry triangulation is precise but sparse, while the depth from GAN is dense but unscaled. In this paper, we combine the advantages from two methods with a linear model optimized by graph structure. Experiments showed that our proposed method gives precise dense reconstruction in real time.
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabi...
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The ICT customer service from State Grid has accumulated a large number of electric power fault reports and texts, which are difficult to classify and analyze because an occurrence of power fault may be triggered poss...
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ISBN:
(数字)9781728146539
ISBN:
(纸本)9781728146546
The ICT customer service from State Grid has accumulated a large number of electric power fault reports and texts, which are difficult to classify and analyze because an occurrence of power fault may be triggered possibly by multiple different causes. In order to track different causes of electric power faults from historical fault texts, a multi-label based text classification approach is proposed for fault-assisted decision. Firstly, Chinese fault texts are sequentially preprocessed by word segmentation, stop words removal and feature representation. Then, we present a multi-label text classification by combining Binary Relevance and Gradient Boosting algorithm. The experimental results show that our method is better than BR+LR and ML-KNN for fault text classification.
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