This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple con...
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ISBN:
(纸本)9781612848006
This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.
This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller for...
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This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.
One fundamental issue in the sensor networks is the coverage problem, which we would like to determine whether a region of interest is sufficiently covered by a given set of sensors. It can be considered as a measure ...
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ISBN:
(纸本)9789532900217
One fundamental issue in the sensor networks is the coverage problem, which we would like to determine whether a region of interest is sufficiently covered by a given set of sensors. It can be considered as a measure of the quality of service (QoS) in the sensor networks. There are several efforts that design efficient algorithms to compute coverage;however, they have not considered the presence of obstacles in the corresponding region. In this paper, we present a new algorithm to compute the area covered by a set of sensors distributed in a region containing transparent obstacles with arbitrary shapes. The sensor network can be homogeneous or heterogeneous.
Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation met...
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Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.
Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the propos...
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Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the proposed filter could exhibit improved numerical stability with respect to the derivation of the square-root covariance, for which the unscented transform technique might halt the operations due to the presence of non-positive definite covariance. The performance of the proposed filter is illustrated through a simulation study of tracking a land vehicle with maneuvers.
An evolving clustering algorithm applying the adaptive-distance measure is developed. An incorporated fuzzy decision support procedure classifies the current income. The decision support increases the algorithm robust...
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An Intrusion Detection System (IDS) protects computer networks against attacks and intrusions. One class of IDS is called signature-based network IDSs as they monitor network traffic, looking for evidence of malicious...
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In the prospect of the gravitational wave background detection with high precision pulsar timing, we recently installed a new coherent dedispersion backend at the Allen Telescope Array (ATA) and the Nançay Radio ...
In the prospect of the gravitational wave background detection with high precision pulsar timing, we recently installed a new coherent dedispersion backend at the Allen Telescope Array (ATA) and the Nançay Radio Telescope (NRT).
Many web sites have features that are only accessible after registering a user account on them. These sites include forums, on-line games, corporate Intranets and many on-line shops. The sites are typically secured th...
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Self-organizing emergent systems, also referred to as Decentralized Autonomic Computing systems, are commonly known for their scalability, robustness, flexibility, and adaptivity rather than their efficiency. However,...
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