In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ(q) is known by all the robot...
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In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ(q) is known by all the robots in the network. By using the interaction term of Voronoi neighbour, coverage optimization and control protocols are designed in a distributed way such that the best position of each robot can be determined and all the robots can move to the best positions without collision. Then, we consider the case that the density function φ(q) is not known by the robots. By using the adaptive technique, the density functionφ(q) can be estimated in a fast and distributed way. Finally, the proposed coverage control scheme are applied to remote sensing for precision farming and the effectiveness of the strategy is validated through some simulation results.
In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ(q) is known by all the robot...
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In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ(q) is known by all the robots in the network. By using the interaction term of Voronoi neighbour, coverage optimization and control protocols are designed in a distributed way such that the best position of each robot can be determined and all the robots can move to the best positions without collision. Then, we consider the case that the density function φ(q) is not known by the robots. By using the adaptive technique, the density function φ(q) can be estimated in a fast and distributed way. Finally, the proposed coverage control scheme are applied to remote sensing for precision farming and the effectiveness of the strategy is validated through some simulation results.
In this paper we study rendezvous control of multiple mobile *** propose a control law that merely requires each robot to measure the relative bearings of their neighbors in their local coordinate *** measurement or r...
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ISBN:
(纸本)9781538629185
In this paper we study rendezvous control of multiple mobile *** propose a control law that merely requires each robot to measure the relative bearings of their neighbors in their local coordinate *** measurement or relative position estimation is not *** theory,the proposed control law verifies that distance information is redundant in rendezvous control tasks though the objective of rendezvous is to decrease the inter-robot *** practice,the control law provides a simple solution to vision-based rendezvous tasks where bearings can be measured by visual ***,we generalize the proposed control law by introducing an additional heading vector into the control *** heading vector may preserve the system convergence and,in the meantime,provides great flexibility to adapt the control law for nonholonomic robot models or obstacle avoidance.
Considering the attitude-stabilization during the transformation process of morphing aircraft with the effect of large scale change of system dynamic and constrained actuator output amplitude, based on mode-dependent ...
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ISBN:
(数字)9781538611715
ISBN:
(纸本)9781538611722
Considering the attitude-stabilization during the transformation process of morphing aircraft with the effect of large scale change of system dynamic and constrained actuator output amplitude, based on mode-dependent average dwell time approach, a design methodology of anti-windup smooth switching controller is proposed. First, a class of chained smooth switching system model is established, which can reflect aerodynamic coefficient transition of morphing aircraft in the transformation process more precisely and reduce conservatism of controller design. Based on the model, the sufficient condition to ensure the finite-time boundedness and robustness of chained smooth switching system can be obtained via the mode-dependent average dwell time approach. Finally, design of anti-windup compensation is proposed. Also, the problem of anti-windup controller design is translated to problem of optimization with linear matrix inequalities constraint. Finally, simulation results are given to demonstrate the efficiency of the proposed controller design approach.
In this paper, a scheme which combines finite-time model-assisted active disturbance rejection control and novel greedy criterion-based salp swarm algorithm is developed for attitude tracking problem of hypersonic ree...
In this paper, a scheme which combines finite-time model-assisted active disturbance rejection control and novel greedy criterion-based salp swarm algorithm is developed for attitude tracking problem of hypersonic reentry vehicle with multiple disturbances. To simplify control structure, the control scheme is designed within the framework of active disturbance rejection control completely. To lessen tuning parameters, a sigmoid function-based tracking differentiator is employed to generate a more realizable attitude transient profile instead of utilizing conventional nonlinear tracking differentiator. Taking known model information as model-assisted term, finite-time model-assisted extended state observers are constructed to estimate the lumped disturbance in attitude and angular rate loop with employment of function fal . To achieve rapid response and strong robustness, finite-time model-assisted control laws are derived by utilizing function fhan . Finally, a novel greedy criterion-based salp swarm algorithm is used to optimize control parameters in finite-time model-assisted control laws to achieve optimal solution that minimizes the tracking error and energy consumption. Comparative simulations are conducted to illustrate the effectiveness of the proposed scheme.
In this paper, a novel finite-Time decoupling direct control (FDDC) scheme is proposed for attitude tracking problem of hypersonic reentry vehicle (HRV) based on second-order active disturbance rejection control (SADR...
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In this paper, the design procedures of single phase PWM multicellular inverter prototype using MATLAB/Simulink blocksets and code generation tools for TMS320F335 floating-point digital signal processor (DSP) is prese...
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In this paper, the design procedures of single phase PWM multicellular inverter prototype using MATLAB/Simulink blocksets and code generation tools for TMS320F335 floating-point digital signal processor (DSP) is presented. The control circuit is realized on a digital signal processor TMS320F28335 development board based on triangular-sinusoidal PWM control strategy which is specially designed for multicellular converters. Single phase inverter is used to convert the PWM signal from the digital signal processor to an analog signal. For this the single-phase IGBT multicellular inverter is designed with the gate driver. The experimental results of PWM strategy controlled by a digital signal processor TMS320F28335 chip has been observed.
Thousands of resting state functional magnetic resonance imaging(RS-f MRI)articles have been published on brain *** precise localization of abnormal brain activity,a voxel-level comparison is *** of the large number o...
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Thousands of resting state functional magnetic resonance imaging(RS-f MRI)articles have been published on brain *** precise localization of abnormal brain activity,a voxel-level comparison is *** of the large number of voxels in the brain,multiple comparison correction(MCC)must be performed to reduce false positive rates,and a smaller P value(usually including either liberal or stringent MCC)is widely recommended[1].
This paper is concerned with the integrated design schemes of L observer-based fault detection（FD） systems for affine nonlinear processes with disturbances and uncertainties,*** this end,a so called L observer-based...
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ISBN:
(纸本)9781509009107
This paper is concerned with the integrated design schemes of L observer-based fault detection（FD） systems for affine nonlinear processes with disturbances and uncertainties,*** this end,a so called L observer-based FD scheme is studied ***,the integrated design approaches for nonlinear systems with disturbances and uncertainties are addressed,*** the end,examples are given to illustrate the effectiveness of the proposed approaches.
Background: Experimental and epidemiological studies indicate an association between exposure to particulate matter (PM) air pollution and increased risk of type 2 diabetes. In view of the high and increasing prevalen...
Background: Experimental and epidemiological studies indicate an association between exposure to particulate matter (PM) air pollution and increased risk of type 2 diabetes. In view of the high and increasing prevalence of diabetes, we aimed to quantify the burden of type 2 diabetes attributable to PM2·5 originating from ambient and household air pollution. Methods: We systematically compiled all relevant cohort and case-control studies assessing the effect of exposure to household and ambient fine particulate matter (PM2·5) air pollution on type 2 diabetes incidence and mortality. We derived an exposure–response curve from the extracted relative risk estimates using the MR-BRT (meta-regression—Bayesian, regularised, trimmed) tool. The estimated curve was linked to ambient and household PM2·5 exposures from the Global Burden of Diseases, Injuries, and Risk Factors Study 2019, and estimates of the attributable burden (population attributable fractions and rates per 100 000 population of deaths and disability-adjusted life-years) for 204 countries from 1990 to 2019 were calculated. We also assessed the role of changes in exposure, population size, age, and type 2 diabetes incidence in the observed trend in PM2·5-attributable type 2 diabetes burden. All estimates are presented with 95% uncertainty intervals. Findings: In 2019, approximately a fifth of the global burden of type 2 diabetes was attributable to PM2·5 exposure, with an estimated 3·78 (95% uncertainty interval 2·68–4·83) deaths per 100 000 population and 167 (117–223) disability-adjusted life-years (DALYs) per 100 000 population. Approximately 13·4% (9·49–17·5) of deaths and 13·6% (9·73–17·9) of DALYs due to type 2 diabetes were contributed by ambient PM2·5, and 6·50% (4·22–9·53) of deaths and 5·92% (3·81–8·64) of DALYs by household air pollution. High burdens, in terms of numbers as well as rates, were estimated in Asia, sub-Saharan Africa, and South Am
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