Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and *** an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system ...
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Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and *** an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system ***,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more *** methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion *** zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the *** paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of *** features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint *** proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for *** analysis and experimental results show that the proposed algorithm is effective and efficient.
In this paper,the pursuit-evasion game with state and control constraints is solved to achieve the Nash equilibrium of both the pursuer and the evader with an iterative self-play *** the condition where the Hamiltonia...
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In this paper,the pursuit-evasion game with state and control constraints is solved to achieve the Nash equilibrium of both the pursuer and the evader with an iterative self-play *** the condition where the Hamiltonian formed by means of Pontryagin’s maximum principle has the unique solution,it can be proven that the iterative control law converges to the Nash equilibrium ***,the strong nonlinearity of the ordinary differential equations formulated by Pontryagin’s maximum principle makes the control policy difficult to figured *** the system dynamics employed in this manuscript contains a high dimensional state vector with *** practical applications,such as the control of aircraft,the provided overload is ***,in this paper,we consider the optimal strategy of pursuit-evasion games with constant constraint on the control,while some state vectors are restricted by the function of the *** address the challenges,the optimal control problems are transformed into nonlinear programming problems through the direct collocation ***,two numerical cases of the aircraft pursuit-evasion scenario are given to demonstrate the effectiveness of the presented method to obtain the optimal control of both the pursuer and the evader.
In recent years, Unmanned Aerial Vehicles (UAVs) have been used in many fields by virtue of their flexible design, low cost and zero casualties. With the deepening application of UAVs, the tasks they undertake are gra...
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The paper studies the relation between a nonlinear time-varying flat discrete-time system and the corresponding linear time-varying systems which are obtained by a linearization along trajectories. It is motivated by ...
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The paper studies the relation between a nonlinear time-varying flat discrete-time system and the corresponding linear time-varying systems which are obtained by a linearization along trajectories. It is motivated by the continuous-time case, where it is well-known that the linearization of flat systems along trajectories results in linear time-varying systems which are again flat. Since flatness implies controllability, this constitutes an important verifiable necessary condition for flatness. In the present contribution, it is shown that this is also true in the discrete-time case: We prove that the linearized system is again flat, and that a possible flat output is given by the linearization of a flat output of the nonlinear system. Analogously, the map that describes the parameterization of the system variables of the linear system by this flat output coincides with the linearization of the corresponding map of the nonlinear system. The results are illustrated by two examples.
In this paper, a two-layer predictive optimization control strategy is proposed to address the complex optimization control problem for industrial processes. At the upper layer, a rigorous optimization issue is addres...
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Fault tree analysis is the most commonly used methodology in industrial safety analysis to predict the probability or frequency of system failure. Although fault tree analysis has been proposed for more than six decad...
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Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-...
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Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.
Aiming at the lack of a feasible and efficient regulatory mechanism between the users, suppliers and the government of smart devices in the context of Industry 4.0, this paper proposes a new regulatory technology for ...
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This paper studies zonotopic fault detection (FD) for two-dimensional (2-D) FMLSS systems with adaptively event-triggered mechanism. The exogenous disturbance and measurement noise are assumed to be unknown-but-bounde...
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This paper presents the possibility of using statistical modeling to automate the process of dynamic pricing management with revenue control and adaptation to current legislation in this area. In addition, it is propo...
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