Negotiating a roundabout with long articulated vehicles without any specialized control strategy may be dangerous or even impossible due to an excessively large off-track caused by the towed trailers. The paper provid...
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Negotiating a roundabout with long articulated vehicles without any specialized control strategy may be dangerous or even impossible due to an excessively large off-track caused by the towed trailers. The paper provides a generic kinematic steering strategy for this type of maneuver executed with articulated vehicles towing an arbitrary number of trailers equipped with steerable wheels, and attached through an arbitrary hitching type (on- or off-axle one). The control strategy requires a feedback from the internal (easily measurable) configuration variables of a vehicle, guarantees zero off-tracking in steady motion conditions, and improves a transient response of a vehicle chain by delaying the reference steering signals with the dynamically (online) scheduled time-delays. A resultant control performance is illustrated by simulation results.
This paper studies the formation control problem for a group of non-holonomic agents modeled as LPV systems with heterogeneous scheduling. Here we use an approach based on an information flow filter that makes it poss...
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ISBN:
(纸本)9781665436601
This paper studies the formation control problem for a group of non-holonomic agents modeled as LPV systems with heterogeneous scheduling. Here we use an approach based on an information flow filter that makes it possible to design the dynamics of the information flow in the network. We propose a synthesis condition in the form of a linear matrix inequality for a distributed control scheme that guarantees stability and a level of ${\mathcal{L}_2}$ performance. Moreover, by using the framework of decomposable systems, the complexity of the synthesis problem can be made independent of the network size; it corresponds to the size of the synthesis problem for a single agent. The work presented here extends earlier work where a similar scheme was proposed, however restricted by the assumption that the LPV agents are scheduled homogeneously. Whereas in that work the agents were modeled as polytopic LPV models, here the extension to heterogeneously scheduled agents is achieved by using LFT representations of the agents and employing the full-block S-procedure for synthesis. The proposed method is illustrated in simulation by applying it to a formation control problem for a group of dynamic unicycles.
This article addresses the design of a discrete-time flatness-based tracking control for a gantry crane and demonstrates the practical applicability of the approach by measurement results. The required sampled-data mo...
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— This paper studies a class of strongly monotone games involving non-cooperative agents that optimize their own time-varying cost functions. We assume that the agents can observe other agents’ historical actions an...
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We propose a method to perform set-based state estimation of an unknown dynamical linear system using a data-driven set propagation function. Our method comes with set-containment guarantees, making it applicable to s...
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In this paper, the developed system for detecting problematic areas of agricultural fields by using computer vision in unmanned aerial vehicle (UAV) photography was investigated. The structures of the neural networks ...
In this paper, the developed system for detecting problematic areas of agricultural fields by using computer vision in unmanned aerial vehicle (UAV) photography was investigated. The structures of the neural networks of the YOLOv5 and YOLOv8 family were considered to find a solution to the task of detecting problem areas. The application of the developed software will reduce labour and time spent on image analysis, which in turn will reduce the response time in detecting problem areas in agricultural fields to achieve higher yields.
The paper is devoted to preservation of dynamic control accuracy of working tools of multilink manipulators when they move along arbitrary spatial trajectories, taking into account the design limits in all degrees of ...
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Soft sensing is a way to indirectly obtain information of signals for which direct sensing is difficult or prohibitively expensive. It may not a priori be evident which sensors provide useful information about the tar...
Brain networks typically exhibit characteristic synchronization patterns where several synchronized clusters coexist. On the other hand, neurological disorders are considered to be related to pathological synchronizat...
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ISBN:
(数字)9798350316339
ISBN:
(纸本)9798350316346
Brain networks typically exhibit characteristic synchronization patterns where several synchronized clusters coexist. On the other hand, neurological disorders are considered to be related to pathological synchronization such as excessive synchronization of large populations of neurons. Motivated by these phenomena, this paper presents two approaches to control the cluster synchronization of Kuramoto oscillators. One is based on the use of pacemakers to the clusters, and the other is based on feeding back the mean phases to the clusters. We first show conditions on the pacemaker weights and the feedback gains for the network to achieve cluster synchronization. Then, we propose a method to find optimal feedback gains through convex optimization. A numerical example demonstrates the effectiveness of the proposed methods.
This paper aims to investigate the impact of switching frequencies in pulse discharging of batteries by testing with Lithium-ion cells. Applying lithium-ion batteries in high power applications is needed to be managed...
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This paper aims to investigate the impact of switching frequencies in pulse discharging of batteries by testing with Lithium-ion cells. Applying lithium-ion batteries in high power applications is needed to be managed according to the demand of load power and current profile. The pulse current discharging technique with different frequencies is expected to improve the charging/ discharging capacity and energy of lithium-ion batteries. In this paper, lithium-ion cells were tested with pulse current at various switching frequencies with 75% duty cycle during discharging. The results of pulse discharging with different switching frequencies were compared with constant current discharging method by evaluating capacity and energy. From this research, the results indicated that pulse discharging at low frequencies generated high discharging capacity than constant current discharging.
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