In this paper, the modelling of a class of distributed water supply networks is considered, where the modelling of pipes, valves, pump stations and reservoirs are presented separately. Two laws, nodal mass balance and...
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In this paper, the modelling of a class of distributed water supply networks is considered, where the modelling of pipes, valves, pump stations and reservoirs are presented separately. Two laws, nodal mass balance and energy conservation, are introduced to derive a general model for the water supply networks. The pumps are assumed to be working in parallel and a hybrid model is provided to describe the dynamics of pump stations, the discrete/ continuous variables in which represent the status (on or off) and the speed of pumps, respectively. Finally, a case study is given to illustrate the effectiveness of our proposed methods.
An efficient measurement method of the resonant frequency for quartz crystal units based on the π network is presented in the paper. In terms of hardware design, the system uses an ARM chip STM32F103ZET6 as the core ...
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An efficient measurement method of the resonant frequency for quartz crystal units based on the π network is presented in the paper. In terms of hardware design, the system uses an ARM chip STM32F103ZET6 as the core of controlling module and the DDS chip AD9852 as the signal generator. AD8302 joins the system to test the phase difference. A mixer circuit reduces frequencies and keeps constant phase of the signal before the AD8302, which improves the measurement accuracy. As for software design, a new algorithm based on sliding window to search the frequency more efficiently is proposed. The new algorithm takes much less time than that of the traditional test methods, which makes great contributions to the efficiency of the system.
Considering nonlinear behaviors and environmental disturbance of the boiler pressure controlsystem, a linear interpolation fuzzy controller is developed. First, according to the conventional discrete fuzzy control pr...
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Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest ori...
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ISBN:
(纸本)9781479927456
Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.
This paper proposed a boundary feedback control design for open-channel networks with trapezoidal cross sections by using a Riemann invariants approach. The open-channel network is well modeled by the nonlinear Saint-...
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This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more ...
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This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result.
This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupl...
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ISBN:
(纸本)9789881563835
This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupling matrix is balanced. Each heterogeneous follower is assumed to obtain some information from the leader and the neighbors only on a series of periodically time intervals. We show that the system will be exponentially stable. The stability properties are proved via theoretical analysis and verified via numerical simulations. The stability of the heterogeneous multi-agent systems is proved based on matrix theory and the Lyapunov stability theorem. A numerical example is shown to demonstrate the effectiveness of the theoretical result.
This paper focuses on the research of global and local path planning in complex traffic flow simulation using Micro Intelligent Vehicles (MicroIV). Firstly, a global path planning approach with time division based hie...
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This paper focuses on the research of global and local path planning in complex traffic flow simulation using Micro Intelligent Vehicles (MicroIV). Firstly, a global path planning approach with time division based hierarchical topology maps is proposed to achieve a legal optimal path with the consideration of complicated topology maps caused by the dynamic traffic rules in local intersections and lanes. Secondly, multi-agents based controlsystem architecture of MicroIV is designed where multi-autonomous driving tasks involved. Thirdly, a local path planning approach for different autonomous driving is proposed with the controlsystem architecture. Experimental results show that these proposed approaches could meet the demand of path planning for MicroIV in complex traffic flow simulation.
In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and s...
In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.
Interacting Multiple Model (IMM) filter faces significant outlier-caused peak-errors. In this paper, the Bayesian probability update in IMM is found equivalent to Dempster's Rule of Combination which cannot handle...
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Interacting Multiple Model (IMM) filter faces significant outlier-caused peak-errors. In this paper, the Bayesian probability update in IMM is found equivalent to Dempster's Rule of Combination which cannot handle evidence conflicts caused by outliers. Furthermore, a novel robust MM (RMM) filter is proposed through introducing expert rules about mode evolvement and presenting the Likelihood Temporal Ratio (LTR) and building the Induced Combination Rule (ICR). Simulations about target tracking show the effectiveness of the proposed method.
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