Current Issue : January - March Volume : 2013 Issue Number : 1 Articles : 5 Articles
This paper addresses a distributed model predictive control (DMPC) scheme for multiagent systems with improving control\r\nperformance. In order to penalize the deviation of the computed state trajectory from the assumed state trajectory, the deviation\r\npunishment is involved in the local cost function of each agent. The closed-loop stability is guaranteed with a large weight\r\nfor deviation punishment. However, this large weight leads to much loss of control performance. Hence, the time-varying\r\ncompatibility constraints of each agent are designed to balance the closed-loop stability and the control performance, so that\r\nthe closed-loop stability is achieved with a small weight for the deviation punishment. A numerical example is given to illustrate\r\nthe effectiveness of the proposed scheme....
This paper investigates asymptotic stabilization for linear systems over networks based on event-driven communication. A new\r\ncommunication logic is proposed to reduce the feedback effort, which has some advantages over traditional ones with continuous\r\nfeedback. Considering the effect of time-varying transmission delays, the criteria for the design of both the feedback gain and the\r\nevent-triggering mechanism are derived to guarantee the stability and performance requirements. Finally, the proposed techniques\r\nare illustrated by an inverted pendulum system and a numerical example....
A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture\r\n(PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of\r\nthe devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for\r\ninformation acquisition in PA is being designed. This platformhas as main characteristics four-wheel propulsion and independent\r\nsteering, adjustable width, span of 1,80m in height, diesel engine, hydraulic system, and a CAN-based networked control system\r\n(NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control.\r\nThe control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual\r\nposition and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing\r\nsuitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also\r\novercame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities\r\nin the steering actuators, and inertia in the steering system due the friction of different terrains....
Despite significant technical advances, pilot-induced oscillation (PIO) continues to occur in both flight tests and operational\r\naircrafts. Such a phenomenon has led to significant research activities that aim to alleviate this problem. In this paper, the L1\r\nadaptive controller has been introduced to suppress the PIO, which is caused by rate limiting and pure time delay. Due to its\r\narchitecture, the L1 adaptive controller will achieve a desired response with fast adaptation. The analysis of PIO and its suppression\r\nby L1 adaptive controller are presented in detail in the paper. The simulation results indicate that the L1 adaptive control is efficient\r\nin solving this kind of problem....
Some new and simple Gramian-based model order reduction algorithms are presented on second-order linear dynamical\r\nsystems, namely, SVD methods. Compared to existing Gramian-based algorithms, that is, balanced truncation methods, they\r\nare competitive and more favorable for large-scale systems. Numerical examples show the validity of the algorithms. Error bounds\r\non error systems are discussed. Some observations are given on structures of Gramians of second order linear systems....
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