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Simulation provides a low cost method of initial testing of control for robotic swarms. The expansion of robotic swarms to heterogeneous environments drives the need to model cooperative operation in those environments. The Autonomous Control Engineering center at The University of Texas at San Antonio is investigating methods of simulation techniques and simulation environments. This paper presents...
System of systems (SoS) concept is essential in solving the issues in complex systems where there are heterogeneous independently operable systems. Each system should be modeled in a model-based controller. The problem of mathematical modeling of a single system is considered. This system can be a part of a SoS, working independently from other systems. In this paper we have described the main steps...
This paper describes the use of a hybrid algorithm of optimal control for a class of mechanical, under-actuated, nonlinear systems having fewer control inputs than degrees of freedom, like Inverted Pendulum (IP), when sampling frequency of the measurable state variables is near the frequency in which folding phenomenon happens. In this algorithm the online adaptive recognition of the system is essential...
In this paper, we address a class of underactuated nonlinear systems having fewer measurable state variables than the number of actuators. In some practical systems, the problem of variation of frequency of sampling of measurable state variables finally leads to failure in the process of control. We present a hybrid method of control for a typical class of nonlinear systems that successfully handles...
This paper describes the use of a hybrid algorithm of optimal control for a class of mechanical, under-actuated, nonlinear systems having fewer control inputs than degrees of freedom, like Inverted Pendulum (IP), when sampling frequency of the measurable state variables is near the frequency at which the folding phenomenon happens. In this algorithm the online adaptive recognition of the system is...
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