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In this paper, an adaptive parallel charging system is designed for energy-storage urban rail vehicles. The main circuit of the charging system is chosen with two parallel buck converters. The state space model of the charging system is derived with averaging method. Then an adaptive model-free extremum seeking charging controller is designed. Different from existing model-based charging methods,...
In this paper, an on-line motion planner is described to determine an optimal and collision-free trajectory for fixed wing vehicles moving in a 3D space populated with static hills and movable obstacles. The proposed method is mainly based on the polynomial parameterization of trajectories, which is beneficial to explicitly consider the kinematic constraints and the geometric constraints resulted...
In this paper, we present two near-optimal methods to determine the real-time collision-free path for a mobile vehicle moving in a dynamically changing environment. The proposed designs are based on the polynomial parameterization of feasible trajectories by explicitly taking into account boundary conditions, kinematic constraints, and collision-avoidance criteria. The problems of finding optimal...
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