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We investigate the orbiting intruder passive ranging problem, where an ownship aircraft is moving with a constant velocity and the intruding aircraft is conducting an orbiting maneuver. We assume that the ownship measures the bearing angles to the intruder aircraft. We approach the problem by utilizing a filter bank algorithm parameterized with respect to the range, the heading of the intruder, and...
According to the traditional control of three-phase inverter, basing on the transient mathematical model of second order of virtual synchronous generator, the three loops control of power-voltage-current with virtual synchronous generator (VSG) by using the feedback of capacitance's voltage and current was built. And the proportional and integral control was applied in the loop of voltage to ensure...
Visual-inertial odometry (VIO) is a nonlinear estimation problem where control inputs, such as acceleration and angular velocity, play a significant role in the estimation performance. In this paper, we examine effects of controls on the VIO problem. We first analyze the effects of acceleration and angular velocity inputs on state observability of the VIO problem. Representing the vehicle dynamics...
Relative state estimation is an important component in multi-vehicle applications in GPS-denied environments. In this paper, we consider relative heading estimation between two Unmanned Aerial Systems (UAS). We examine observability properties of relative states between the two UAS in the presence of constant disturbances. We assume that UAS 2 measures UAS 1's position in its own frame. We first present...
We consider a dynamic average consensus problem where a group of agents is required to track the average of their time-varying inputs. We assume that the inputs are sinusoidal with a single unknown frequency. We develop a distributed two-time-scale estimator that estimates the unknown frequency and achieves average consensus of the inputs. We establish input-to-state (ISS) properties of the estimator...
In this chapter we consider the position-based formation control design in (2.74) and investigate its robustness with respect to switching topology, link gain variation and unmodeled dynamics.
Based on mechanical load characteristics of opening and closing operations of 40.5kV vacuum circuit breaker, a new type of permanent magnet brushless DC motor operating mechanism is designed. The main structural sizes of the drive motor are calculated by using the target value method. Through analyzing the performance of the same volume motor under different winding wire diameter and number of turns,...
Parallel inverter technology is the basis for distributed power generation system to achieve high reliability, high redundancy, high capacity and high scalability, at the same time, it is also the key to the stable operation of distributed generation system. Traditional inverter technology requires low frequency transformer to achieve electrical isolation and voltage matching, which results in the...
This paper addresses the problem of target handoff between two fixed wing aircraft that do not have access to GPS. The problem requires estimating the relative pose between the vehicles. We examine the observability of the relative states needed to do the handoff when the relative position vector between the aircraft is measured, as would be the case for a radar or a lidar sensor. We assume that the...
A method based on the combination of analytical method and numerical simulation for extracting barrier voltage in metal insulator metal (MIM) junction for passive intermodulation (PIM) calculation on mesh reflector was proposed, which significantly reduces the computation time of electrically large problems. The analytic calculation result turns out to be in good agreement with the FEM simulation...
In order to solve the problem of the output voltage unbalance, which is caused by unbalanced load or nonlinear load. This paper proposes the high frequency link (HFL) three-phase four-leg matrix inverter which is not only having perfect ability with the unbalanced load or the linear load, but also can realize the input and output electrical isolation. It also can change the range of output voltage...
So far, we have focused on the formation control problem—maintaining the desired formation towards a common goal. For reconnaissance missions or maneuvering around obstacles, additional requirement of following a specified path may be required. The primary goal in path following problems is to design control laws that force the output of a system to follow a desired path.
The previous chapters modeled the agents as point robots and considered only position control. However, in numerous applications, the attitude of the agents plays an important role, which means that the agents must be modeled as rigid bodies. In this chapter, we study an attitude agreement problem where each agent has access only to the relative attitude with respect to its neighboring agents and...
For the examples presented in previous chapters, the relative information between agents, such as relative distances/positions, relative path variables, is obtained through explicit information flow, including sensor measurements and direct communication. While such explicit information flow exists in many cooperative control applications, there are situations where the information flow is implicit...
In this chapter, we formulate a coordination problem that is applicable to formation stabilization and group agreement as special cases, and present a class of feedback laws that solve this problem with local information. A key observation is that bidirectional communication gives rise to Structure 4 in Section 1.5, which guarantees that the resulting feedback loop will inherit the passivity properties...
Multiple robots or sensors have a number of advantages over a single agent, including robustness to failures of individual agents, reconfigurability, and the ability to perform challenging tasks such as environmental monitoring, target localization, that cannot be achieved by a single agent. A cooperative control system consists of a group of autonomous agents with sensing or communication capabilities,...
The passivity-based design in Chapter 2 assumed that the reference velocity of the group is available to each agent and developed control laws that made use of this information. A more realistic situation is when a leader, say agent 1, in the group possesses this information. In this chapter, we exploit the design flexibility offered by the passivity-based framework and develop adaptive designs with...
In this chapter, we further extend the passivity approach from point robots to agents modeled as Euler-Lagrange systems. The Euler-Lagrange model is prevalently used to model multi-link robots and encompasses the double integrator model in (2.16) as a special case. We first apply the design techniques in Chapter 2 and present a nominal design that achieves the agreement of the agents.We next consider...
The designs in Sections 3.3 and 3.5 restrict the reference velocity v(t) to be constant or periodically time-varying. In this section, we present adaptive designs that are applicable to any time-varying, uniformly bounded and C1 reference velocity v(t) that can be parameterized.
Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and agreement. The book introduces passivity as a design tool for multi-agent systems, provides exemplary work using this tool,and illustrates its advantages in designing robust cooperative control algorithms. The discussion begins with...
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