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This paper presents a new fuzzy controller for trajectory tracking for unicycle-like mobile robots, represented by a Takagi-Sugeno fuzzy model. Such controller allows setting different gains for the controller, according to the values of the velocity of the trajectory and the values of the tracking error. The noise inherent to the robot odometry is treated by the fuzzy controller itself, not requiring...
This paper presents a new fuzzy controller for trajectory tracking for unicycle-like mobile robots, represented by a Takagi-Sugeno fuzzy model. Such controller allows setting different gains for the controller, according to the values of the velocity of the trajectory and the values of the tracking error. The noise inherent to the robot odometry is treated by the fuzzy controller itself, not requiring...
This work presents an alternative sensorial system, including the minimal number of devices, to register the driver activity on the control pedals. As it is known, sensors directly related to pedals are difficult to implement and require specific calibration for each tested vehicle. On the contrary, the new proposal based on the measurement of regime engine, frontal inclination, linear acceleration...
The aim of this paper is to propose and compare two multivariable current controllers of voltage source converters (VSCs) connected to the grid through an LCL filter. The first proposal is a linear quadratic (LQ) servocontroller, which uses a full-order estimator to obtain the full state vector. The second proposal is based on the internal model control (IMC). The behavior of both controllers is tested...
This document describes the proposal of an internal and external communication architecture implemented in order to develop cooperative tasks among robotic units. The key of this communication system are the client-server links designed with Player/Stage for periodical control tasks and with sockets for non periodical ones. Each mobile unit acts as a node, connected through an Ethernet-Converter device,...
In this paper authors present a novel method for platoon formation and control in linear as well as non-linear trajectories. Tracking stability and string-stability are achieved through a decentralized overlapping control law, independently of the number of followers and their kinematics architecture. After a feedback linearization stage, a LQR controller is applied to every subsystem in which the...
This work presents a trajectory generation strategy used for merging and splitting maneuvers of a platoon of vehicles formed in urban environments. Using the reference trajectory defined and marked by the lead unit, and using pre-defined locations of the parking areas outside this trajectory, a solution sets out that fixes the way to follow for the units that require to separate (split) or to connect...
The intensive use of power converters and other non-linear loads in industry and by consumers in general, has produced an increasing deterioration of the power systems voltage waveforms. The presence of harmonic distortion in power lines results in greater power losses in the distribution systems, interference problem in communication systems and, sometimes, in operation failures of electronics equipments...
This work presents some methods to reduce false alarms in railway obstacle detection. The sensorial system is based on one barrier of infrared emitters and another of receivers, placed on opposing sides of the railway. Obstacle detection is achieved by the lack of reception in the detectors. On the one hand, the efficiency of the system is achieved with the geometrical distribution of the sensorial...
The lateral and longitudinal oscillations in a platoon of vehicles depend, fundamentally, on how the reference trajectory of the followers is generated and how the lateral and longitudinal control is designed. In this paper new algorithms are presented to reduce some of these problems. One of them takes charge in generating the reference trajectory of the followers by means of a series of points,...
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