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In this paper, we propose two different trajectory tracking consensus protocols for heterogeneous multi-agent system which comprises of heterogeneous agents. First, we propose a control law for achieving trajectory tracking in absence of time delay and analyze its stability using Lyapunov theory and Barbalat's lemma. Second, we design a control law based on estimators for achieving trajectory tracking...
This paper presents an integrated cooperative control scheme for multiple quadrotors. The design of cooperative control scheme mainly consists of the upper formation controller and the bottom trajectory tracking controller. Firstly the “leader-follower” formation model and the quadrotor dynamic model are established, with trajectory tacking errors, measurement errors and communication time delay concerned...
Tracking an angular position trajectory of a mass attached to the free end of a motor shaft with large torsional flexibility is considered. The dynamical model of this plant is an example of a nonlinear system which does not admit a retarded state representation, but only a so-called neutral one. It is a connection of a nonlinear system without delays, the PM stepper motor, and a linear delay system,...
This paper deals with a new parameter estimation method for an ultra-local model of Broïda. The proposed approach is based on the algebraic derivation techniques and the linear system resolution method, in order to estimate the ultra-local model parameters, such that the variable time-delay. The closed-loop control is achieved via an adaptive PI controller to reject the influence of noises and disturbances...
Crane systems used during offshore installations in harsh sea conditions must satisfy rigorous requirements in terms of safety and efficiency. The vertical vessel motion which is due to ocean waves excites dynamic forces which have an extensive effect on the overall crane structure and its lifetime. Furthermore, the operator gets handicapped during fine positioning of the payload. Thus, compensation...
The transmission of wave variables rather than power variables in time-delay teleoperation ensures system passivity - rendering the entire system stable, on the other hand, it leads to distortion between the velocities/ displacements of the master and slave, and it deteriorates significantly with the increase of time delays. This paper presents a new compensating scheme implemented at the slave side...
In this paper, we present a performance analysis of a dynamic bandwidth monitoring method with flow control functionality for intensive data-passing grid applications over wide area networks. The proposed method called flatness based trajectory tracking, adapts the grid users output rates to match expressive data-transfer SLA used to describe theirs guarantees parameters. The control considers time...
An articulated aerial work platform is a type of off highway vehicle with a long/flexible beam to provide temporary access to inaccessable areas. The motivation of the research is to improve productivity and safety of the work platform via advanced control schemes. In this paper, a motion control architecture is presented for trajectory tracking and vibration suppression. By using the sensors integrated...
In a recent paper we presented the first adaptive control design for an ODE system with a possibly large actuator delay of unknown length. We achieved global stability under full state feedback. In this paper we generalize the design to the situation where, besides the unknown delay value, the ODE also has unknown parameters, and where trajectory tracking (rather than equilibrium regulation) is pursued.
In this paper, we present a performance analysis of a dynamic bandwidth monitoring method with flow control functionality, for intensive data-passing grid applications over wide area networks. The proposed method called flatness based trajectory tracking, adapts the grid users output rates to match expressive data-transfer SLA used to describe theirs guarantees parameters. The control considers time...
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