The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, a control allocation approach is developed for energetic swarm control. This new approach allows sliding control of swarm temperature, swarm center position, and swarm potential energy. Since the sliding control problem is highly over-actuated, a control allocation optimization problem can be formulated and solved including input saturation constraints. Application to a group of wheeled...
In this paper, an energetic swarm controller is developed that controls the swarm temperature, swarm centre position, and swarm potential energy. A sliding control approach is combined with a control allocation process to solve the overactuated control problem. The control allocation problem is solved using nonlinear programming software which allows the optimization problem to be solved with input...
This paper proposes an optimal gait generation framework using virtual constraint and learning optimal control. In this method, firstly, we add a constraint by a virtual potential energy to prevent the robot from falling. Secondly, we execute iterative learning control (ILC) to generate an optimal feedforward input. Thirdly, we execute iterative feedback tuning (IFT) to mitigate the strength of the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.