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A cruise and headway control strategy using distributed model predictive control, developed for a vehicle platooning application is proposed in this paper. The cruise control (i.e. driving the vehicle with a constant velocity demanded by the driver) is designed for the platoon's leading vehicle, whereas for the rest of the platoon, a headway control strategy is developed. Thus, the control objective...
The paper treats a class of human walking robots, the athlete robot (AR). The dynamic equations of this model are generated by Euler Lagrange method as a multi-input-multi-output under-actuated model. The balancing control on one leg in the stance phase is studied. The hierarchical sliding mode control algorithm is proposed. Numerical simulations show the method efficiency.
Present paper demonstrates the effectiveness of the predictive deadbeat current control for Permanent Magnet (PM) Brushless (BL) DC motor drive in injection of square-wave phase current even at higher speed as compared to conventional PI controller employed for phase current control. Effectiveness has been demonstrated in terms of capability of minimizing current ripples and torque ripples ensuring...
The electric solar wind sail (E-sail for short) is an innovative concept for spacecraft propulsion, which can generate continuous thrust without propellant by reflecting solar wind ions. In previous literatures, the thrust of E-sail is described by a classical model, which neglected the effects of E-sail attitude on the propulsive thrust modulus and direction. The aim of this paper is to reappraise...
Communications survivability of mobile wireless segments in tactical military networks is and will be an enormous challenge in the present and future defence forces, which is vital to fulfill military missions in a timely manner. We have previously presented an autonomous system named OPAL, which uses distributed cooperative management solutions for enhancing communications survivability in volatile...
Elderly people have some problems about their decrease in lower limb function. So, there is a possibility of falling and causing serious injury when standing or sitting. The purpose of this research is to construct a system that enables elderly people to receive safe and high quality rehabilitation. At the first, analysis of trajectory of standing and sitting motion is performed. Thanks to the analysis,...
This paper illustrates the importance of control on energy saving opportunity for electrical drives systems. The paper's objective is to present the results for a real time implementation of optimal control law for an electrical drive system with induction machine at variable flux. The optimal control is based on numerical integration of the Matrix Riccati Differential Equation and the optimal control...
This article shows the effects of various parameters like modulation or the radio channel conditions on sea turtles trajectory estimated by terrestrial localization algorithms. This work is part of wireless sensors networks domain in the marine and terrestrial environment in the world of living beings. It allows to identify and understand the parameters that lead to inaccuracies over the sea turtles...
The second-order sliding-mode controller based on improved sub-optimal algorithm for synchronous Buck converte r is designed, and the converter can be controlled only by detecti ng the output voltage without measuring the capacitance current of the converter. By introducing hysteresis to sub-optimal algorit hm, the switching frequency of the converter is limited when the output voltage is stable....
Localization is a very important issue to wireless sensor networks. The sensor node requires accurate location information in order to achieve the purpose of real-time monitoring and transmission of information. The more the sensor nodes and GPS modules are used in localization, the higher the localization accuracy can achieve, but employing more sensor nodes also leads to high costs. Thus, how to...
This paper explores the predictive power of perhaps the most well-supported human performance model in the context of a complex ecological task. The model is Fitts Law, which describes the classic speed-accuracy tradeoff of goal-directed motor behavior. The task is modern pistol shooting competition, which demands explicit cognitive strategy and full-body biomechanical coordination. Data obtained...
The vehicular inverted pendulum (VIP) system is one of the most important issues in dynamics and control theory, and has been widely used as a benchmark for testing control algorithms. However, the tracking control and swing-up control of the VIP system have often been investigated separately. In this paper, by combining the Zhang dynamics (ZD) method and the traditional gradient dynamics (GD) method,...
This paper presents a solution with reduced computational complexity for path planning of a team of robots that should satisfy a mission expressed as a Boolean formula. It is assumed that the robots move in a partitioned environment containing some regions of interest. The robots should reach some final regions such that a Boolean formula expressed using the regions of interest is satisfied. Moreover,...
The purpose of this research is to develop a control strategy for a differential drive autonomous mobile robot. The robotic task is to move in a straight trajectory in the workspace despite powered by two non-identical electric motors. A developed controller was designed to control the rotational speed of the motors independently in order to achieve a straight trajectory of the motion despite the...
This paper focuses on solving the ship course tracking problem by using Zhang dynamics (ZD) method and a new Zhang finite difference (ZFD) formula. Via ZD method, which is a powerful class of dynamics to solve online time-varying problems, the so called ZD controller of ship course tracking is designed. Then, a 1-node-ahead differentiation formula within ZFD framework termed as 4-node g-square finite...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
This paper proposes a trajectory planning method with neural networks that learn model predictive control for dynamic manipulation. The novelty of this method is that target positions and model parameters are added to the input of the neural network. The proposed method solves the dynamic trajectory planning issues with low calculation cost. This paper shows the effectiveness of the proposed method...
This paper proposes a novel control scheme for hybrid energy storage system(HESS) in electric vehicles. The HESS above is composed of two parts: fuel cell (FC) and super capacitor(SC). FC, as the main power supply, provides a large proportion of required power. Whereas, SC, as the auxiliary energy storage source, plays a great role when starting and braking an electric vehicle(EV). Both energy sources...
Recent advances in robotics have led to the development of exoskeleton robots that are becoming extensively used in the medical domain, to assist and help people suffering from physical impairments recover mobility. Most of existing controllers designed for position control of exoskeleton robots are linear which may not be suitable for exoskeleton robots having complex structures under heavy uncertainties...
The development of technologies related to the Internet of Things (IoT) provides a new perspective on applications pertaining to smart cities. Smart city applications focus on resolving issues facing people in everyday life, and have attracted a considerable amount of research interest. The typical issue encountered in such places of daily use, such as stations, shopping malls, and stadiums is crowd...
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