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In this paper, we propose a novel approach to control autonomous robots to achieve a desired linear formation during movement towards the target position. Firstly, one robot, which has the closest distance to the target, is selected as the leader of the swarm. The desired formation is built based on the relative position between this leader and the target. Secondly, the trajectory of the remaining...
Recently, synthesis of gene regulatory networks having desired behavior has became of interest to many researchers and several studies have been done. We proposed synthesis methods of a class of gene regulatory networks based on expression patterns, in which desired behavior are given by expression pattern sequences. The theoretical investigation into the existence of solution of synthesis problems...
A general invariance principle is proposed from the output-to-state view-point for general nonlinear time-varying systems. A simple and intuitive criterion is proposed using an integral inequality involving the output function and a modified detectability condition. When applied to systems having a Lyapunov function, the well-known LaSalle's invariance principle can be deduces based on our approach...
In this note, the tracking trajectory problem for a wheeled mobile base has been solved using the robot dynamical model. The proposed solution is based on sliding mode control. The asymptotic vanishing of the tracking errors has been theoretically proved, and simulation results have been reported, showing the effectiveness of the proposed control law.
According to the original design of 30W level W-band folded waveguide CW traveling wave tube (TWT), a step-tapering structure was at the end of the uniform interaction circuit to improve the electron efficiency. Compared two kinds of tapering circuit, the results indicate that both circuits could achieve over 40W power at 91GHz∼97GHz. The electron efficiency could be improved from 3% to 4%. A collector...
Considering the penetration guidance for initiative anti-interception penetration(IAIP), this paper presents an improved multistage hp-adaptive Radau pseudospectral Method (RPM) to solve non-smooth optimal control problem combined with mission decomposition. Firstly, the author builds a three-body motion model as dynamic constraint, which is composed of the attacker, interceptor and target, and establishes...
To meet the requirement of terminal impact attitude angle constraint of UAV to enhance precision-guided, this paper combines the optimal guidance and the sliding mode control, selects the error as a switching function, and then designs an optimal sliding mode guidance law with terminal impact angle constraint, which satisfies well with Rubustness, two methods of calculating time-to-go were derived,...
This paper discusses the new class of ordinary differential equations solvers, based on parallel methods of numerical integration. The application problems of such methods are described for a case of dynamical systems computer simulation. The algorithms of parallel ODE integration methods and the series of computational experiments in NI LabVIEW development system are represented. An evaluation of...
Hydraulic excavators play an important role for various construction tasks. But due to increasing costs of fossil fuels and an increasing environmental awareness, there is high demand for more efficient machinery. During the development of the necessary technologies, simulations based on an excavator model and measured driving cycles allow for an early assessment of the expected machine performance...
In order to solve the problems of complex calculation and uncontrolled accuracy in dynamic model of flexible manipulator, a new method of building dynamic model is proposed based on a new model with springs and rigid bodies. According to this method, manipulator is simplified as some rigid bodies connected by springs. So new dynamic model is built by Lagrange equation with added elastic energy which...
In this paper, we analyze a formation control problem of two disk-shaped holonomic mobile robots without collision each other. We show that the tracking control problem can be reduced to sample stabilization of the origin of the nonlinear system defined on noncontractible manifold by exact linearization via coordinate transformation. We propose a tracking control method which is applying the Rifford-Sontag...
In this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system...
Lotka-Volterra equations describe the population relationship between two species, i.e., predator and prey. In many circumstances, it is necessary to introduce a control method into such a predator-prey system. Different from traditional methods, by applying Zhang-gradient (ZG) method and using interaction coefficients of Lotka-Volterra equations as inputs, the population control problem of the predator-prey...
In this paper, a method is presented to simulate the performance of an industrial robot manipulator in a foundry workcell. The robot under consideration is IRB 6640 180–2.55 from ABB used for handling heavy cores in ElectroSteel Castings Ltd., Kolkata. The proposed method considers the time-optimal control of robot motion to simulate the actual behavior of the robot. A model-based control technique...
Analyzing the behavior of nonlinear oscillators has revealed a wide range of phenomena specific to nonlinear systems. The Duffing oscillator raises a particular interest and has been studied frequently. Starting from a robust control method for chaotic Duffing-Holmes type oscillators, this paper analyzes the possibility of extending the method for other types of Duffing oscillators, with numerical...
In order to realize lateral control of vehicles on an automated highway system (AHS), it is necessary to measure and/or predict vehicle deviation from the path to be followed (reference line). In this study, a simple multiple look-ahead distance scheme is proposed; in particular, simple feedback control that uses vehicle lateral deviations at three look-ahead points is proposed. Simulations are conducted...
For a dynamic loss minimization control for DC-to-DC converters, a transient loss analysis of a multiple-gap inductor designed for the 2010 Prius is presented in this paper. A transient core loss calculation algorithm based on an equivalent elliptical loop (EEL) is used for the time domain loss analysis. The algorithm is combined with finite element analysis (FEA), and the core loss and copper loss...
The paper represents the flight-dynamic singlerotor helicopter mathematical model and describes its elements. The features of flight-dynamic single-rotor helicopter are given. We describes the math model applications and discuss the simulation results in conclusions.
This paper presents a fuzzy logic control approach for trajectory tracking of Stewart platform which is a six degrees of freedom parallel manipulator. In order to have a robust tracking a fuzzy logic controller, convenient for nonlinear complex systems, is developed. The performance of the developed FLC is compared with classical PID controller. The performances of both controllers are measured using...
Zhang dynamics (ZD) and gradient dynamics (GD) are two types of powerful methods for online problems solving. In this paper, a classic nonlinear system of Van der Pol oscillator in the affine-control form is investigated. By combining the ZD and GD methods, a method called Zhang-gradient (ZG) method is proposed to design a ZG controller for the trajectory generation of the aforementioned nonlinear...
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