The Decentralized Controller Based on a Consensus Theory for Stabilizing the Heading Angle in Closed Formation

2018 ◽  
Author(s):  
Bohang Wang ◽  
Daobo Wang ◽  
Xiaomeng Li
Keyword(s):  
Consensus Theory ◽  
Heading Angle ◽  
Closed Formation

Consensus Theory in Expert Systems: An Adaptive Inference Framework and Application to Image Understanding

1988 ◽  
Author(s):  
Kathryn B. Laskey ◽  
Marvin S. Cohen ◽  
William G. Roman ◽  
Paul K. Black ◽  
James R. Mcintyre
Keyword(s):  
Expert Systems ◽  
Image Understanding ◽  
Consensus Theory ◽  
Adaptive Inference

scholarly journals Compound robust flight time and heading angle constrained guidance law

2020 ◽  
Vol 53 (2) ◽  
pp. 9452-9457
Author(s):  
Yi Ji ◽  
Pei Pei ◽  
Defu Lin ◽  
Jianting Zhao ◽  
Wei Wang
Keyword(s):  
Flight Time ◽  
Guidance Law ◽  
Heading Angle

scholarly journals Geometric Reduced-Attitude Control of Fixed-Wing UAVs

2021 ◽  
Vol 11 (7) ◽  
pp. 3147
Author(s):  
Erlend M. Coates ◽  
Thor I. Fossen
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Attitude Control ◽  
Controller Design ◽  
State Of The Art ◽  
Model Structure ◽  
Practical Application ◽  
Ultimate Boundedness ◽  
Adaptive Backstepping ◽  
Control Effectiveness ◽  
Heading Angle

This paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To control roll and pitch angles, we employ vector coordinates constrained to the unit two-sphere and that are independent of the yaw/heading angle. The angular velocity projected onto this vector is enforced to satisfy the coordinated-turn equation. We exploit model structure in the design and prove almost global asymptotic stability using Lyapunov-based tools. Slowly-varying aerodynamic disturbances are compensated for using adaptive backstepping. To emphasize the practical application of our result, we also establish the ultimate boundedness of the solutions under a simplified controller that only depends on rough estimates of the control-effectiveness matrix. The controller design can be used with state-of-the-art guidance systems for fixed-wing unmanned aerial vehicles (UAVs) and is implemented in the open-source autopilot ArduPilot for validation through realistic software-in-the-loop (SITL) simulations.

The Development of the Nineteenth-Century Consensus Theory of Contract

1989 ◽  
Vol 7 (2) ◽  
pp. 241-329 ◽  
Author(s):  
Philip A. Hamburger
Keyword(s):  
Nineteenth Century ◽  
Consensus Theory

The consensus theory is well known. According to consensus theory, contract is the product of the consensus or “meeting of the minds” of contracting parties; if there is no consensus, there is no contract. Today, even after repeated challenges, consensus theory continues to be important and even essential in many approaches to contract.

scholarly journals Konferensi Inter-Indonesia Tahun 1949: Wujud Konsensus Nasional antara Republik Indonesia dengan Bijeenkomst voor Federaal Overleg

2018 ◽  
Vol 3 (1) ◽  
pp. 34
Author(s):  
Widhi Setyo Putro
Keyword(s):  
Conflicts Of Interest ◽  
Federal State ◽  
Official Language ◽  
Sovereign State ◽  
National Anthem ◽  
United State ◽  
Consensus Theory ◽  
National Consensus ◽  
The Republic ◽  
Bahasa Indonesia

This article discusses the national consensus between the Republic of Indonesia (RI) and the Bijeenkomst voor Federaal Overleg (BFO) which embodied in the 1949 Inter-Indonesia Conference. Using conflict and consensus theory of Ralf Dahrendorf, this article seeks to understand the conflicts of interest background and the process towards a consensus between RI and BFO. The conflict between RI and BFO motivated by the Dutch aimed to control Indonesia. One of his efforts was to divide the Indonesian nation by forming states, which led to a conflict between the Republicans (Republicans) who supported the united state, and the federalists (BFO) in favor of the federal state. The study found that the Dutch federal policy was not entirely a success because the federalists which incorporated in BFO was not affected. The conflict between the Republican and federalists subsided with the implementation of the Goodwill Mission and the sending of the BFO Liaison Commission to meet Indonesian leaders detained after the Dutch Military Aggression II. The summit was a national consensus between RI and BFO, it embodied in the Inter-Indonesia Conference in 1949 which took placed at Yogyakarta and Jakarta. They reached a consensus by agreeing on fundamental issues as the identity of a sovereign state, such as the name of the country, Merah Putih as the official flag, Bahasa Indonesia as the official language, and the Indonesia Raya as the national anthem.

scholarly journals Reversals in Movement Direction in Locomotor Interception of Uniformly Moving Targets

2021 ◽  
Vol 12 ◽  
Author(s):  
Gwenaelle Ceyte ◽  
Remy Casanova ◽  
Reinoud J. Bootsma
Keyword(s):  
Control Strategies ◽  
Rate Of Change ◽  
Movement Direction ◽  
Moving Targets ◽  
Motion Direction ◽  
Reversal Phenomenon ◽  
Bearing Angle ◽  
Driving Task ◽  
Heading Angle ◽  
Initial Target

Here we studied how participants steer to intercept uniformly moving targets in a virtual driving task. We tested the hypothesis that locomotor interception behavior cannot fully be explained by a strategy of nulling rate of change in pertinent agent-target relations such as the target-heading angle or target’s bearing angle. In line with a previously reported observation and model simulations, we found that, under specific combinations of initial target eccentricity and target motion direction, locomotor paths revealed reversals in movement direction. This phenomenon is not compatible with unique reliance on first-order (i.e., rate-of-change based) information in the case of uniformly moving targets. We also found that, as expected, such reversals in movement direction were not observed consistently over all trials of the same experimental condition: their presence depended on the timing of the first steering action effected by the participant, with only early steering actions leading to reversals in movement direction. These particular characteristics of the direction-reversal phenomenon demonstrated here for a locomotor interception-by-steering task correspond to those reported for lateral manual interception. Together, these findings suggest that control strategies operating in manual and locomotor interception may at least share certain characteristics.

scholarly journals Decision and navigation in mouse parietal cortex

eLife ◽  
2018 ◽  
Vol 7 ◽  
Author(s):  
Michael Krumin ◽  
Julie J Lee ◽  
Kenneth D Harris ◽  
Matteo Carandini
Keyword(s):  
Parietal Cortex ◽  
Posterior Parietal Cortex ◽  
Large Fraction ◽  
Spatial Position ◽  
Visually Guided ◽  
Virtual Navigation ◽  
Navigation Task ◽  
Measured Activity ◽  
Posterior Parietal ◽  
Heading Angle

Posterior parietal cortex (PPC) has been implicated in navigation, in the control of movement, and in visually-guided decisions. To relate these views, we measured activity in PPC while mice performed a virtual navigation task driven by visual decisions. PPC neurons were selective for specific combinations of the animal's spatial position and heading angle. This selectivity closely predicted both the activity of individual PPC neurons, and the arrangement of their collective firing patterns in choice-selective sequences. These sequences reflected PPC encoding of the animal’s navigation trajectory. Using decision as a predictor instead of heading yielded worse fits, and using it in addition to heading only slightly improved the fits. Alternative models based on visual or motor variables were inferior. We conclude that when mice use vision to choose their trajectories, a large fraction of parietal cortex activity can be predicted from simple attributes such as spatial position and heading.

Model Tests for Safe-Return-to-Port of a Damaged Ship in Waves

2015 ◽  
Author(s):  
Jeonghwa Seo ◽  
Cristobal Santiago Bravo ◽  
Shin Hyung Rhee
Keyword(s):  
Degrees Of Freedom ◽  
Feedback System ◽  
Model Tests ◽  
Measurement Unit ◽  
Test Model ◽  
Motion Response ◽  
Six Degrees Of Freedom ◽  
Heading Angle ◽  
Wave Conditions ◽  
Damaged Ship

A series of tests using a course-keeping model ship with an autopilot system were carried out in a towing tank for research on Safe-Return-to-Port (SRTP). The autopilot system controls the rudder angle and propeller revolution rate by a feedback system. The variation of the heading angle of the test model with different control parameters was investigated first, to ensure that the test model had sufficient course-keeping maneuverability in severe wave conditions. The wave conditions and propeller revolution rate were selected based on SRTP regulations. Tests were conducted in wave conditions corresponding to sea states 4 to 6. The six-degrees-of-freedom motion response of the test model was measured by a wireless inertial measurement unit and gyro sensors to achieve fully wireless model tests. The advance speed and motion response in various wave conditions were measured and analyzed to investigate the effects of flooding behavior in a damaged condition and of waves on the propulsion and maneuvering performance of the damaged ship model.

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