Distributed cooperation of directed coupled double-integrator agents using sampled and delayed position data

2017 ◽  
Author(s):  
Na Huang ◽  
Chao Huang ◽  
Pengfei Fang ◽  
Changbin Yu
Keyword(s):  
Position Data ◽  
Distributed Cooperation ◽  
Double Integrator

scholarly journals Delay Equivalences in Tuning PID Control for the Double Integrator Plus Dead-Time

Mathematics ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 328
Author(s):  
Mikulas Huba ◽  
Damir Vrancic
Keyword(s):  
Dead Time ◽  
Pid Controllers ◽  
Noisy Environment ◽  
Advantages And Disadvantages ◽  
Implementation Problem ◽  
Low Pass ◽  
Excellent Control ◽  
Low Pass Filters ◽  
Double Integrator

The paper investigates and explains a new simple analytical tuning of proportional-integrative-derivative (PID) controllers. In combination with nth order series binomial low-pass filters, they are to be applied to the double-integrator-plus-dead-time (DIPDT) plant models. With respect to the use of derivatives, it should be understood that the design of appropriate filters is not only an implementation problem. Rather, it is also critical for the resulting performance, robustness and noise attenuation. To simplify controller commissioning, integrated tuning procedures (ITPs) based on three different concepts of filter delay equivalences are presented. For simultaneous determination of controller + filter parameters, the design uses the multiple real dominant poles method. The excellent control loop performance in a noisy environment and the specific advantages and disadvantages of the resulting equivalences are discussed. The results show that none of them is globally optimal. Each of them is advantageous only for certain noise levels and the desired degree of their filtering.

scholarly journals Reset control of the double integrator with finite settling time and finite jerk

Automatica ◽  
2021 ◽  
Vol 127 ◽  
pp. 109536
Author(s):  
Antonio Barreiro ◽  
Alfonso Baños ◽  
Emma Delgado
Keyword(s):  
Settling Time ◽  
Reset Control ◽  
Double Integrator

scholarly journals Many Ways Lead to the Goal—Possibilities of Autonomous and Infrastructure-Based Indoor Positioning

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 397
Author(s):  
Hossein Shoushtari ◽  
Thomas Willemsen ◽  
Harald Sternberg
Keyword(s):  
Mobile Networks ◽  
Dead Reckoning ◽  
Simulated Data ◽  
Minimum Cost ◽  
Cost Effective ◽  
Satellite System ◽  
Position Estimation ◽  
Robust Solution ◽  
Position Data ◽  
Global Navigation Satellite

There are many ways to navigate in Global Navigation Satellite System-(GNSS) shaded areas. Reliable indoor pedestrian navigation has been a central aim of technology researchers in recent years; however, there still exist open challenges requiring re-examination and evaluation. In this paper, a novel dataset is used to evaluate common approaches for autonomous and infrastructure-based positioning methods. The autonomous variant is the most cost-effective realization; however, realizations using the real test data demonstrate that the use of only autonomous solutions cannot always provide a robust solution. Therefore, correction through the use of infrastructure-based position estimation based on smartphone technology is discussed. This approach invokes the minimum cost when using existing infrastructure, whereby Pedestrian Dead Reckoning (PDR) forms the basis of the autonomous position estimation. Realizations with Particle Filters (PF) and a topological approach are presented and discussed. Floor plans and routing graphs are used, in this case, to support PDR positioning. The results show that the positioning model loses stability after a given period of time. Fifth Generation (5G) mobile networks can enable this feature, as well as a massive number of use-cases, which would benefit from user position data. Therefore, a fusion concept of PDR and 5G is presented, the benefit of which is demonstrated using the simulated data. Subsequently, the first implementation of PDR with 5G positioning using PF is carried out.

Patterns of Nucleotide Substitution in Mitochondrial Protein Coding Genes of Vertebrates

Genetics ◽  
1996 ◽  
Vol 143 (1) ◽  
pp. 537-548 ◽  
Author(s):  
Sudhir Kumar
Keyword(s):  
Nucleotide Substitution ◽  
Mitochondrial Protein ◽  
Likelihood Estimation ◽  
Nucleotide Composition ◽  
Substitution Rates ◽  
Protein Coding ◽  
Protein Coding Genes ◽  
Conserved Genes ◽  
Maximum Likelihood Methods ◽  
Position Data

Abstract Maximum likelihood methods were used to study the differences in substitution rates among the four nucleotides and among different nucleotide sites in mitochondrial protein-coding genes of vertebrates. In the lst+2nd codon position data, the frequency of nucleotide G is negatively correlated with evolutionary rates of genes, substitution rates vary substantially among sites, and the transition / transversion rate bias (R) is two to five times larger than that expected at random. Generally, largest transition biases and greatest differences in substitution rates among sites are found in the highly conserved genes. The 3rd positions in placental mammal genes exhibit strong nucleotide composition biases and the transitional rates exceed transversional rates by one to two orders of magnitude. Tamura-Nei and Hasegawa-Kishino-Yano models with gamma distributed variable rates among sites (gamma parameter, α) adequately describe the nucleotide substitution process in 1st+2nd position data. In these data, ignoring differences in substitution rates among sites leads to largest biases while estimating substitution rates. Kimura's two-parameter model with variable-rates among sites performs satisfactorily in likelihood estimation of R, α, and overall amount of evolution for lst+2nd position data. It can also be used to estimate pairwise distances with appropriate values of α for a majority of genes.

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