A collaborative control method for multi-UAVs based on ADRC control

2020 ◽  
Author(s):  
Fuchun Liu ◽  
Tao Lan ◽  
Songbo Wang
Keyword(s):  
Control Method ◽  
Collaborative Control

scholarly journals Zoning Control Technology of Gob-Side Roadway Driving with Small Coal Pillar Facing Mining in a Special Isolated Island Working Face: A Case Study

2021 ◽  
Vol 11 (22) ◽  
pp. 10744
Author(s):  
Changliang Han ◽  
Houqiang Yang ◽  
Nong Zhang ◽  
Rijian Deng ◽  
Yuxin Guo
Keyword(s):  
Control Method ◽  
Coal Pillar ◽  
Control Technology ◽  
Stability Zone ◽  
Pressure Relief ◽  
Collaborative Control ◽  
Working Face ◽  
Underground Coal Mines ◽  
Engineering Practices

The gob-side roadway in an isolated island working face is a typical representative of a strong mining roadway, which seriously restricts the efficient and safe production of underground coal mines. With the engineering background of the main transportation roadway 1513 (MTR 1513) of the Xinyi Coal Mine, this paper introduces the engineering case of gob-side roadway driving with small coal-pillar facing mining in an isolated island working face under the alternate mining of wide and narrow working faces. Through comprehensive research methods, we studied zoning disturbance deformation characteristics and stress evolution law of gob-side roadway driving under face mining. Based on the characteristics of zoning disturbance, MTR 1513 is divided into three zones, which are the heading face mining zone, the mining influenced zone, and the mining stability zone. A collaborative control technology using pressure relief and anchoring is proposed, and the differentiated control method is formed for the three zones. For the heading face mining zone, the control method of anchoring first and then pressure relief is adopted; for the mining influenced zone, the control idea of synchronous coordination of pressure relief and anchorage is adopted; for the mining stability zone, the control method of anchoring without pressure relief is adopted. Engineering practices show that the disturbance influence distance of working face 1511 on MTR 1513 changes from 110 m advanced to 175 m delay. At this time, the surrounding rock deformation is effectively controlled, which verified the rationality of the division and the feasibility of three zoning control technology. The research results can provide reference for gob-side roadway driving with small coal pillar facing mining in a special isolated island working face.

Comparative study of viscose yarn properties spun with a softening device and pressure plate

2019 ◽  
Vol 89 (23-24) ◽  
pp. 4992-5005
Author(s):  
Keshuai Liu ◽  
Duo Xu ◽  
Jiang Wei ◽  
Junlong Ni ◽  
Shengming Yang ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Control Method ◽  
Breaking Strength ◽  
Main Body ◽  
Pressure Plate ◽  
Collaborative Control ◽  
Spun Yarn ◽  
Yarn Properties ◽  
Reduce Energy Consumption ◽  
Save Energy

In order to reduce energy consumption and further improve the performance of viscose yarns, this study introduced a collaborative control method to improve spun yarn performance by contacting the spinning strand with both a softening device and a pressure plate. In this study, we analyze the improving mechanism of spun yarn performance using the softening device and pressure plate. The results show that thermal insulation layer formed between the softening device and pressure plate could heat the yarns in all directions to further re-wrap out-exposed hairiness into the main body of yarns and save energy consumption. Four groups of 19.7 tex viscose yarns were spun with different collaborative apparatus (with and without the softening device or pressure plate). Four groups of viscose yarns were tested in terms of hairiness, unevenness, and tensile property. Moreover, the experimental results show that collaborative apparatus with the softening device and pressure plate could significantly improve yarn performance, including CV value, hairiness, break elongation, and breaking strength to 11.3%, 18.94, 12.9%, and 311.0 cN, respectively.

scholarly journals Development of Test Equipment for Pedestrian-Automatic Emergency Braking Based on C-NCAP (2018)

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6206
Author(s):  
Zhiqiang Song ◽  
Libo Cao ◽  
Clifford C. Chou
Keyword(s):  
Control Method ◽  
Field Tests ◽  
Test Equipment ◽  
System Control ◽  
Automated Driving ◽  
Target Movement ◽  
Emergency Braking ◽  
Collaborative Control ◽  
Accuracy And Precision ◽  
Differential Positioning

In order to evaluate the effectiveness of a pedestrian-automatic emergency braking (PAEB) system on pedestrian protection, a set of PAEB test equipment was developed according to the test requirement of China-New Car Assessment Program (C-NCAP) (2018) in this study. In the aspect of system control strategy, global positioning system (GPS) differential positioning was used to achieve the required measurement and positioning accuracy, the collaborative control between the PAEB test equipment and automated driving robot (ADR) was achieved by wireless communication, and the motion state of the dummy target in the PAEB system was controlled by using the S-shaped-curve velocity control method. Part of the simulations and field tests were conducted according to the scenario requirements specified in C-NCAP (2018). The experimental and simulated results showed that the test equipment demonstrated high accuracy and precision in the process of testing, the dummy target movement was smooth and stable, complying with the requirements of PAEB tests set forth in C-NCAP (2018), and yielding satisfactory results as designed. Subsequently, the performance of the AEB of a vehicle under test (VUT) was conducted and the score for star-rating to evaluate the performance level of AEB calculated. Results indicated the developed test equipment in this study could be used to evaluate the performance of the PAEB system with effectiveness.

Semi-Autonomous Collaborative Control of Multi-Robotic Systems for Multi-Task Multi-Target Pairing

2011 ◽  
Author(s):  
Yushing Cheung ◽  
Jae H. Chung ◽  
Ketula Patel
Keyword(s):  
Mobile Robots ◽  
Potential Field ◽  
Control Method ◽  
Contact Forces ◽  
Robotic Systems ◽  
Simulation Studies ◽  
Sensory Data ◽  
Collaborative Control ◽  
Single Target ◽  
Robot Task

In many applications, it is required that heterogeneous multi-robots are grouped to work on multi-targets simultaneously. Therefore, this paper proposes a control method for a single-master multi-slave (SMMS) teleoperator to cooperatively control a team of mobile robots for a multi-target mission. The major components of the proposed control method are the compensation for contact forces, modified potential field based leader-follower formation, and robot-task-target pairing method. The robot-task-target paring method is derived from the proven auction algorithm for a single target and is extended for multi-robot multi-target cases, which optimizes effect-based robot-task-target pairs based on heuristic and sensory data. The robot-task-target pairing method can produce a weighted attack guidance table (WAGT), which contains benefits of different robot-task-target pairs. With the robot-task-target pairing method, subteams are formed by paired robots. The subteams perform their own paired tasks on assigned targets in the modified potential field based leader-follower formation while avoiding sensed obstacles. Simulation studies illustrate system efficacy with the proposed control method.

Agent-Based Distributed Formation Tracking Adaptive Collaborative Control Simulation System

2013 ◽  
Vol 380-384 ◽  
pp. 313-316
Author(s):  
Ying Hong Zhao ◽  
Yan Kai Wang ◽  
Chong Zhang
Keyword(s):  
Control Method ◽  
State Space Model ◽  
Model Identification ◽  
Simulation System ◽  
Flight Simulation ◽  
Formation Flight ◽  
Satellite Formation ◽  
Agent Based ◽  
Collaborative Control ◽  
Satellite Formation Flight

Collaboration of multi-satellite system has a good application effect in the global remote sensing and three-dimensional observations field. Develop collaborative multi-satellite formation flight simulation system based on HLA is of great significance for the study of complex formation change process in the multi-satellite formation flying. We first design the collaborative multi-satellite formation flight simulation system based on HLA, then study the application of Agent-based modeling technology in the collaborative of multi-satellite formation flight simulation. The key technologies involved the establishment of the satellite relative kinetic model and formation remains adaptive control problem. Therefore, we have designed a state-space model identification-based adaptive decoupling generalized minimum variance controller to solve the problem of precise control of the system. Digital simulation results show that the adaptive control method based on state space model identification can track the desired trajectory in the presence of unknown environmental disturbances and measurement noise and the simulation system can effectively verify Multi-satellite collaborative control method at the same time.

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