scholarly journals Distributed Swarm Control Algorithm of Multiple Unmanned Surface Vehicles Based on Grouping Method

2021 ◽  
Vol 9 (12) ◽  
pp. 1324
Author(s):  
Guoqing Xia ◽  
Xianxin Sun ◽  
Xiaoming Xia
Keyword(s):  
Euclidean Space ◽  
Gradient Descent ◽  
Control Algorithm ◽  
Dynamic Properties ◽  
Unmanned Surface Vehicles ◽  
Grouping Method ◽  
Simulation Results ◽  
The Stability ◽  
Virtual Leader ◽  
Reduction Of Costs

This paper addresses the distributed swarm control problem of multiple unmanned surface vehicles (USVs) in Euclidean space with virtual leader. Firstly, to investigate the topology of the neighborhood relations between vehicles, a new time-variant topology structure is proposed. Secondly, to research the dynamic properties of the group for the case where the number of virtual leader is different, a grouping method based on cosine similarity is proposed. Thirdly, to ensure the high effeciency of information transmission and the reduction of costs, a distributed swarm control algorithm is proposed, which is mainly composed of three parts: gradient descent term, velocity consensus term and navigational feedback term. To analyze the stability of system, the concept of translation framework is introduced. Based on the properties of the Hamiltonian and LaSalle invariance principle, the stability of multiple USVs swarm motion is proved. Finally, simulation results illustrate the effectiveness of the proposed methods.

Research of Large Erecting Control System Based on Fuzzy PID Control Algorithm

2015 ◽  
Vol 743 ◽  
pp. 146-149
Author(s):  
Wen Liang Guan ◽  
Qin He Gao ◽  
Yi Hong Li ◽  
Zhi Hao Liu
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Control Model ◽  
Control Performance ◽  
Fuzzy Pid ◽  
Dynamics Model ◽  
Fuzzy Pid Control ◽  
Model Control ◽  
Simulation Results ◽  
The Stability

Dynamics model and Electro-hydraulic proportional control model were established using Simulink and AMESim, Co-simulation was did based on the model. Control Performance of erecting system is Improved based on fuzzy PID control algorithm. Simulation results show that, Overshoot at level exchanging is small, the response is fast and the stability is improved based on fuzzy PID control algorithm.

The Optimum Adaptive Cooperative Control of the Vehicle Steering and Anti-Lock Braking System

2013 ◽  
Vol 387 ◽  
pp. 288-291
Author(s):  
Guo Li ◽  
Huan Liu
Keyword(s):  
Control System ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Analytical Form ◽  
Error Model ◽  
Braking System ◽  
Simulation Results ◽  
Antilock Braking ◽  
The Stability

In this paper, a new two-level cooperative control system is proposed for the vehicles steering antilock braking stability fields. The architecture is composed with the execution layer with anti-lock brake control system and the cooperation layer developed on a new cooperative error model. It is quite feasible because of its analytical form. Finally, the stability and the validity of the control algorithm are validated by simulation results.

Position Synchronization of the Biaxial System with a PID Neural Networks Control

2013 ◽  
Vol 462-463 ◽  
pp. 766-770 ◽  
Author(s):  
Wang Yong He ◽  
Cong Qiu ◽  
Jia He
Keyword(s):  
Neural Networks ◽  
Control Algorithm ◽  
Learning Algorithm ◽  
Cross Coupling ◽  
Synchronization Error ◽  
Control Value ◽  
Control Scheme ◽  
Simulation Results ◽  
The Stability

A new control algorithm based on incorporating proportion integration differentiation (PID) neural networks into cross-coupling technology is developed for position synchronization of biaxial system. The PID neural networks controller is be used to adjust control value injecting two velocity loops of the biaxial system.The learning algorithm of PID neural networks is demonstrate in theory. It is tested by simulation that the proposed control scheme can guarantee the stability and the effectiveness of the biaxial control system.The simulation results show that synchronization error is reduced to 35um from 56um.

scholarly journals Anti-Disturbance Fault-Tolerant Sliding Mode Control for Systems with Unknown Faults and Disturbances

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1487
Author(s):  
Xiaoli Zhang ◽  
Zhengyu Zhu ◽  
Yang Yi
Keyword(s):  
Control Algorithm ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Controlled System ◽  
Simulation Results ◽  
The Stability ◽  
Mismatched Disturbances ◽  
The Impact

In this paper, a novel control algorithm with the capacity of fault tolerance and anti-disturbance is discussed for the systems subjected to actuator faults and mismatched disturbances. The fault diagnosis observer (FDO) and the disturbance observer (DO) are successively designed to estimate the dynamics of unknown faults and disturbances. Furthermore, with the help of the observed information, a sliding surface and the corresponding sliding mode controller are proposed to compensate the actuator faults and eliminate the impact of mismatched disturbances simultaneously. Meanwhile, the convex optimization algorithm is discussed to guarantee the stability of the controlled system. The favorable anti-disturbance and fault-tolerant results can also be proved. Finally, the validity of the algorithm is certified by the simulation results for typical unmanned aerial vehicles (UAV) systems.

scholarly journals Improved Generalized Force Model considering the Comfortable Driving Behavior

2015 ◽  
Vol 2015 ◽  
pp. 1-9
Author(s):  
De-Jie Xu ◽  
Bao-Hua Mao ◽  
Shao-Kuan Chen ◽  
Yun Bai
Keyword(s):  
Wave Speed ◽  
Dynamic Properties ◽  
Driving Behavior ◽  
Force Model ◽  
Kinematic Wave ◽  
Calculation Methods ◽  
Urgent Case ◽  
Generalized Force ◽  
Simulation Results ◽  
The Stability

This paper presents an improved generalized force model (IGFM) that considers the driver’s comfortable driving behavior. Through theoretical analysis, we propose the calculation methods of comfortable driving distance and velocity. Then the stability condition of the model is obtained by the linear stability analysis. The problems of the unrealistic acceleration of the leading car existing in the previous models were solved. Furthermore, the simulation results show that IGFM can predict correct delay time of car motion and kinematic wave speed at jam density, and it can exactly describe the driver’s behavior under an urgent case, where no collision occurs. The dynamic properties of IGFM also indicate that stability has improved compared to the generalized force model.

Dynamic Properties on Double Driving Articulated in-Pipe Robot Inspecting System

2011 ◽  
Vol 128-129 ◽  
pp. 1430-1433 ◽  
Author(s):  
Jun Chen ◽  
Tao Chen ◽  
Zong Quan Deng
Keyword(s):  
Pipe Wall ◽  
Dynamic Properties ◽  
Mechanics Model ◽  
Analysis Process ◽  
Modular Unit ◽  
Prototype Test ◽  
Modular Units ◽  
Simulation Results ◽  
The Stability ◽  
Centroid Position

To solve the problem of increased resistance founded in prototype test for single traction articulated in-pipe robot inspecting system move inversely, a driving scheme with double driving in-pipe robots located in both ends of inspecting system has been put forward. For the deflection of hinge connection caused by the misaligned centroid position of each modular unit, the limited contact mechanics model between the modular unit and pipe wall is established, and the stability of movement of modular units moved in elbow pipe is analyzed by example. The simulation results verify the rationality of analysis process, to provide the basis for improving in-pipe robot inspecting system design.

A simulation apparatus for the experimental study of batch reactor control methods

1986 ◽  
Vol 51 (6) ◽  
pp. 1259-1267
Author(s):  
Josef Horák ◽  
Petr Beránek
Keyword(s):  
Experimental Study ◽  
Closed Loop ◽  
Dynamic Properties ◽  
Batch Reactor ◽  
Exothermic Reaction ◽  
Electric Heating ◽  
Batch Reactors ◽  
Exchange Area ◽  
The Stability ◽  
Methods Of Control

A simulation apparatus for the experimental study of the methods of control of batch reactors is devised. In this apparatus, the production of heat by an exothermic reaction is replaced by electric heating controlled by a computer in a closed loop; the reactor is cooled with an external cooler whose dynamic properties can be varied while keeping the heat exchange area constant. The effect of the cooler geometry on its dynamic properties is investigated and the effect of the cooler inertia on the stability and safety of the on-off temperature control in the unstable pseudostationary state is examined.

Speed regulation control of tractors’ new dual-flow transmission system based on slip rate resistance classification

2021 ◽  
pp. 095440702110105
Author(s):  
Guang Xia ◽  
Yan Xia ◽  
Xiwen Tang ◽  
Linfeng Zhao ◽  
Baoqun Sun
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Production Efficiency ◽  
Sliding Mode ◽  
Slip Rate ◽  
Speed Control ◽  
Working Environment ◽  
Vehicle Speed ◽  
Speed Change ◽  
Simulation Results

Fluctuations in operation resistance during the operating process lead to reduced efficiency in tractor production. To address this problem, the project team independently developed and designed a new type of hydraulic mechanical continuously variable transmission (HMCVT). Based on introducing the mechanical structure and transmission principle of the HMCVT system, the priority of slip rate control and vehicle speed control is determined by classifying the slip rate. In the process of vehicle speed control, the driving mode of HMCVT system suitable for the current resistance state is determined by classifying the operation resistance. The speed change rule under HMT and HST modes is formulated with the goal of the highest production efficiency, and the displacement ratio adjustment surfaces under HMT and HST modes are determined. A sliding mode control algorithm based on feedforward compensation is proposed to address the problem that the oil pressure fluctuation has influences on the adjustment accuracy of hydraulic pump displacement. The simulation results of Simulink show that this algorithm can not only accurately follow the expected signal changes, but has better tracking stability than traditional PID control algorithm. The HMCVT system and speed control strategy models were built, and simulation results show that the speed control strategy can restrict the slip rate of driving wheels within the allowable range when load or road conditions change. When the tractor speed is lower than the lower limit of the high-efficiency speed range, the speed change law formulated in this paper can improve the tractor speed faster than the traditional rule, and effectively ensure the production efficiency. The research results are of great significance for improving tractor’s adaptability to complex and changeable working environment and promoting agricultural production efficiency.

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

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