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相关概念视频

Multi-input and Multi-variable systems01:22

Multi-input and Multi-variable systems

109
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
109
Feedback control systems01:26

Feedback control systems

319
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
319
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

120
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
120
Transient and Steady-state Response01:24

Transient and Steady-state Response

189
In control systems, test signals are essential for evaluating performance under various conditions. The ramp function is effective for systems undergoing gradual changes, while the step function is suitable for assessing systems facing sudden disturbances. For systems subjected to shock inputs, the impulse function is the most appropriate test signal.
These test signals are integral in designing control systems to exhibit two key performance aspects: transient response and steady-state...
189
Classification of Systems-II01:31

Classification of Systems-II

150
Continuous-time systems have continuous input and output signals, with time measured continuously. These systems are generally defined by differential or algebraic equations. For instance, in an RC circuit, the relationship between input and output voltage is expressed through a differential equation derived from Ohm's law and the capacitor relation,
150
Control Systems01:10

Control Systems

1.2K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
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Using Neuron Spiking Activity to Trigger Closed-Loop Stimuli in Neurophysiological Experiments
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具有输入延迟的多代理系统的固定时间事件触发控制.

Linling Wang1, Xiaoyan Xu1, Bing Han2,3

  • 1The Shanghai Engineering Research Center of Intelligent Maritime Search & Rescue and Underwater Vehicles, Shanghai Maritime University, Shanghai, China.

PloS one
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PubMed
概括
此摘要是机器生成的。

本研究引入了对无人驾驶水面车辆 (USV) 和无人驾驶水下车辆 (AUV) 的固定时间事件触发控制,以达成共识并避免障碍. 该方法确保更快,更流,更节能的协调控制,即使有系统延迟和干扰.

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科学领域:

  • 机器人和控制系统 机器人和控制系统
  • 海洋自主系统 海洋自主系统
  • 分布式系统 分布式系统

背景情况:

  • 在异质的无人驾驶水面车辆 (USV) 和无人驾驶水下车辆 (AUV) 系统中达成共识和协调控制,由于输入延迟和不确定的干扰,提出了挑战.
  • 现有的控制策略经常与初始状态变化作斗争,并且可能是通信密集的.

研究的目的:

  • 为异构的USV-AUV系统开发一个固定时间事件触发的共识控制策略.
  • 设计一个避免障碍的算法,最大限度地减少控制输入的动,并确保顺的导航.
  • 在各种条件下验证拟议方法在实现形成控制和避开障碍方面的有效性.

主要方法:

  • 固定时间的共识控制算法,确保在预先确定的时间内,无论初始状态如何,实现趋同.
  • 事件触发的通信策略,以减少通信负载和能源消耗,同时避免Zeno行为.
  • 改进基于人工潜力场 (IAPF) 的避障算法,用于处理静态和动态障碍物.

主要成果:

  • 拟议的固定时间共识控制成功地实现了异质USV-AUV系统的所需构成,即使初始状态不匹配.
  • 事件触发策略显著降低了通信要求,而不会影响控制性能.
  • 与现有方法相比,IAPF算法提供了更顺的避障路径,减少了控制输入动.
  • 广泛的模拟证实了开发的控制和避障策略的有效性和优越性.

结论:

  • 集成的固定时间事件触发控制和IAPF避障策略为异构的USV-AUV系统提供了强大的和高效的解决方案.
  • 这种方法增强了协调,减少了通讯上的开支,并在复杂的海洋环境中提高了航行安全.
  • 该方法在性能,效率和路径平滑性方面比现有技术具有显著的优势.