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相关概念视频

Collisions in Multiple Dimensions: Problem Solving01:06

Collisions in Multiple Dimensions: Problem Solving

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In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
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Collisions in Multiple Dimensions: Introduction01:05

Collisions in Multiple Dimensions: Introduction

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It is far more common for collisions to occur in two dimensions; that is, the initial velocity vectors are neither parallel nor antiparallel to each other. Let's see what complications arise from this. The first idea is that momentum is a vector. Like all vectors, it can be expressed as a sum of perpendicular components (usually, though not always, an x-component and a y-component, and a z-component if necessary). Thus, when the statement of conservation of momentum is written for a...
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Relative Velocity in Two Dimensions01:11

Relative Velocity in Two Dimensions

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Relative velocity is the velocity of an object as observed from a particular reference frame, or the velocity of one reference frame with respect to another reference frame. The concept of relative velocity can be used to describe motion in two dimensions. Consider a particle P and two reference frames S and S′. The position of the origin of S′ as measured in S is , the position of P as measured in S′ is , and the position of P as measured in S is , which can be evaluated by utilizing...
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Relative Velocity in One Dimension01:10

Relative Velocity in One Dimension

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The understanding of the concept of reference frames is essential to discuss relative motion in one or more dimensions. When we say that an object has a certain velocity, we must state the velocity with respect to a given reference frame. In most examples, this reference frame has been Earth. For instance, if a statement reads that a person is sitting in a train moving at 10 m/s east, then it implies that the person on the train is moving relative to the surface of Earth at this velocity,...
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Types of Collisions - II01:19

Types of Collisions - II

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When two or more objects collide with each other, they can stick together to form one single composite object (after collision). The total mass of the object after the collision is the sum of the masses of the original objects, and it moves with a velocity dictated by the conservation of momentum. Although the system's total momentum remains constant, the kinetic energy decreases, and thus such a collision is an inelastic collision. Most of the collisions between objects in daily life are...
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Types Of Collisions - I01:04

Types Of Collisions - I

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When two objects come in direct contact with each other, it is called a collision. During a collision, two or more objects exert forces on each other in a relatively short amount of time. A collision can be categorized as either an elastic or inelastic collision. If two or more objects approach each other, collide and then bounce off, moving away from each other with the same relative speed at which they approached each other, the total kinetic energy of the system is said to be conserved. This...
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Updated: Jan 7, 2026

Operation of the Collaborative Composite Manufacturing CCM System
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基于速度的避免碰撞的多代理系统的固定时间形成控制.

Shuangsi Xue1, Zihang Guo2, Junkai Tan2

  • 1State Key Laboratory of Electrical Insulation and Power Equipment, and School of Electrical Engineering, Xi'an Jiaotong University, Xi'an, 710049, China; State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, and The Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, 710049, China.

ISA transactions
|December 26, 2025
PubMed
概括
此摘要是机器生成的。

本研究提出了一种新的固定时间形成策略,用于使用扩展状态观察员 (ESO) 和事件触发控制的多代理系统 (MAS). 这种方法确保了无碰撞的形成跟踪,尽管存在干扰,并减少了通信负载.

关键词:
避免碰撞,避免碰撞.事件触发的事件触发.固定时间的固定时间.形成控制控制 形成控制多代理系统是多代理系统.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统工程 控制系统工程
  • 人工智能的人工智能

背景情况:

  • 由于外部干扰和未知的动态,多代理系统 (MAS) 在形成跟踪方面面临着挑战.
  • 高计算负载和通信成本是复杂的MAS中的重要问题.
  • 现有的固定时间控制策略可能会受到高初始速度的影响,导致潜在的碰撞.

研究的目的:

  • 为无碰撞的MAS开发一个强大而高效的形成跟踪策略.
  • 为了减轻外部干扰和未知的系统动态对控制性能的影响.
  • 为了减少MAS内部的计算和通信负担.

主要方法:

  • 扩展状态观察器 (ESO) 的设计,具有滑动模式和偏差辐射基函数神经网络 (RBFNN),用于快速状态估计.
  • 制定一个固定时间的形成控制策略,利用ESO的反.
  • 实现分布式事件触发机制以优化控制器更新间隔.
  • 整合基于速度的人工潜力场 (APF) 来管理初始速度并防止碰撞.

主要成果:

  • 拟议的策略实现了该系统的半全球最终固定时间限制 (SGUFTB),通过利亚普诺夫理论证明.
  • 事件触发机制有效地减少了通信和计算负载.
  • 基于速度的APF成功地防止了代理之间的碰撞,并减少了执行器应变.
  • 使用五个全向机器人的比较模拟验证了该战略的有效性.

结论:

  • 开发的固定时间形成策略提高了MAS的控制性能和稳定性.
  • 结合ESO,事件触发控制和APF,提供了一种有效的解决方案,用于无碰撞的形成跟踪.
  • 该战略显示了系统稳定性和资源管理方面的重大改进.