摘要:

Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains is studied in the spirit of the many-body problem in classical physics. Here, the effective spatial domain of each robot is taken to be a spherical ball about its centre of mass. It is assumed that each robot has a specified cone of visibility such that interaction with other robots, obstacles or the domain boundary takes place only when they enter its visibility cone. Based on a particle model for the robots, a collision-avoidance strategy for robot and domain-boundary interaction is derived. This strategy is combined with homing, robot-robot and robot-obstacle collision-avoidance strategies to form an overall navigation strategy in bounded spatial domains. The local dynamic interaction of the robot with the domain boundary is studied analytically. The global dynamic behaviour of multiple robots with the proposed navigation strategy inside bounded spatial domains is studied by means of computer simulation.

ISSN:0020-7179    

DOI:10.1080/00207178908953488

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The well known minimum-variance adaptive controller and model-reference controller have been extended to include non-minimum phase systems. The simplicity of the original controllers is maintained. By allowing the intersample control signal to have two values, rather than one, the system zeros can be allocated to some prespecified locations. The stability issue related to both controllers for non-minimum phase systems is thus resolved.

ISSN:0020-7179    

DOI:10.1080/00207178908953489

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Methods are developed for constructing Luenberger-type observers for linear time-invariant descriptor systems. Based on the descriptor standard form derived here by means of a simple matrix calculus, full-order observers, reduced-order observers and function observers of a general type are proposed. Some necessary and sufficient conditions for the function observers to estimate linear functions of the state are discussed. Then, the so-called separation property of combined observer-controller systems is established.

ISSN:0020-7179    

DOI:10.1080/00207178908953490

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The modelling of non-linear time series is reviewed and new results are introduced by employing some ideas from the identification of non-linear control systems. Both global and local conditions for stationary and invertibility are established for the general non-linear time-series model and it is shown how these results provide a framework for time-series estimators. Methods of computing multistep-ahead predictions are studied and the usefulness of polynomial models is discussed.

ISSN:0020-7179    

DOI:10.1080/00207178908953491

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Using the integral manifold approach, a composite control—the sum of a fast control and a slow control—is derived for a particular class of non-linear singularly perturbed systems. The fast control is designed completely at the outset, thus ensuring the stability of the fast transients of the system and, furthermore, the existence of the integral manifold. A new method is then presented which simplifies the derivation of a slow control such that the singularly perturbed system meets a preselected design objective to within some specified order of accuracy. Though this approach is, by its very nature,ad hoc, the underlying procedure is easily extended to more general classes of singularly perturbed systems by way of three examples.

ISSN:0020-7179    

DOI:10.1080/00207178908953492

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The governing equations of motion for the in-plane motion of a gravity gradient axisymmetric satellite are presented. These non-linear, non-autonomous and coupled equations are then linearized. The numerical solutions of the linear and non-linear equations are compared over a range of orbit eccentrities. The results show that the differences between the linearized and non-linear equations are small. The analytical solution of the linear, non-autonomous and coupled equations is next obtained using the method suggested by Kryloff and BogoIiuboff (K.-B method). Finally, the validity of the analytical solutions is assessed over a range of eccentricities and various initial conditions. The closed-form solution as determined by the K-B method is promising. Over the range of eccentricities and various initial conditions considered, the K-B method predicts the librational and vibrational responses of the system with a reasonable degree of accuracy.

ISSN:0020-7179    

DOI:10.1080/00207178908953493

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

An underlying relationship between a dynamic stochastic control system and its steady-state counterpart is thoroughly investigated. A novel approach which uses both dynamic and steady-state information for solving the stochastic steady-state optimizing control problem is presented. A two-stage steady-state system identification technique is proposed and employed in the presented approach to estimate the expectation of the real process derivative. Compared with integrated system optimization and parameter estimation (ISOPE) methods, this new approach has reduced significantly the required controller set point changes and is much less sensitive when subjected to noise. Optimality of the algorithm is examined and sufficient conditions for global convergence are provided. Consistency and asymptotic behaviour of the two-stage identification method are also investigated. Computer simulations are provided and comparisons are made between the ISOPE method and the presented approach. Simulation results show that this new approach is very efficient and reliable.

ISSN:0020-7179    

DOI:10.1080/00207178908953494

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Some classic s-domain algorithms are first expressed in a unified form. From this, all possible split forms are then derived and classified. In particular, attention is focused on two families of algorithms, which include the standard Routh algorithm and an s-domain Levinson-like algorithm respectively. The related split forms are analysed and compared. Their complexity can be reduced by suitably choosing some scaling factors. It turns out that the usual form of the Routh algorithm, which is intrinsically split, and the simplified version of the split Levinson-like algorithm are substantially equivalent and superior to any other possible split algorithm.

ISSN:0020-7179    

DOI:10.1080/00207178908953495

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Dynamical equations for the major degrees-of-freedom of a general class of manipulator are presented. It is shown that the linearized model of each member of the class can be used directly to synthesize a well-known model reference adaptive controller (MRAC) for the corresponding machine. Simulations are presented to show the excellence of results obtained by the application of MRAC to two manipulators.

ISSN:0020-7179    

DOI:10.1080/00207178908953496

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Estimates for performance are obtained when a continuous almost-periodic signal is tracked using continuous-time or piece-wise constant affine control in the presence of white-noise perturbations.

ISSN:0020-7179    

DOI:10.1080/00207178908953497

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor