http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Maode Yan (검색결과 7 건)
- 무료
- 기관 내 무료
- 유료
-
Information-based Optimal Deployment for a Group of Dynamic Unicycles
Maode Yan,Yaoren Guo,Lei Zuo,Panpan Yang 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
In this paper, we investigate the optimal deployment problems for a group of dynamic unicycles in a given region. The information of interests over this region is considered such that the region with higher interests can get more attentions. Firstly, we present a cost function to describe the performance of multi-unicycle systems and find out the optimal locations for unicycles. Then, we transform this information-based optimal deployment problem into a moving target tracking problem and propose a novel kinematic control protocol to drive unicycles to the optimal locations. On this basis, an algorithm is provided for the dynamic unicycles by using the back-stepping techniques. Moreover, we demonstrate the stability and convergence of the proposed multi-unicycle systems. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.
-
Maode Yan,Wenrui Ma,Lei Zuo,Panpan Yang 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.12
This paper presents a dual-mode distributed model predictive control (DMPC) strategy for the platooning of connected vehicles with nonlinear dynamics. A third-order nonlinear model is employed to describe the dynamic characteristics of vehicles. In order to deal with the system nonlinearity and enhance the control precision, a DMPC based optimization problem is formulated for the vehicle platoon control, in which the nonlinear dynamics and the input boundaries are both considered as its constraints. Then, a dual-mode structure with the control scheme from the optimization and a local state feedback controller is proposed to drive the vehicles to the desired platoon. Comparing with other vehicle platoon algorithms, the proposed dual-mode DMPC strategy can significantly reduce the computational burden and save communication resources. Furthermore, the iterative feasibility and the stability of proposed control system are strictly analyzed. In final, numerical simulations are provided to validate the effectiveness of the proposed approaches.
-
Lei Zuo,Maode Yan,Ye Zhang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1
This paper studies the coverage control problems for a group of agents on a given line, in which both the unknown density function and the collision avoidance among the agents are taken into consideration. To deal with this problem, a novel adaptive line coverage control algorithm is proposed to deploy the agents. In details, the density function is used to describe the distribution of the interested information over the line. Then, an adaptive estimation algorithm is provided to approximate the density function. Comparing with the other density estimation algorithms, the estimation accuracy and efficiency of our proposed algorithm are improved by using the linear regression techniques and a group of error-correction functions. On this basis, a line coverage control scheme with parameter conditions is provided to deploy the agents without any collision. Moreover, the stability of proposed coverage system is strictly analyzed. In final, both numerical simulations and experiments are provided respectively to validate the proposed approaches.
-
Observer-based Actuator Fault Detection and Robust Tolerant Control for Vehicle Platoons
Xiaomin Liu,Maode Yan,Panpan Yang,Jiacheng Song 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.4
This paper investigates the actuator fault detection and tolerant control problem for vehicle platoons with partial loss of effectiveness and bias faults. Considering the inherent coupling between the control input and the nonlinear term in the actuator, a decoupled observer based fault detection algorithm with time-varying threshold is developed to decide whether the actuator fault occurs in the platoon. Then, by employing radial basis function neural networks (RBF NNs) and backstepping control method, an adaptive robust fault-tolerant control (FTC) scheme is proposed, which is proved to be capable of achieving the safety, stability and tracking performance of vehicle platoons in the presence of actuator fault. Simulation studies illustrate the effectiveness of the proposed method.
-
Consensus Based Control Algorithm for Nonlinear Vehicle Platoons in the Presence of Time Delay
Panpan Yang,Ye Tang,Maode Yan,Xu Zhu 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.3
The platoon control problem for nonlinear vehicles in the presence of time delay is investigated in thispaper, where both constant time delay and time-varying delay cases are considered. A linearized third-order vehicledynamic model is firstly derived by deploying the exact feedback linearization technique and the vehicle platooncontrol problem is converted into a consensus-seeking problem. Then, a consensus based vehicle platoon controlalgorithm with time delay is proposed, which drives vehicles to form an equally spaced platoon with the samevelocity. By deploying the Lyapunov-Razumikhin theorem, the upper bound of time delay for vehicle platoon withconstant time delay is derived and the sufficient conditions that guarantee the stability of the vehicle platoon areobtained. Meanwhile, the sufficient conditions that ensure the stability of vehicle platoon with time-varying delayare acquired via the Lyapunov-Krasovskii theorem. Numerical demonstrations verify the feasibility and correctnessof the theoretical results.
-
Jiacheng Song,Yongfeng Ju,Maode Yan,Panpan Yang 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.4
This paper studies the adaptive control problem for unknown time-varying high-order nonlinear multiagent systems (MASs) with directed topology. A novel low-complexity distributed adaptive backstepping controller is developed to achieve the asymptotic synchronization. The designed controller regards the unknown system nonlinearities as “disturbance-like” terms, which are guaranteed to be bounded by using the barrier functions, such that detail models of system nonlinearities are released. Then, the “disturbance-like” terms are compensated adaptively by designing the novel compensator at each step, such that the synchronization error is eliminated to zero eventually for each agent. In addition, unlike the existing backstepping-like synchronization approaches for high-order nonlinear MASs, the “explosion of complexity” issue is avoided without extra low-pass filters. Some simulations are shown to demonstrate the effectiveness and advantages of the developed method.
-
Panpan Yang,Xingwen Chen,Xiangmo Zhao,Maode Yan 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.8
The fixed time event-triggered tracking control for interconnected nonlinear uncertain systems, whose state variables are unmeasurable, is investigated via an observer-based approach. The unmeasurable states are estimated by the designed neural observer under the fixed time stability criterion, and the uncertain interconnections are compensated by a smooth function. Then, a novel tracking error-based event-triggered strategy is employed to reduce the communication frequency of the control signal. By means of radial basis function (RBF) neural networks (NNs) to approximate the unknown nonlinearities, a fixed time event-triggered controller is designed to guarantee the convergence of tracking error to the origin in a fixed time. Finally, the proposed technique is verified by some numerical simulations.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
