Object-transportation control of cooperative agv systems based on virtual-passivity decentralized control algorithm

2005 ◽  
Vol 19 (9) ◽  
pp. 1720-1730 ◽  
Author(s):  
Jin Ho Suh ◽  
Young Jin Lee ◽  
Kwon Soon Lee
Keyword(s):  
Decentralized Control ◽  
Control Algorithm ◽  
Object Transportation ◽  
Agv Systems

scholarly journals Overlapping Decentralized Control Strategies of Building Structures’ Vibration with Time Delay Based on H∞ Control Algorithms under Seismic Excitation

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Xiaofang Kang ◽  
Jian Wu ◽  
Yewei Zhang ◽  
Guoliang Liu ◽  
Suhui Zhang ◽  
...  
Keyword(s):  
Control System ◽  
Time Delay ◽  
Vibration Control ◽  
Decentralized Control ◽  
Control Strategy ◽  
Control Algorithm ◽  
Control Method ◽  
Control Strategies ◽  
Linear Matrix ◽  
Feedback Gain

A decentralized control strategy can effectively solve the control problem of the large-scale time delayed structures. In this paper, combining the overlapping decentralized control method, linear matrix inequality (LMI) method, and H∞ control algorithm, overlapping decentralized H∞ control approach of the time delayed structures has been established. The feedback gain matrixes of all subsystems are obtained by this method based on genetic algorithm optimization tools and the specific goal of optimization control. The whole vibration control system of the time delayed structures is divided into a series of overlapping subsystems by overlapping decentralized control strategy. The feedback gain matrixes of each subsystem can be obtained by using H∞ control algorithm to calculate each subsystem. The vibration control of a twenty layers’ antiseismic steel structure Benchmark model was analyzed with the numerical method. The results show that the proposed method can be applied to control system with time delay. The overlapping decentralized control strategies acquire the similar control effects with that of the centralized control strategy. Moreover, the flexibility of the controller design has been enhanced by using overlapping decentralized control strategies.

Fault Adaptive Kinematic Control Using Multiprocessor System and its Verification Using a Hyper-redundant Manipulator

2001 ◽  
Vol 13 (5) ◽  
pp. 540-547 ◽  
Author(s):  
Shinichi Kimura ◽  
◽  
Shigeru Tsuchiya ◽  
Tomoki Takagi ◽  
Shinichiro Nishida ◽  
...  
Keyword(s):  
Decentralized Control ◽  
Research Laboratory ◽  
Control Algorithm ◽  
Multiprocessor System ◽  
Control Architecture ◽  
Redundant Manipulator ◽  
Space System ◽  
Space Robots ◽  
Kinematic Control ◽  
Maintenance System

Decentralized autonomous control architecture and self-organizing control architecture have several advantages in space robots, the most fascinating of which is an adaptation for partial faults. The Communications Research Laboratory have proposed an ""Orbital Maintenance System"" (OMS) that maintains a space system. We have developed a modular manipulator, which can be controlled by distributed processors in each module and can overcome partial failures. In this paper, we introduce a decentralized control algorithm for modular manipulators and discuss its performance in computer simulations and experiments. The algorithm proved useful for inspection in modular manipulators, and robust to partial faults.

scholarly journals Grid sense multiple access: A decentralized control algorithm for DC grids

2020 ◽  
Vol 119 ◽  
pp. 105818 ◽  
Author(s):  
Nils H. van der Blij ◽  
Laura M. Ramirez-Elizondo ◽  
Matthijs T.J. Spaan ◽  
Pavol Bauer
Keyword(s):  
Decentralized Control ◽  
Multiple Access ◽  
Control Algorithm
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