Cooperative Control of Vehicle Swarms for Acoustic Target Localization by Energy Flows

2004 ◽  
Vol 126 (4) ◽  
pp. 891-895 ◽  
Author(s):  
J. L. Dohner and ◽  
G. R. Eisler ◽  
B. J. Driessen ◽  
J. Hurtado
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Open Space ◽  
Target Localization ◽  
Pressure Measurements ◽  
Energy Flows ◽  
Acoustic Target ◽  
Robotic Vehicles ◽  
Novel Algorithm

A control algorithm has been developed and experimentally validated for guiding swarms of robotic vehicles to acoustic targets. This novel algorithm uses pressure measurements from a set of sensors, each attached to a vehicle of the swarm, to deduce energy flows from the environment, and to move in the direction of maximum reflected intensity while controlling constraints between vehicles. The algorithm was validated using a collective of eight hand-placed microphones in an open-space area with a 50-m separation between an emitter and scatterer.

scholarly journals Retraction: Kwon et al. Cooperative Control Algorithm for Friction and Regenerative Braking Systems Considering Temperature Characteristics. World Electr. Veh. J. 2015, 7, 287–298

2021 ◽  
Vol 12 (2) ◽  
pp. 68
Author(s):  
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Regenerative Braking ◽  
Temperature Characteristics

The journal retracts the article, ”Cooperative control algorithm for friction and regenerative braking systems considering temperature characteristics” [...]

scholarly journals Integrated Guidance and Control of Multiple Interceptors with Impact Angle Constraints Considered

2019 ◽  
Vol 37 (2) ◽  
pp. 273-282
Author(s):  
Xiang Liu ◽  
Xiaogeng Liang
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Control Method ◽  
Impact Angle ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint ◽  
Distributed Cooperative Control

To solve the multi-interceptor coordination problem and to intercept the target with impact angle constraint, a novel distributed cooperative control algorithm with impact angle constraint based on integrated guidance and control is proposed. First, the mathematic model of integrated guidance and control is established by combining the interceptor-target relative motion model with the dynamic equation of the interceptor on pitch plane. The time varying gain extended state observer is developed to estimate and compensate the unknown disturbance. Based on the estimated value and fast nonsingular dynamic surface sliding control method, the IGC algorithm of leader is given; Then, based on distributed cooperative "leader-follower" model, the cooperative control strategy of multi-interceptor is designed, and gives out speeds in two directions on pitch plane, which are transformed to the command of total velocity and trajectory angle based on kinematic relations. Finally, to control the follower, the time varying gain extended state observer and the dynamic surface sliding control method are adopted. The simulation results demonstrate the effectiveness of the distributed cooperative control algorithm.

scholarly journals Distributed Cooperative Control for Stepper Motor Synchronization

2018 ◽  
Vol 167 ◽  
pp. 02001
Author(s):  
Sauro J Yague ◽  
Guillermo Reyes Carmenaty ◽  
Alejandro Rolán Blanco ◽  
Aurelio García Cerrada
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Torque Control ◽  
Stepper Motor ◽  
Two Phase ◽  
Control Techniques ◽  
Control Effectiveness ◽  
Stepper Motors ◽  
Distributed Cooperative Control ◽  
Multi Agents

This paper describes the design and simulation of a distributed cooperative control algorithm based on multi-agents to synchronize a group of stepper motors. Modeling of the two-phase hybrid stepper motor in closed loop is derived in {d - q} rotary reference frame, based on field-oriented control techniques to provide torque control. The simulation obtained by MATLAB-Simulink shows that the distributed cooperative control effectiveness depends on the network topology defined by the graph.

A non-cooperative vehicle-to-vehicle trajectory-planning algorithm with consideration of driver’s characteristics

2018 ◽  
Vol 233 (10) ◽  
pp. 2405-2420 ◽  
Author(s):  
Kuoran Zhang ◽  
Jinxiang Wang ◽  
Nan Chen ◽  
Guodong Yin
Keyword(s):  
Trajectory Planning ◽  
Vehicle Dynamics ◽  
Cooperative Control ◽  
Control Algorithm ◽  
System A ◽  
Vehicle To Vehicle ◽  
Vehicle System ◽  
Planning Algorithm ◽  
Vehicle Trajectory ◽  
Driver’S Characteristics

This paper presents a non-cooperative vehicle-to-vehicle trajectory-planning algorithm with consideration of the characteristics of different drivers. The driver–vehicle model considering vehicle dynamics and characteristics of the drivers is used to formulate a vehicle-to-vehicle encountering system. A non-cooperative control algorithm considering each of the driver–vehicle system as a player is employed to plan collision-free trajectories for the encountering vehicles with respective initial driving intentions. The non-cooperative problem is solved with the theory of Nash equilibrium and is ultimately converted to a standard nonlinear Model Predictive Control problem. Simulations are conducted in the scenarios of the lane-exchanging and overtaking with different initial vehicle speeds to verify the effectiveness of the proposed algorithm. Results show that the algorithm can accomplish the trajectory-planning task with consideration of both the safety requirement and the characteristics of drivers. The simulation results also show that the proposed algorithm has effectiveness for trajectory planning in different vehicle-to-vehicle encountering scenarios.

The Optimum Adaptive Cooperative Control of the Vehicle Steering and Anti-Lock Braking System

2013 ◽  
Vol 387 ◽  
pp. 288-291
Author(s):  
Guo Li ◽  
Huan Liu
Keyword(s):  
Control System ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Analytical Form ◽  
Error Model ◽  
Braking System ◽  
Simulation Results ◽  
Antilock Braking ◽  
The Stability

In this paper, a new two-level cooperative control system is proposed for the vehicles steering antilock braking stability fields. The architecture is composed with the execution layer with anti-lock brake control system and the cooperation layer developed on a new cooperative error model. It is quite feasible because of its analytical form. Finally, the stability and the validity of the control algorithm are validated by simulation results.

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