scholarly journals Formation Control Algorithm of Multi-UAV-Based Network Infrastructure

2018 ◽  
Vol 8 (10) ◽  
pp. 1740 ◽  
Author(s):  
Seongjoon Park ◽  
Kangho Kim ◽  
Hyunsoon Kim ◽  
Hwangnam Kim
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Network Protocols ◽  
Network Simulator ◽  
Analysis Model ◽  
Network Infrastructure ◽  
Dynamic Transformation ◽  
Generic Dynamics ◽  
Multi Uav

This paper addresses the analysis and the deployment of the network infrastructure based on multiple Unmanned Air Vehicles (UAVs). Despite the unprecedented potential to the mobility of the network infrastructure, there has been no effort to establish a mathematical model of the infrastructure and formation control strategies. We model the generic dynamics of the network infrastructure and derive the network throughput of the infrastructure. Through the parametrization of the model, we extract the generic factors of the network protocols and verify our model through the Network Simulator 3 (ns-3). By exploiting our network analysis model, we propose a novel formation control algorithm that determines the location of the UAVs to maximize the efficiency of the network. To achieve the objectives of the infrastructure, we define the formation-shaping effect as forces and elaborately design them using the generic factors. The formation algorithm continuously approaches to the optimized formation of a fleet of UAVs to enhance the overall throughput of the terrestrial devices. Our evaluations show that the algorithm guarantees remarkably higher throughput than the static formations. Through the dynamic transformation of the UAV formation, we believe that the multi-UAV-based network infrastructure could expand the boundary of the existing infrastructure while reducing the network traffic.

scholarly journals Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772078 ◽  
Author(s):  
Shouxu Zhang ◽  
Weisheng Yan ◽  
Guangming Xie
Keyword(s):  
Constant Velocity ◽  
Formation Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Second Order ◽  
Time Varying ◽  
Transformation Technique ◽  
Leader Following ◽  
Formation Keeping

In this article, we developed a consensus-based leader-following formation control algorithm for a group of robotic fishes modeled by Euler–Lagrange dynamics. The Euler–Lagrange dynamics has been simplified as a second-order dynamics using the input transformation technique. Two consensus-based formation control strategies are discussed under the scenario: (1) leader with constant velocity and (2) leader with time-varying velocity. Three formation-keeping examples are shown in the simulations to verify the obtained formation control algorithm.

Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach

2016 ◽  
Vol 28 (3) ◽  
pp. 343-350 ◽  
Author(s):  
Shouhei Mori ◽  
◽  
Toru Namerikawa
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Consensus Algorithm ◽  
Network Links ◽  
Liner System ◽  
Linearized Model ◽  
Text Formation ◽  
Intermittent Communication ◽  
Structure Graph ◽  
Multi Uav

[abstFig src='/00280003/10.jpg' width=""260"" text='Formation control for multi-UAV system' ] The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm’s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control’s effectiveness.

Development of Dedicated Controller for HVAC

2012 ◽  
Vol 430-432 ◽  
pp. 1472-1476
Author(s):  
Jin Ming Yang ◽  
Yi Lin
Keyword(s):  
Fuzzy Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Control Software ◽  
Interface Circuits ◽  
Pid Algorithm ◽  
Hardware Interface ◽  
Hvac Control ◽  
Fuzzy Control Algorithm

This article describes the development of a dedicated controller for HVAC control, and introduces the hardware interface circuits about some main chip on controller. In addition, the article also explains composition and principle about control software applied to the controller, further more points out that the fuzzy control algorithm is more reasonable than the PID algorithm for most HVAC control and dedicated control strategies play an important role for HVAC control.

The Use of Damping Based Semi-Active Control Algorithms in the Mechanical Smart-Spring System

2017 ◽  
Vol 140 (2) ◽  
Author(s):  
Wander Gustavo Rocha Vieira ◽  
Fred Nitzsche ◽  
Carlos De Marqui
Keyword(s):  
Active Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Vibration Reduction ◽  
Flow Analysis ◽  
Coupled Systems ◽  
Control Technique ◽  
Control Algorithms ◽  
Control Techniques ◽  
Spring Mechanism

In recent decades, semi-active control strategies have been investigated for vibration reduction. In general, these techniques provide enhanced control performance when compared to traditional passive techniques and lower energy consumption if compared to active control techniques. In semi-active concepts, vibration attenuation is achieved by modulating inertial, stiffness, or damping properties of a dynamic system. The smart spring is a mechanical device originally employed for the effective modulation of its stiffness through the use of semi-active control strategies. This device has been successfully tested to damp aeroelastic oscillations of fixed and rotary wings. In this paper, the modeling of the smart spring mechanism is presented and two semi-active control algorithms are employed to promote vibration reduction through enhanced damping effects. The first control technique is the smart-spring resetting (SSR), which resembles resetting control techniques developed for vibration reduction of civil structures as well as the piezoelectric synchronized switch damping on short (SSDS) technique. The second control algorithm is referred to as the smart-spring inversion (SSI), which presents some similarities with the synchronized switch damping (SSD) on inductor technique previously presented in the literature of electromechanically coupled systems. The effects of the SSR and SSI control algorithms on the free and forced responses of the smart-spring are investigated in time and frequency domains. An energy flow analysis is also presented in order to explain the enhanced damping behavior when the SSI control algorithm is employed.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

Comparison of Peanut Dryer Control Strategies1

1996 ◽  
Vol 23 (2) ◽  
pp. 86-90 ◽  
Author(s):  
C. L. Butts
Keyword(s):  
Control Algorithm ◽  
Energy Savings ◽  
Control Strategies ◽  
Size Distributions ◽  
Curing Time ◽  
Kernel Size ◽  
Milling Quality ◽  
Set Point ◽  
Net Revenue ◽  
Hourly Basis

Abstract Peanuts were mechanically cured from field moisture contents ranging from 11.5 to 32.8% wet basis to levels acceptable for marketing (< 10.5%) using two dryer control strategies. The first control algorithm consisted of a constant thermostat setting of 39 C, while the second required manual thermostat control on an hourly basis such that the minimum plenum relative humidity was between 40 and 60% and the maximum plenum temperature was less than 39 C. The average drying rate using the variable thermostat set point (0.3%/hr) was half that obtained with the constant set point (0.6%/hr). Average curing time for the variable thermostat setting was 56% longer than for the peanuts cured using the constant thermostat. Fuel consumption was reduced by approximately 30% using the variable set point. Kernel size distributions and milling quality indicated by bald kernels were significantly better (P ≤ 0.1) for peanuts cured using the variable thermostat control. Increasing available dryer capacity by 40% would allow the buying point manager to handle the same amount of peanuts during the same harvest interval. Economic analysis showed that the annual capital cost for additional drying equipment could not be offset by energy savings alone. Based on increased shelled product value and energy savings, shellers could realize an increase in net revenue of approximately $14/1000 kg of farmers stock peanuts by using a variable thermostat set point.

scholarly journals Modified Space Vector Modulated Z Source Inverter with Effective DC Boost and Lowest Switching Stress

2010 ◽  
Vol 7 (1) ◽  
pp. 70 ◽  
Author(s):  
S. Thangaprakash ◽  
A. Krishnan
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Input Voltage ◽  
Duty Ratio ◽  
Space Vector ◽  
Voltage Vector ◽  
Voltage Stress ◽  
Capacitor Voltage ◽  
Full Utilization

 This paper presents a modified control algorithm for Space Vector Modulated (SVM) Z-Source inverters. In traditional control strategies, the Z-Source capacitor voltage is controlled by the shoot through duty ratio and the output voltage is controlled by the modulation index respectively. Proposed algorithm provides a modified voltage vector with single stage controller having one degree of freedom wherein traditional controllers have two degrees of freedom. Through this method of control, the full utilization of the dc link input voltage and keeping the lowest voltage stress across the switches with variable input voltage could be achieved. Further it offers ability of buck-boost operation, low distorted output waveforms, sustainability during voltage sags and reduced line harmonics. The SVM control algorithm presented in this paper is implemented through Matlab/Simulink tool and experimentally verified with Z-source inverter prototype in the laboratory. 

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