This paper is on the experiment of the collision avoidance control law with information amount feedback using a vehicle model. The collision avoidance is a key technology for future mass transportation systems. The amount of information obtained by the evader is treated as a physical value for the collision avoidance feedback control. This will lower the risk of collision when information of the environment cannot be obtained due to various reasons and when the intruder is coming in from out-of-sight. This paper demonstrates the effect of collision avoidance control with information amount feedback using a vehicle model. The results show that the control law has the ability to lower the risk of the collision and works in the actual environment for collision avoidance with similar motion with that of humans.
The consensus problem of multi-agent systems with communication channel constraint is studied by providing special Laplacians of directed graphs in this paper. Communication delays as one kind of channel constraints in multi-agent systems have been discussed in the recent literature. Different from those works, the consensus problem with communication channel constraint on signal amplitude is addressed in this paper. Our work shows that the consensus can be obtained as long as some state-dependent switching parameters are introduced into two different types of the consensus protocols. It is shown in an identical constraint case that the system given by one of the two protocols can reach globally asymptotically consensus and that the system can also achieve a generalized average-consensus if the directed graph is balanced; it is shown in a non-identical constraint case that the other protocol can provide the system with an asymptotic consensus. Examples have been given to illustrate the effectiveness of the methods.
The Smart Grid is a novel concept which integrates the power grid and the information-communication technology in order to increase the reliability of electricity and the efficiency of energy usage. Toward developing the smart grid, this paper focuses on the control of distributed generation networks composed of multiple generators such as gas-engines and gas-turbines. In this paper, we first formulate an operation mode control problem which is to determine ON/OFF modes of the generators subject to the balance of supply and demand. Then, as a solution to the problem, this paper proposes a simple and useful distributed control algorithm based on the idea of the halftoning which is one of image processing techniques. Finally, the effectiveness of the proposed method by several numerical simulations is evaluated.
This paper analyzes the performance of the random dither quantizers from the viewpoint of feedback control. In particular, it focuses here on the uniform random dither quantizers, which quantize signals by using an artificially introduced random signal on a uniform distribution. First, an upper bound of the performance is derived, which enables us to easily estimate the performance of the random dither quantizers. Next, the relation between the performance and the sampling period is clarified. Furthermore, the former theoretical result is demonstrated by an experiment using an inverted pendulum system.
The Hamilton-Jacobi equation (HJE) with the time-varying Hamiltonian plays an important role in the analysis and control of nonlinear systems and is very difficult to solve for general nonlinear systems. In this paper, the HJE with coefficients belonging to meromorphic functions is considered, and its solutions with algebraic gradients are characterized in terms of commutative algebra. It is shown that there exists a solution with an algebraic gradient if and only if an H-invariant and involutive zero-dimensional radical ideal exists in a polynomial ring over the meromorphic functions of the time and the state. If such an ideal is found, an algebraic gradient can be obtained simply by solving a set of algebraic equations.
Fictitious reference iterative tuning (FRIT) is one of the effective data-driven tuning methods for parameters of a controller with only one-shot experiment. This paper applies FRIT to internal model control (IMC) for linear, time invariant, stable and non-minimum phase systems, which enables us to simultaneously obtain a desired controller and a mathematical plant model. Here, the authors consider the case where we do not have any information on the system. To overcome the difficulty of treating the non-minimum phase behaviors of the system, Laguerre expansion is used to describe the internal model.
In this paper, numerical methods for the computation of the spectrum of the monodromy operator are investigated. This operator arises in a representation of time-delay systems from the discrete-time viewpoint and thus its spectrum computation is connected to their stability analysis directly. Theoretically, the proposed methods inherit the mathematical justification of the finite-dimensional approximation via the sample and hold discretization where the approximation is regarded (and justified) as a perturbation to the monodromy operator. The first key idea for the current extension is to relax the requirement on the causality of the hold operator, inspired by the fast-lifting approach. The second idea is to employ higher order holds based on polynomial interpolations. By combining these two, this paper derives efficient numerical methods in which the reduction to an eigenvalue problem is guaranteed to be completely rigorous.
Obtaining a compact representation of a given landmark map built by mapper robots is a critical issue for recent simultaneous localization and mapping (SLAM) applications. This “map compression” problem is explored from a novel perspective of the dictionary-based data compression approach in the paper. The primary contribution of the paper is proposal of an incremental compression approach for simultaneous mapping and map-compression applications. An incremental map compressor is presented by employing a modified random sample consensus (RANSAC) map-matching technique and the compact projection technique. Experiments evaluate the presented techniques in terms of compression speed, compactness of data and structure, and an application to the compression distance.