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Full-Text Articles in Engineering
Simulation On Obstacle Avoidance Tracking Of Intelligent Vehicle Based On Model Predictive Control, Deng Tao, Li Xin
Simulation On Obstacle Avoidance Tracking Of Intelligent Vehicle Based On Model Predictive Control, Deng Tao, Li Xin
Journal of System Simulation
Abstract: Aiming at the obstacle avoidance and path tracking control of intelligent vehicle, a model predictive controller (MPC) is designed. A layered structure is used in the controller. The high-level layer carries out the local path planning based on non-linear vehicle point mass model and the low-level layer realizes the path tracking based on monorail vehicle dynamics model. Through the joint simulation of Carsim and Matlab software, the controller parameters are optimized on-line by using Particle Swarm Optimization, and the performance of the controller is tested at different speeds. Simulation results show that the controller has good robustness, …
Research On Semi-Active Control Strategy Of High Speed Railway Pantograph-Catenary System Based On Model Predictive Control, Zhiling Ren, Lin Dong, Wang Yue, Guangquan Zhang
Research On Semi-Active Control Strategy Of High Speed Railway Pantograph-Catenary System Based On Model Predictive Control, Zhiling Ren, Lin Dong, Wang Yue, Guangquan Zhang
Journal of System Simulation
Abstract: For the pantograph catenary coupling problem, the semi-active control strategy of pantograph catenary system was proposed. According to the established pantograph catenary model and the contact force history data, it used the MPC prediction technique to predict the next moment of contact force. The predicted value and the theoretical value error were calculated, and the MPC controller output the calculated results to the ER damper. The change of the control input of the contact force was provided by the current damper, which made the actual value close to the theoretical value. Experimental results show that the semi-active …
Desarrollo De Una Estrategia De Control Predictivo Aplicado A Un Péndulo Invertido, Que Permita La Estabilización De Imágenes En Robots Para Exploración Agrícola, David Mateo Rojas Vallejo
Desarrollo De Una Estrategia De Control Predictivo Aplicado A Un Péndulo Invertido, Que Permita La Estabilización De Imágenes En Robots Para Exploración Agrícola, David Mateo Rojas Vallejo
Ingeniería en Automatización
La robótica es un campo de estudio tan amplio, que se puede extender prácticamente a cualquiera de las labores humanas; una de estas actividades es la agricultura, aunque para que esto se logre, primero se deben considerar factores mas específicos de un sistema robótico como: visión artificial, estructuras robóticas, control de sistemas, entre otros. En este proyecto se desarrolla una estrategia de control para una plataforma de péndulo invertido, que emula el sistema mecánico en donde se posicionaría la cámara de un robot agrícola. El sistema consiste en un péndulo invertido rotativo, y la estrategia de control que se implementó …
Adaptive Performance And Power Management In Distributed Computing Systems, Ming Chen
Adaptive Performance And Power Management In Distributed Computing Systems, Ming Chen
Doctoral Dissertations
The complexity of distributed computing systems has raised two unprecedented challenges for system management. First, various customers need to be assured by meeting their required service-level agreements such as response time and throughput. Second, system power consumption must be controlled in order to avoid system failures caused by power capacity overload or system overheating due to increasingly high server density. However, most existing work, unfortunately, either relies on open-loop estimations based on off-line profiled system models, or evolves in a more ad hoc fashion, which requires exhaustive iterations of tuning and testing, or oversimplifies the problem by ignoring the coupling …