Hasil untuk "eess.SY"

Victor V. Puche, Kashish Verma, Matteo Fumagalli

The growing global demand for critical raw materials (CRMs) has highlighted the need to access difficult and hazardous environments such as abandoned underground mines. These sites pose significant challenges for conventional machinery and human operators due to confined spaces, structural instability, and lack of infrastructure. To address this, we propose a modular multi-robot system designed for autonomous operation in such environments, enabling sequential mineral extraction tasks. Unlike existing work that focuses primarily on mapping and inspection through global behavior or central control, our approach incorporates physical interaction capabilities using specialized robots coordinated through local high-level behavior control. Our proposed system utilizes Hierarchical Finite State Machine (HFSM) behaviors to structure complex task execution across heterogeneous robotic platforms. Each robot has its own HFSM behavior to perform sequential autonomy while maintaining overall system coordination, achieved by triggering behavior execution through inter-robot communication. This architecture effectively integrates software and hardware components to support collaborative, task-driven multi-robot operation in confined underground environments.

Steven Dahdah, James Richard Forbes

Discretizing continuous-time linear systems typically requires numerical integration. This document presents a convenient method for discretizing the dynamics, input, and process noise state-space matrices of a continuous-time linear system using a single matrix exponential.

Dhrubajyoti Mandal

An important field of research in defense-related technology is the design of guidance laws. A guided missile is generally challenging to intercept if its trajectory becomes unpredictable. In this short communication, we have discussed a possible application of the chaos theory in developing an advanced guided missile, where the guidance law is based upon a robust chaotic map. This type of guided missile may be almost impossible to intercept by existing missile defense systems due to its unpredictable trajectory.

Zhe Chen, Cong Wang

We present sufficient conditions for the load-flow solvability under security constraints in DC distribution networks. In addition, we show that a load-flow solution that fulfills security constraints can be obtained via a convex optimization.

Tim Brüdigam

This brief introduction to Model Predictive Control specifically addresses stochastic Model Predictive Control, where probabilistic constraints are considered. A simple linear system subject to uncertainty serves as an example. The Matlab code for this stochastic Model Predictive Control example is available online.

Azin Shamshirgaran, Hamed Javidi, Dan Simon

During the COVID-19 pandemic and similar outbreaks in the future, drones can be set up to reduce human interaction for medical supplies delivery, which is crucial in times of pandemic. In this short paper, we introduce the use of two evolutionary algorithms for multi-objective optimization (MOO) and tuning the parameters of the PD controller of a drone to follow the 3D desired path.

Lixia Yan

Cooperative of multiple nonholonomic vehicles can be converted into tracking problems of a single-vehicle. The reference trajectory design within distributed features for each vehicle in the group is addressed in this note. The motivation is that nonholonomic vehicles cannot achieve asymptotical stabilization of non-feasible reference signals, and modifications about the virtual reference trajectory design are needed. Reduced-order design and time-varying technique, and some simple geometry tricks are applied to derive the dynamic reference trajectory.

Ajay Pratap Yadav

A backstepping controller is designed for a system of parallel buck converters sharing load. Controller objective is to ensure proper current sharing and output voltage regulation. The designed controller is successfully tested for both constant load and sudden change in loading conditions.

Muhammad Zakwan, Saeed Ahmed

Dwell-time based stability conditions for a class of LPV systems with piecewise constant parameters under time-varying delay are derived using clock-dependent Lyapunov-Krasovskii functional. Sufficient synthesis conditions for clock-dependent gain-scheduled state-feedback controllers ensuring L2-performance are also provided. Several numerical and practical examples, to illustrate the efficacy of the results, are given.

Andreas Varga

A representative set of fault diagnosis problems is formulated for linear time-invariant systems with additive faults. For all formulated problems, general existence conditions of their solutions are given. An overview of recent developments of computational methods for the synthesis of fault detection filters is presented and available software tools are described.

UnSun Pak, YongNam Kim, GyongIl Ryang

In this paper, we propose a design method for controller based it on that describe plants as T-S triangular cloud models in case of uncertainty in them.

Xiaozhe Wang

In this paper, a novel method to estimate dynamic load parameters via ambient PMU measurements is proposed. Unlike conventional parameter identification methods, the proposed algorithm does not require the existence of large disturbance to power systems, and is able to provide up-to-date dynamic load parameters consistently and continuously. The accuracy and robustness of the method are demonstrated through numerical simulations.

Loïc Michel

In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free optimization algorithm.

Igor B. Furtat

The algorithm with compensation of parametric uncertainties, external disturbances and measurement noises for linear time-invariant plants is designed. It is assumed, that the dimension of the noise can be equaled to the state vector dimension and the disturbance can be presented in any equation of the plant model. Analytical condition for algorithm feasibility is proposed. Simulation results show the efficiency of the proposed algorithm.

Evgeny Nikulchev

We present a method for generating robust chaos. It is based on the search algorithm weak symmetry violation in the reconstructed attractor. On its basis the smooth functions in the form of a system of finite-difference equations. To ensure robust chaos generator introduced piecewise continuous member. The simulation results are given in the report.

Ari Arapostathis

We present a theorem for verification of optimality of controlled diffusions under the average cost criterion with near-monotone running cost, without invoking any blanket stability assumptions. The implications of this result to the policy iteration algorithm are also discussed.

Borui Li, Chundi Mu, Shuli Han et al.

This is a draft of summary of multi-model algorithm of extended object tracking based on random matrix (RMF-MM).

Elena Zattoni, Anna Maria Perdon, Giuseppe Conte

This note presents a numerical example worked out in order to illustrate the solution to the output regulation problem with quadratic stability for linear switching systems derived in [1].

El Aroudi

arXiv admin note: This submission has been removed by arXiv administrators due to unprofessional personal attack.

Abdelkader Chelouah

Liouvillian systems were initially introduced within the framework of differential algebra. They can be seen as a natural extension of differential flat systems. Many physical non flat systems seem to be Liouvillian. We present in this paper an alternative definition to this class of systems using the language of diffieties and infinite prolongation theory.