The Experts below are selected from a list of 324 Experts worldwide ranked by ideXlab platform
Zhang Ren - One of the best experts on this subject based on the ideXlab platform.
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practical formation containment tracking for multiple autonomous surface vessels system
Iet Control Theory and Applications, 2019Co-Authors: Wei Xiao, Xiwang Dong, Zhang RenAbstract:Practical formation-containment tracking issues for the multiple autonomous surface vessels system with multiple leader vessels are considered. The follower vessels' states are designed to track the convex combination of the leader vessels' states, which are required to actualise the predefined time-varying formation tracking. Firstly, this study establishes the Dynamic models of the multiple vessels system, where the outer-Loop kinematic model and inner-Loop Dynamic model are considered simultaneously. Then, the practical formation-containment tracking protocols are devised based on distributed extended state observers, where the mismatched uncertainties and leader vessels' control input signals are estimated and compensated. Thirdly, an algorithm is presented to give the procedures for designing the control protocols, in which the feasible time-varying formations of leader's vessels are raised. A series of linear matrix inequalities are solved for obtaining the control parameters. Sufficient conditions for actualising the practical formation-containment tracking are derived. Finally, numerical simulation results reveal the effectiveness of the acquired theories.
Wei Xiao - One of the best experts on this subject based on the ideXlab platform.
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practical formation containment tracking for multiple autonomous surface vessels system
Iet Control Theory and Applications, 2019Co-Authors: Wei Xiao, Xiwang Dong, Zhang RenAbstract:Practical formation-containment tracking issues for the multiple autonomous surface vessels system with multiple leader vessels are considered. The follower vessels' states are designed to track the convex combination of the leader vessels' states, which are required to actualise the predefined time-varying formation tracking. Firstly, this study establishes the Dynamic models of the multiple vessels system, where the outer-Loop kinematic model and inner-Loop Dynamic model are considered simultaneously. Then, the practical formation-containment tracking protocols are devised based on distributed extended state observers, where the mismatched uncertainties and leader vessels' control input signals are estimated and compensated. Thirdly, an algorithm is presented to give the procedures for designing the control protocols, in which the feasible time-varying formations of leader's vessels are raised. A series of linear matrix inequalities are solved for obtaining the control parameters. Sufficient conditions for actualising the practical formation-containment tracking are derived. Finally, numerical simulation results reveal the effectiveness of the acquired theories.
Cecilia Laschi - One of the best experts on this subject based on the ideXlab platform.
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model based reinforcement learning for closed Loop Dynamic control of soft robotic manipulators
IEEE Transactions on Robotics, 2019Co-Authors: Thomas George Thuruthel, Egidio Falotico, Federico Renda, Cecilia LaschiAbstract:Dynamic control of soft robotic manipulators is an open problem yet to be well explored and analyzed. Most of the current applications of soft robotic manipulators utilize static or quasi-Dynamic controllers based on kinematic models or linearity in the joint space. However, such approaches are not truly exploiting the rich Dynamics of a soft-bodied system. In this paper, we present a model-based policy learning algorithm for closed-Loop predictive control of a soft robotic manipulator. The forward Dynamic model is represented using a recurrent neural network. The closed-Loop policy is derived using trajectory optimization and supervised learning. The approach is verified first on a simulated piecewise constant strain model of a cable driven under-actuated soft manipulator. Furthermore, we experimentally demonstrate on a soft pneumatically actuated manipulator how closed-Loop control policies can be derived that can accommodate variable frequency control and unmodeled external loads.
Xiwang Dong - One of the best experts on this subject based on the ideXlab platform.
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practical formation containment tracking for multiple autonomous surface vessels system
Iet Control Theory and Applications, 2019Co-Authors: Wei Xiao, Xiwang Dong, Zhang RenAbstract:Practical formation-containment tracking issues for the multiple autonomous surface vessels system with multiple leader vessels are considered. The follower vessels' states are designed to track the convex combination of the leader vessels' states, which are required to actualise the predefined time-varying formation tracking. Firstly, this study establishes the Dynamic models of the multiple vessels system, where the outer-Loop kinematic model and inner-Loop Dynamic model are considered simultaneously. Then, the practical formation-containment tracking protocols are devised based on distributed extended state observers, where the mismatched uncertainties and leader vessels' control input signals are estimated and compensated. Thirdly, an algorithm is presented to give the procedures for designing the control protocols, in which the feasible time-varying formations of leader's vessels are raised. A series of linear matrix inequalities are solved for obtaining the control parameters. Sufficient conditions for actualising the practical formation-containment tracking are derived. Finally, numerical simulation results reveal the effectiveness of the acquired theories.
Andrea Amerio - One of the best experts on this subject based on the ideXlab platform.
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1 Stability and Flying Qualities of an Unmanned Airplane using Vortex Lattice Method
2016Co-Authors: Elsa M. Cárdenas, Pedro J. Boschetti, Andrea AmerioAbstract:The purpose of the present work is to evaluate the static stability and open Loop Dynamic stability for unpowered condition of the Unmanned Aerial Vehicle for Ecological Conservation. Forces and moments were obtained by the vortex lattice method. These were computed for different values of angle of attack, sideslip angle, aileron, rudder and elevator deflection, and pitch, yaw and roll rates. Static stability and control derivatives were obtained and used for the analysis of airplane open Loop Dynamic stability and response. The longitudinal and lateral–directional derivates show that the airplane is statically stable. The short period mode and phugoid mode correspond with damped mode. Dutch roll mode and roll mode of the airplane matches with damped mode and convergent mode, respectively. However, spiral mode response prediction corresponds to a divergent mode. The airplane reaches flying qualities equal and better than those of Level 2 Nomenclature c = mean aeroDynamic chord CD, CL, CY = drag, lift and side force coefficients CM, Cn, C = pitching, yawing and rolling moment coefficient
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Stability and Flying Qualities of an Unmanned Airplane Using the Vortex-Lattice Method
Journal of Aircraft, 2009Co-Authors: Elsa M. Cárdenas, Pedro J. Boschetti, Andrea AmerioAbstract:The purpose of the present work is to evaluat e the static stability and open Loop Dynamic stability for un power ed condition of the Unmanned Aerial Vehicle for Ecological Conservation. Forces and moments were obtained by the vortex lattice method. These were computed for different values of angle of a ttack, sideslip angle, aileron, rudder and elevator deflection, and pitch, yaw and roll rates. Static stability and control derivatives were obtained and used for the analysis of airplane open Loop Dynamic stability and response. The longitudinal and later al –directional derivates show that the airplane is statically stable. The short period mode and phugoid mode correspond with damped mode. Dutch roll mode and roll mode of the airplane matches with damped mode and convergent mode, respectively. However, spi ral mode re spo nse prediction corresponds to a divergent mode. The airplane reaches flying qualities equal and better than those of Level 2
