Cooperative Control: Models, Applications and Algorithms (Cooperative Systems ) - Kindle edition by Sergiy Butenko, Robert Murphey, Panos M. Pardalos.
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- Cooperative Control: Models, Applications, and Algorithms
In addition, RapiTime includes powerful filters which allow individual task tracing data sets to be examined and detailed timing and performance data for that task, isolating that task and ignoring other activity. View the discussion thread. Featured downloads Eight top code coverage questions in embedded avionics systems Three steps to avoid software obsolescence in avionic systems Tweet View the discussion thread. Skip to main content.
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How the task scheduling world is changing In the real-time world, older systems used to operate in a fairly simple stand-alone mode, e. System Initialise loop forever Read Inputs Process Data Drive Outputs end loop However, the increasing complexity and functionality of systems required more responsive and flexible solutions. A quick guide to task scheduling A task may generally take one of the following states: Inactive One that has not yet been started, or has been shut down. For example, some tasks are usually started by a system initialisation process.
These may complete and shut down, or continue forever. These tasks may also start other tasks Active Eligible to run — i.
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Co-operative Scheduling Once started, a task within a co-operative scheduling system will continue to run until it relinquishes control. Typically a task could: Tracking and Tracing As processors get more powerful and applications more complex, monitoring the behaviour of systems and their component tasks gets more difficult.
Leave a comment View the discussion thread. Receive our blog by email. Eight top code coverage questions in embedded avionics systems. Three steps to avoid software obsolescence in avionic systems. One that has not yet been started, or has been shut down. M v is the mass matrix, C v is the matrix of coriolis—centripetal force, and D v is the matrix of hydrodynamic damping.
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In this section, the robust cooperative path tracking control scheme is designed in detail. The coordination operation among vessels is achieved by assigning a virtual leader.
The sketch of the coordination strategy is represented in Figure 1. In the proposed robust cooperative path tracking control algorithm, the desired path and the path parameters for each vessel are supplied by designing the guidance system according to the virtual leader. Then, the distributed cooperative path tracking controller is designed using the backstepping method and adaptive control technology.
The diagram of the distributed coordination control structure is shown in Figure 2. The diagram of the distributed coordination control structure. The detailed design process of the cooperative path tracking controller is given by the following:. The time derivative of equation 12 yields. Supposing a virtual velocity v di , which is designed in the following, the velocity tracking error is given by.
According to equations 15 and 16 , the above equation can be re-expressed as. In order to facilitate the next design, define a regulating function of along-path speed tracking error for each vessel as. Then, equation 19 can be changed to be. The time derivative of v di is. Thus, equation 26 becomes.
Thus, equation 28 becomes. The disturbance for each vessel only considers the irrotational ocean current in this article, so the last component of v c n is 0. The time derivative of equation 31 becomes. In order to achieve online update of the path speed regulation function, the filter-gradient update method in the literature 8 is adopted, that is. The time derivative of V 4 is. Then, the theorem of global stability can be obtained. For n marine vessels with the disturbance of ocean currents, the coordination control input equation 29 , the adaptive control law equation 35 , and the online update law for path speed equation 37 can guarantee the global asymptotic stability of the whole control system.
Namely, the task of cooperative path tracking can be achieved for multi-vessel. The time derivative of equation 40 is. The effectiveness of the robust cooperative path tracking controller is demonstrated numerically for five marine vessels with ocean currents in this section. The model coefficients of all the vessels are given in the literature.
The vector of relative position between the defined FRP and the actual location for each vessel is defined as follows to achieve the desired formation structure: The designed matrices and parameters are chosen as follows: Set the simulation time as s , the results are shown as follows. Figure 3 illustrates the plane movement of these marine vessels while holding the desired formation structure. The heading change of all the vessels in the whole cooperative path tracking process is shown in Figure 4. As can be seen, all the marine vessels perform the cooperative path tracking with the desired performance and the heading of all the vessels tends to be synchronous in a short time, despite existing disturbances of the ocean currents.
Due to the limitation of the vessel sensor, the current velocity cannot be measured accurately. The estimated value of ocean current can be achieved by the designed adaptation laws. The changes in the estimated values of ocean current in the directions of north and east are shows in Figure 5. The estimation error of the current is shown in Figure 6.
From the above figures, the current velocity can be estimated using the designed adaptation laws by choosing appropriate control matrix. The dynamic model is described using the relative velocity between vessel and ocean current. Thus, in the whole cooperative path tracking process, the relative surge and sway velocity in the body frame are shown in Figures 7 and 8 , respectively.
The relative yaw velocity in the body frame is shown in Figure 9. From the changes of the relative velocities, we can obtain that the relative velocities of all the vessels tend to be synchronous within a specified tolerance range. In particular, the marine vessels move to the inflection point of the path, the relative velocities of the vessels cannot be completely synchronized in a certain degree, and after the inflection point, the relative longitudinal velocities and the relative lateral velocities of the vessels can reach the synchronization. The reason for this phenomenon is the inertia of the ship is relatively large, the maximum slope of the expected path is at the inflection point, and the vessels need to adjust speed in order to maintain transient formation structure near the point of inflection.
This article presents a robust cooperative path tracking control approach for multi-vessel with ocean currents. The desired path and the corresponding path parameter for each vessel are supplied through the designed respective guidance system based on the virtual leader strategy.
Considering the disturbance of ocean current, the robust cooperative path tracking controller is designed by applying the backstepping method and the adaptive control technique. Furthermore, globally asymptotically stability is guaranteed for the whole close-loop system. Finally, the effectiveness of the proposed robust cooperative path tracking control algorithm is confirmed by numerical simulations. Skip to main content. Advances in Mechanical Engineering. Robust cooperative path tracking control algorithm for multi-vessel.
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RA Murphey - Google 학술검색 서지정보
Via Email All fields are required. Send me a copy Cancel. See all articles by this author Search Google Scholar for this author. Article first published online: Covers impact of computers on society, computer ethics, information technology and public policy, legal aspects of computing, computers and education. Covers all areas of cryptography and security including authentication, public key cryptosytems, proof-carrying code, etc. Covers data structures and analysis of algorithms. Covers database management, datamining, and data processing. Covers all aspects of the digital library design and document and text creation.
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Cooperative Control: Models, Applications, and Algorithms
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