This paper addresses a sweep coverage problem of multi-robot networks with general topologies. To deal with environmental uncertainties, we present discrete time sweep coverage algorithms to guarantee the complete coverage of the given region by sweeping in parallel with workload partition. Moreover, the error between actual coverage time and the optimal time is estimated with the aid of continuous time results. Finally, numerical simulation is conducted to verify the theoretical results.
To tackle the difficulty in tuning the parameters of sliding mode differentiator (SMD), an improved adaptive notch filter based real-time parameter tuning scheme (denoted as ANF-SMD) is presented. Specifically, the integral feedback of the system output errors is introduced in constructing the cost function for the adaptive notch filter so as to estimate the real-time amplitude and frequency of given inputs. Then, upon the deterministic formula between the parameters of the SMD and the input signals,...
In this work, we study coordination control and effective deployment of thyristor-controlled series compensation (TCSC) to protect power grids against disruptive disturbances. The power grid consists of flexible alternate current transmission systems (FACTS) devices for regulating power flow, phasor measurement units (PMUs) for detecting system states, and control station for generating the regulation signals. We propose a novel coordination control approach of TCSC devices to change branch impedance...
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