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Optimization of thrust allocation in the propulsion system of an underwater vehicle

Jerzy Garus (2004)

International Journal of Applied Mathematics and Computer Science

The paper addresses methods of thrust distribution in a propulsion system for an unmanned underwater vehicle. It concentrates on finding an optimal thrust allocation for desired values of forces and moments acting on the vehicle. Special attention is paid to the unconstrained thrust allocation. The proposed methods are developed using a configuration matrix describing the layout of thrusters in the propulsion system. The paper includes algorithms of thrust distribution for both faultless work of...

Optimization schemes for wireless sensor network localization

Ewa Niewiadomska-Szynkiewicz, Michał Marks (2009)

International Journal of Applied Mathematics and Computer Science

Many applications of wireless sensor networks (WSN) require information about the geographical location of each sensor node. Self-organization and localization capabilities are one of the most important requirements in sensor networks. This paper provides an overview of centralized distance-based algorithms for estimating the positions of nodes in a sensor network. We discuss and compare three approaches: semidefinite programming, simulated annealing and two-phase stochastic optimization-a hybrid...

Optimization-based approach to path planning for closed chain robot systems

Wojciech Szynkiewicz, Jacek Błaszczyk (2011)

International Journal of Applied Mathematics and Computer Science

An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a “quasi-dynamic” NonLinear Programming (NLP) problem with equality and inequality constraints in terms of the joint variables. The essence of the method is to find joint paths which satisfy the given constraints and minimize the proposed performance index. For numerical solution of the NLP problem, the IPOPT solver is used,...

Optimized state estimation for nonlinear dynamical networks subject to fading measurements and stochastic coupling strength: An event-triggered communication mechanism

Chaoqing Jia, Jun Hu, Chongyang Lv, Yujing Shi (2020)

Kybernetika

This paper is concerned with the design of event-based state estimation algorithm for nonlinear complex networks with fading measurements and stochastic coupling strength. The event-based communication protocol is employed to save energy and enhance the network transmission efficiency, where the changeable event-triggered threshold is adopted to adjust the data transmission frequency. The phenomenon of fading measurements is described by a series of random variables obeying certain probability distribution....

Optimizing the linear quadratic minimum-time problem for discrete distributed systems

Mostafa Rachik, Ahmed Abdelhak (2002)

International Journal of Applied Mathematics and Computer Science

With reference to the work of Verriest and Lewis (1991) on continuous finite-dimensional systems, the linear quadratic minimum-time problem is considered for discrete distributed systems and discrete distributed time delay systems. We treat the problem in two variants, with fixed and free end points. We consider a cost functional J which includes time, energy and precision terms, and then we investigate the optimal pair (N, u) which minimizes J.

Output consensus of nonlinear multi-agent systems with unknown control directions

Yutao Tang (2015)

Kybernetika

In this paper, we consider an output consensus problem for a general class of nonlinear multi-agent systems without a prior knowledge of the agents' control directions. Two distributed Nussbaum-type control laws are proposed to solve the leaderless and leader-following adaptive consensus for heterogeneous multiple agents. Examples and simulations are given to verify their effectiveness.

Output feedback problems for a class of nonlinear systems

Sergej Čelikovský, Javier Ruiz, A. J. Sapiens, Jorge A. Torres Muñoz (2003)

Kybernetika

The paper deals with the construction of the output feedback controllers for the systems that are transformable into a simpler form via coordinate change and static state feedback and, at the same time, via (possibly different) coordinate change and output injection. Illustrative examples are provided to stress the major obstacles in applying the above scheme, especially as far as its global aspects are concerned. The corresponding results are then applied to the problem of the real-time control...

Output feedback regulation for large-scale uncertain nonlinear systems with time delays

Shutang Liu, Weiyong Yu, Fangfang Zhang (2015)

Kybernetika

This paper is concerned with the problem of global state regulation by output feedback for large-scale uncertain nonlinear systems with time delays in the states and inputs. The systems are assumed to be bounded by a more general form than a class of feedforward systems satisfying a linear growth condition in the unmeasurable states multiplying by unknown growth rates and continuous functions of the inputs or delayed inputs. Using the dynamic gain scaling technique and choosing the appropriate Lyapunov-Krasovskii...

Output feedback stabilization of a one-dimensional wave equation with an arbitrary time delay in boundary observation

Bao-Zhu Guo, Cheng-Zhong Xu, Hassan Hammouri (2012)

ESAIM: Control, Optimisation and Calculus of Variations

The stabilization with time delay in observation or control represents difficult mathematical challenges in the control of distributed parameter systems. It is well-known that the stability of closed-loop system achieved by some stabilizing output feedback laws may be destroyed by whatever small time delay there exists in observation. In this paper, we are concerned with a particularly interesting case: Boundary output feedback stabilization of a one-dimensional wave equation system for which the...

Output feedback stabilization of a one-dimensional wave equation with an arbitrary time delay in boundary observation∗

Bao-Zhu Guo, Cheng-Zhong Xu, Hassan Hammouri (2012)

ESAIM: Control, Optimisation and Calculus of Variations

The stabilization with time delay in observation or control represents difficult mathematical challenges in the control of distributed parameter systems. It is well-known that the stability of closed-loop system achieved by some stabilizing output feedback laws may be destroyed by whatever small time delay there exists in observation. In this paper, we are concerned with a particularly interesting case: Boundary output feedback stabilization of a...

Output feedback stabilization of a one-dimensional wave equation with an arbitrary time delay in boundary observation∗

Bao-Zhu Guo, Cheng-Zhong Xu, Hassan Hammouri (2012)

ESAIM: Control, Optimisation and Calculus of Variations

The stabilization with time delay in observation or control represents difficult mathematical challenges in the control of distributed parameter systems. It is well-known that the stability of closed-loop system achieved by some stabilizing output feedback laws may be destroyed by whatever small time delay there exists in observation. In this paper, we are concerned with a particularly interesting case: Boundary output feedback stabilization of a...

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