Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing

A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using only local feedback under limited and intermittent sensing. Due to the intermittent sensing, constant position feedback may not be available for agents all the time. Intermittent sensing can also lead to a disconnected network or collisions between agents. Using a navigation function framework, a decentralized switched controller is developed to navigate the agents to the desired positions while ensuring network maintenance and collision avoidance.Comment: 8 pages, 2 figures, submitted to ACC 201

Stationary Cycling Induced by Switched Functional Electrical Stimulation Control

Functional electrical stimulation (FES) is used to activate the dysfunctional lower limb muscles of individuals with neuromuscular disorders to produce cycling as a means of exercise and rehabilitation. However, FES-cycling is still metabolically inefficient and yields low power output at the cycle crank compared to able-bodied cycling. Previous literature suggests that these problems are symptomatic of poor muscle control and non-physiological muscle fiber recruitment. The latter is a known problem with FES in general, and the former motivates investigation of better control methods for FES-cycling.In this paper, a stimulation pattern for quadriceps femoris-only FES-cycling is derived based on the effectiveness of knee joint torque in producing forward pedaling. In addition, a switched sliding-mode controller is designed for the uncertain, nonlinear cycle-rider system with autonomous state-dependent switching. The switched controller yields ultimately bounded tracking of a desired trajectory in the presence of an unknown, time-varying, bounded disturbance, provided a reverse dwell-time condition is satisfied by appropriate choice of the control gains and a sufficient desired cadence. Stability is derived through Lyapunov methods for switched systems, and experimental results demonstrate the performance of the switched control system under typical cycling conditions.Comment: 8 pages, 3 figures, submitted to ACC 201

Optimal integration of a hybrid solar-battery power source into smart home nanogrid with plug-in electric vehicle

Hybrid solar-battery power source is essential in the nexus of plug-in electric vehicle (PEV), renewables, and smart building. This paper devises an optimization framework for efficient energy management and components sizing of a single smart home with home battery, PEV, and potovoltatic (PV) arrays. We seek to maximize the home economy, while satisfying home power demand and PEV driving. Based on the structure and system models of the smart home nanogrid, a convex programming (CP) problem is formulated to rapidly and efficiently optimize both the control decision and parameters of the home battery energy storage system (BESS). Considering different time horizons of optimization, home BESS prices, types and control modes of PEVs, the parameters of home BESS and electric cost are systematically investigated. Based on the developed CP control law in home to vehicle (H2V) mode and vehicle to home (V2H) mode, the home with BESS does not buy electric energy from the grid during the electric price's peak periods

A Convenient Adomian-Pade Technique for the Nonlinear Oscillator Equation

Very recently, the convenient way to calculate the Adomian series was suggested. This paper combines this technique and the Pade approximation to develop some new iteration schemes. Then, the combined method is applied to nonlinear models and the residual functions illustrate the accuracies and conveniences

Dynamic analysis of a fractional-order single-species model with diffusion

In this paper, we consider a fractional-order single-species model which is composed of several patches connected by diffusion. We first prove the existence, uniqueness, non-negativity and boundedness of solutions for the model, as desired in any population dynamics. Moreover, we also obtain some sufficient conditions ensuring the existence and uniform asymptotic stability of the positive equilibrium point for the investigated system. Finally, numerical simulations are presented to demonstrate the validity and feasibility of the theoretical results

Imaging Formation Algorithm of the Ground and Space-Borne Hybrid BiSAR Based on Parameters Estimation from Direct Signal

This paper proposes a novel image formation algorithm for the bistatic synthetic aperture radar (BiSAR) with the configuration of a noncooperative transmitter and a stationary receiver in which the traditional imaging algorithm failed because the necessary imaging parameters cannot be estimated from the limited information from the noncooperative data provider. In the new algorithm, the essential parameters for imaging, such as squint angle, Doppler centroid, and Doppler chirp-rate, will be estimated by full exploration of the recorded direct signal (direct signal is the echo from satellite to stationary receiver directly) from the transmitter. The Doppler chirp-rate is retrieved by modeling the peak phase of direct signal as a quadratic polynomial. The Doppler centroid frequency and the squint angle can be derived from the image contrast optimization. Then the range focusing, the range cell migration correction (RCMC), and the azimuth focusing are implemented by secondary range compression (SRC) and the range cell migration, respectively. At last, the proposed algorithm is validated by imaging of the BiSAR experiment configured with china YAOGAN 10 SAR as the transmitter and the receiver platform located on a building at a height of 109 m in Jiangsu province. The experiment image with geometric correction shows good accordance with local Google images