To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster an...To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.展开更多
Aiming at scheduling problems of networked control system （NCS） used to fulfill motion synthesis and cooperation control of the distributed multi-mechatronic systems, the differences of network scheduling and task s...Aiming at scheduling problems of networked control system （NCS） used to fulfill motion synthesis and cooperation control of the distributed multi-mechatronic systems, the differences of network scheduling and task scheduling are compared, and the mathematic description of task scheduling is presented. A performance index function of task scheduling of NCS according to task balance and traffic load matching principles is defined. According to this index, a static scheduling method is designed and implemented to controlling task set simulation of the DCY100 transportation vehicle. The simulation results are applied successfully to practical engineering in this case so as to validate the effectiveness of the proposed performance index and scheduling algorithm.展开更多
This work studies the stabilization of a class of control systems that use communication networks as signal transmission medium. The lateral motion of independently actuated four-wheel vehicle is modeled as an uncerta...This work studies the stabilization of a class of control systems that use communication networks as signal transmission medium. The lateral motion of independently actuated four-wheel vehicle is modeled as an uncertain-linear system. Time delay and quantization density are modeled as Markov chains.The networked control systems(NCSs) with plants being lateral motion are first transformed to switched linear systems with uncertain parameters. Sufficient and necessary conditions for the stochastic stability of closed-loop networked control systems are then established. By solving the matrix inequalities, this work presents an output-feedback controller that depends on the modes of time delay and quantization density. The controller performance is illustrated via a vehicular lateral motion system.展开更多
This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors ...This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors provide eyes for autonomous and connected vehicles.VLC imparts data reception capability to image sensors with necessary functions,which can then be provided to autonomous and connected vehicles.In this paper,some of our research on coupling VLC to high-speed image sensors is introduced,including our key findings:the basics of ISC,a vehicle motion model,and range estimation.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No.50909025
文摘To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
基金This project is supported by National Natural Science Foundation of China (No. 50575013)
文摘Aiming at scheduling problems of networked control system （NCS） used to fulfill motion synthesis and cooperation control of the distributed multi-mechatronic systems, the differences of network scheduling and task scheduling are compared, and the mathematic description of task scheduling is presented. A performance index function of task scheduling of NCS according to task balance and traffic load matching principles is defined. According to this index, a static scheduling method is designed and implemented to controlling task set simulation of the DCY100 transportation vehicle. The simulation results are applied successfully to practical engineering in this case so as to validate the effectiveness of the proposed performance index and scheduling algorithm.
基金supported by Humanities and Social Sciences Youth Foundation of the Ministry of Education(17YJC630093)
文摘This work studies the stabilization of a class of control systems that use communication networks as signal transmission medium. The lateral motion of independently actuated four-wheel vehicle is modeled as an uncertain-linear system. Time delay and quantization density are modeled as Markov chains.The networked control systems(NCSs) with plants being lateral motion are first transformed to switched linear systems with uncertain parameters. Sufficient and necessary conditions for the stochastic stability of closed-loop networked control systems are then established. By solving the matrix inequalities, this work presents an output-feedback controller that depends on the modes of time delay and quantization density. The controller performance is illustrated via a vehicular lateral motion system.
基金supported in part by Japan Society for the Promotion of Science(JSPS)KAKENHI(No.16H04364).
文摘This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors provide eyes for autonomous and connected vehicles.VLC imparts data reception capability to image sensors with necessary functions,which can then be provided to autonomous and connected vehicles.In this paper,some of our research on coupling VLC to high-speed image sensors is introduced,including our key findings:the basics of ISC,a vehicle motion model,and range estimation.
