Modern Graph Theory

Reactor technologies for biodiesel production and processing: a review.

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Handbook Of Modern Sensors Physics Designs And Applications

The normal approach to digital control is to sample periodically in time. Using an analog of integration theory we can call this Riemann sampling. Lebesgue sampling or event based sampling is an alternative to Riemann sampling. It means that signals are sampled only when measurements pass certain limits. In this paper it is shown that Lebesgue sampling gives better performance for some simple systems.

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Comparison of Riemann and Lebesque sampling for first order stochastic systems

This dissertation focuses on distributed cooperative control of multi-agent systems. First, the leader-following consensus for multi-agent systems with nonlinear dynamics is investigated. Three consensus algorithms are proposed and some sufficient conditions are obtained for the states of followers converging to the state of virtual leader globally exponentially. Second, the consensus tracking for multi-agent systems with nonlinear dynamics is investigated. Some consensus tracking algorithms are developed, and some sufficient conditions are obtained. Based on these consensus tracking algorithms and sufficient conditions, it is shown that in first-order multi-agent systems all followers can track the virtual leader in finite time, and in second-order multi-agent systems the consensus tracking can be achieved at least globally exponentially. Third, the path planning and motion control of multi-agent formation is studied, where a practical framework is provided. In order to find a collision-free and deadlock-free feasible path for the whole formation, an optimizing algorithm is given to optimize the path generated by A* search algorithm. In order to realize the cohesive motion of a persistent formation in 3-dimensional space, a set of decentralized control laws is designed. Finally, the formation keeping problem is studied. We mainly focus on the closing ranks problem, which deals with the addition of links to a rigid multi-agent formation that is “damaged" by losing one of its agents, in order to recover rigidity. Some graph theoretical results are obtained, and some systematic ’self-repair’ operations are proposed to recover the rigidity in case of agent removals

/pdf/distributed-cooperative-control-for-multi-agent-systems-5585mrra8d.pdf

Distributed cooperative control for multi-agent systems

This article proposes a leader–follower cooperative salvo guidance strategy to intercept nonmaneuvering targets by exploiting the advantages of supertwisting sliding mode control. An improved estimate of time-to-go, that does not assume interceptor's small heading angle, is used in the guidance design. This allows the guidance strategy to remain effective even for large initial heading of the interceptor. Under the action of supertwisting control, the error in impact time settles precisely to zero in finite time. The proposed guidance strategy provides robustness against uncertainties and a smooth control signal, along with finite-time convergence of error. The guidance performance has been shown for one-to-one engagement, and in a cooperative framework, to achieve a salvo in a predetermined time. Numerical simulations are presented for various engagement scenarios to aid the analysis, and illustrate the efficacy of the proposed guidance scheme, even under noisy environment.

Supertwisting Control-Based Cooperative Salvo Guidance Using Leader–Follower Approach

Control of a nonlinear continuous stirred tank reactor via event triggered sliding modes

Event-triggered sliding mode based consensus tracking in second order heterogeneous nonlinear multi-agent systems

This work proposes two different three-dimensional (3D) cooperative guidance strategies for a group of interceptors aiming a simultaneous interception of a stationary target. The guidance commands ...

Three-Dimensional Nonlinear Cooperative Salvo Using Event-Triggered Strategy

This article is aimed at solving leader-following consensus problem with an event-based sliding mode controller. The proposed control technique is partitioned into two parts – a finite time consens...

Abhinav Sinha

Papers

Supertwisting Control-Based Cooperative Salvo Guidance Using Leader–Follower Approach

Control of a nonlinear continuous stirred tank reactor via event triggered sliding modes

Event-triggered sliding mode based consensus tracking in second order heterogeneous nonlinear multi-agent systems

Three-Dimensional Nonlinear Cooperative Salvo Using Event-Triggered Strategy

Consensus in first order nonlinear heterogeneous multi-agent systems with event-based sliding mode control