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The Reach-Avoid Problem for Constant-Rate Multi-mode Systems [chapter]

Shankara Narayanan Krishna, Aviral Kumar, Fabio Somenzi, Behrouz Touri, Ashutosh Trivedi
2017 Lecture Notes in Computer Science  
Alur, Wojtczak, and Trivedi have shown that reachability problems for constant-rate multi-mode systems for open and convex safety sets can be solved in polynomial time.  ...  A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent  ...  We study this motion planning problem in a simpler setting of systems modeled as constant-rate multi-mode systems [4]-a switched system with constantrate dynamics (vector) in every mode-and study the reachability  ... 
doi:10.1007/978-3-319-68167-2_30 fatcat:dkfflpxlfzhw5jzz6y2bnpcdde

The Reach-Avoid Problem for Constant-Rate Multi-Mode Systems [article]

Shankara Narayanan Krishna and Aviral Kumar and Fabio Somenzi and Behrouz Touri and Ashutosh Trivedi
2017 arXiv   pre-print
Alur, Wojtczak, and Trivedi have shown that reachability problems for constant-rate multi-mode systems for open and convex safety sets can be solved in polynomial time.  ...  A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent  ...  We study this motion planning problem in a simpler setting of systems modeled as constant-rate multi-mode systems [4]-a switched system with constantrate dynamics (vector) in every mode-and study the reachability  ... 
arXiv:1707.04151v1 fatcat:qdmoa7zjtjcodnmxrqqs4azh7u

Goal Programming for Stable Mode Transition in Tandem Turbo-ramjet Engines

Chen Min, Tang Hailong, Zhu Zhili
2009 Chinese Journal of Aeronautics  
Third, the Newton-Raphson algorithm is used to solve the multi-variable and multi-objective optimization problem.  ...  This article, in order to guarantee the stable mode transition in tandem turbo-ramjet engines, investigates the multi-objective and multi-variable goal programming algorithm.  ...  However, the system integrating the turbofan mode with the ramjet mode poses formidable challenges to the system, amongst which the problem about smooth turbofan/ramjet mode transition could be counted  ... 
doi:10.1016/s1000-9361(08)60130-2 fatcat:2hubhkij4bhh7hdm4bt4ppwmym

A charging method for electric vehicle using multi battery series mode [article]

Hong Liu, Yuan Ren, Liangxiao Ye
2017 arXiv   pre-print
A charging method for electric vehicle using multi battery series mode which consisted of the following steps was introduced: the battery series is firstly charged at a constant power with a charging current  ...  Contents in this paper provide a charging method for electric vehicles using multi battery series mode with high charging efficiency and security level.  ...  In order to solve the above problem, Li et al. have done deep investigations into the charging management mode of the batteries in electric vehicles and the design of control system which balances the  ... 
arXiv:1705.06234v1 fatcat:gpa6yupfqnecpcdk7ieuq7xdnq

Learning a Decentralized Multi-arm Motion Planner [article]

Huy Ha, Jingxi Xu, Shuran Song
2020 arXiv   pre-print
In this paper, we tackle this problem with multi-agent reinforcement learning, where a decentralized policy is trained to control one robot arm in the multi-arm system to reach its target end-effector  ...  Thanks to the closed-loop and decentralized formulation, our approach generalizes to 5-10 multi-arm systems and dynamic moving targets (>90% success rate for a 10-arm system), despite being trained on  ...  Acknowledgments We would like to thank Google for the UR5 robot hardware.  ... 
arXiv:2011.02608v1 fatcat:qpco472v2feuvhrmgynlydvzra

Integration of UPQC for Power Quality improvement in distributed generation network - a review

Shafiuzzaman K Khadem, Malabika Basu, Michael F Conlon
2011 2011 2nd IEEE PES International Conference and Exhibition on Innovative Smart Grid Technologies  
Recent improvements in capacity expansion techniques and future trends for the application of UPQC in distributed modes are also identified.  ...  interruption and active power transfer to the load and grid have also been identified.  ...  System cost for PQ improvement -reduced (remove DG Inverter) i. Control complexity - high ii. Capacity enhancement in multi- level or multi-module mode -difficult (UPQC-DG)Separated i.  ... 
doi:10.1109/isgteurope.2011.6162813 dblp:conf/isgteurope/KhademBC11 fatcat:4sc2drjzuvhfngzb6uigxwvfqu

Randomized multi-modal motion planning for a humanoid robot manipulation task

Kris Hauser, Victor Ng-Thow-Hing
2010 The international journal of robotics research  
walking, reaching, and pushing modes.  ...  This requires reasoning in a motion space with a particular multi-modal structure, in which the state contains both a discrete mode (the contact state) and a continuous configuration (the robot and object  ...  These constraints introduce a multi-modal structure to the problem, where the system moves between walking, reaching, and stable pushing modes.  ... 
doi:10.1177/0278364910386985 fatcat:jbvc24biuzb7vnkgmeo7mq3qu4

MESO-based robustness voltage sliding mode control for AC islanded microgrid

Hao Pan, Qingfang Teng, Dangdang Wu
2020 Chinese Journal of Electrical Engineering  
Finally, considering the lumped uncertainty, a sliding mode controller with a multi-power reaching law is proposed to enable the output voltage of the system to track its reference voltage rapidly and  ...  A new modified extended state observer (MESO)-based robustness voltage sliding mode control (SMC) strategy is proposed for an AC islanded microgrid under system uncertainties including system parameter  ...  MESO-based sliding mode controller design For the purpose of improving the reaching rate, in this study, a reaching law of multi power is designed as ⎧ ⎪ = ⎨ < ⎪ ⎩ ≥ where 0( 1,2,3,4) i k i > = , 1 1  ... 
doi:10.23919/cjee.2020.000013 fatcat:dufcgtfgvzhg3df4ujlmiwdpqy

Permanent Magnet Synchronous Motor Vector Control Based on Weighted Integral Gain of Sliding Mode Variable Structure

Zhang Yi, Chen Wenjie, Wei Haifeng
2015 Open Automation and Control Systems Journal  
For the second step, the stability of the system was proved with lyapunov stability theory.  ...  Aiming at the slow dynamic response and the chattering problem from conventional exponential reaching law sliding mode applied in permanent magnet synchronous motor vector control in current loop, firstly  ...  of Jiangsu University of Science and Technology through the grant "YSJ14S-10", Zhenjiang Science and Technology Support Program (Social Development) Guidelines Project through the grant "FZ2013046", and  ... 
doi:10.2174/1874444301507010323 fatcat:xfucckrotbbqlms4ve7yjegnae

Stochastic optimal control of manufacturing systems under production-dependent failure rates

Kouedeu Annie Francie, Kenne Jean-Pierre, Dejax Pierre, Songmene Victor, Polotski Vladimir
2014 International Journal of Production Economics  
The failure rate of the main machine depends on its productivity, while the failure rate of the second machine is constant.  ...  The objective of the system is to find a productivity policy for both machines that will minimize the inventory and shortage costs over an infinite horizon.  ...  Dahane et al (2012) studied the problem of dependence between production and failure rates in the context of a multi-product manufacturing system.  ... 
doi:10.1016/j.ijpe.2013.12.032 fatcat:x53oogzxezgzfen3qoypofrd6i

Replacement Policy of Systems with Dependent Components via Integration of Dynamic Programming and Simulated Annealing [article]

Hamed Badakhsh, Mohammad Pirhooshyaran, Abdolhamid Eshragh-Jahromi
2019 arXiv   pre-print
In a dependent multi-component system, increasing the deterioration of a part leads to the increased deterioration rate of other parts as well.  ...  In these systems, a deterioration limit is usually pre-determined for each part and the considered part is replaced while reaching this limit.  ...  In multi-component systems one may replaces some parts simultaneously in order to avoid extra setup cost [18] .  ... 
arXiv:1907.08689v2 fatcat:5gnjyq7h5rbjhjaoe3kyf4aimu

State-Aware Power and Rate Control Algorithm for Energy-Harvesting Wireless AD-HOC Devices

Anjana Murali
2019 Zenodo  
Minimum power consumption with the best rate of transmission is the basic need of this multihop communication system through the algorithm based operations.  ...  Reinforcement learning is adopted here to make the system possible practically based on availability of causal knowledge. Power, bit-rate and buffer is generally modified in this system design.  ...  The point to point problem solution can create half-duplex mode relay which leads to the formation of full-duplex mode relay.  ... 
doi:10.5281/zenodo.3557198 fatcat:jrmpexbfofbdtfghi5meh2fjb4

Fly-by-Logic: Control of Multi-Drone Fleets with Temporal Logic Objectives

Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam
2018 2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)  
The problem of safe planning and control for multi-drone systems across a variety of missions is of critical impor-tance, as the scope of tasks assigned to such systems increases.  ...  In this paper, we present an approach to solve this problem for multi-quadrotor missions.  ...  ACKNOWLEDGMENTS The authors would like to acknowledge Bernd Pfrommer for his help with the Crazyflies, Thejas Kesari for his help with the videos, and Jalaj Maheshwari for his help with figures.  ... 
doi:10.1109/iccps.2018.00026 dblp:conf/iccps/PantAQM18 fatcat:eaihkdyv75audem5jzsovljm4e

A TIME-FUEL OPTIMAL CONTROL PROBLEM OF A CRUISE MISSILE BASED ON AN IMPROVED SLIDING MODE VARIABLE STRUCTURE MODEL

R. LI, Y. J. SHI
2009 ANZIAM journal (Print)  
In flight, the actuator system parameters do not remain constant.  ...  The inadequacy of the traditional sliding mode variable structure (SMVS) control method for cruise missiles is addressed.  ...  The convergence rate analysis for both mode phases is given in [14] . ([14] ).  ... 
doi:10.1017/s1446181110000088 fatcat:gimwdtunpze6zmddvw7kjikgm4

Safe schedulability of bounded-rate multi-mode systems

Rajeev Alur, Vojtěch Forejt, Salar Moarref, Ashutosh Trivedi
2013 Proceedings of the 16th international conference on Hybrid systems: computation and control - HSCC '13  
chooses an allowable rate for that mode, and the state of the system changes linearly in the direction of the rate vector.  ...  Bounded-rate multi-mode systems (BMS) are hybrid systems that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent  ...  In this paper we present bounded-rate multi-mode systems that generalize constant-rate multi-mode systems by allowing non-constant mode-dependent rates that are given as bounded polytopes.  ... 
doi:10.1145/2461328.2461366 dblp:conf/hybrid/AlurFMT13 fatcat:hznywmwvonapjgv7efn3lmy5bm
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