پیوندهای مفید
آمار
| تعداد نشریات | 7 |
| تعداد شماره‌ها | 404 |
| تعداد مقالات | 5,423 |
| تعداد مشاهده مقاله | 5,526,394 |
| تعداد دریافت فایل اصل مقاله | 5,023,239 |
Reference Tracking of Nonlinear Dynamic Systems over Additive White Gaussian Noise Channel | ||
| AUT Journal of Modeling and Simulation | ||
| دوره 55، شماره 2، اسفند 2023، صفحه 359-368 اصل مقاله (902.54 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2024.22496.5328 | ||
| نویسندگان | ||
| Somayeh Dolatkhah Takloo1؛ Alireza Farhadi2؛ Ali KHaki sedigh* 3 | ||
| 1Faculty of Eelectrical Eengineering, K. N. Toosi University of Technology,Tehran, Iran | ||
| 2Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran | ||
| 3Faculty of electrical engineering, K. N. Toosi University of Technology | ||
| چکیده | ||
| This paper is concerned with state tracking as well as reference tracking of nonlinear dynamic systems with process and measurement noise over the Additive White Gaussian Noise (AWGN) channel which is subject to transmission noise and transmission power constraints. The AWGN channel is a continuous alphabet channel. Therefore, this channel is very suitable for controlling dynamic systems over wireless communication links. To address these problems, a novel encoder, decoder, and controller are proposed. This method compensates for communication imperfections and maintains real-time reference tracking at the end of the communication link. For identifying the time of linearization in the encoder and decoder, Monte-Carlo approximation is applied. Using the Monte Carlo approximator provides a possible approximation of the estimation error in the encoder and decoder at the same time. The linearization method is based on the variable (optimal) linearization rate. A proper encoder, decoder, and controller for real-time state estimation and reference tracking are proposed. The nonlinear dynamic system which was considered in this paper has process and measurement noises. Simulation results illustrate the satisfactory state tracking and reference tracking performances of the proposed technique; while the variable linearization technique is used. | ||
| کلیدواژه‌ها | ||
| Autonomous vehicle؛ telepresence؛ teleoperation؛ AWGN channel؛ the extended Kalman filter؛ Monte-Carlo approximation | ||
| مراجع | ||
|
[1] E. Nuno, I. Sarras and L. Basanez (2014). An adaptive controller for bilateral teleoperation: Variable time-delay case. IFAC Proceedings, 47(3): 9341 - 9346.
[2] C. Liu, J. Guo and P. Poignet (2018). Nonlinear model – mediated teleoperation for surgical applications under time variant communication delay. IFAC Proceedings, 51(22): 493 - 499.
[3] T. Imaida, Y. Yokokohji, T. Doi, M. Oda and T. Yoshikwa (2004). Groundspace bilateral teleoperation of ETS-VII robot arm by direct bilateral coupling under 7-s time delay condition. IEEE Transactions on Robotics and Automation, 20(3): 499 - 511.
[4] L. Xu, Y. Mo, L. Xie, and N. Xiao, “Mean square stabilization of linear discrete-time systems over power-constrained fading channels,” IEEE Trans. Autom. Control, vol. 62, no. 12, pp. 6505–6512, 2017.
[5] Parsa A. and Farhadi, A. Tele-operation of autonomous vehicles over additive white Gaussian noise channel, Scientia Iranica, 1592-1605, Winter and Spring 2021
[6] Parsa, A. and Farhadi, A. (2019). Reference tracking of nonlinear dynamic systems over AWGN channel using describing function. Scientia Iranica, Transactions on Computer Science and Engineering and Electrical Engineering, 26(3), 1724 - 1735.
[7] Sanjeroon, V., Farhadi, A., Motahari, A. and Khalaj, B. (2018). Estimation of nonlinear dynamic systems over communication channels. IEEE Transactions on Automatic Control, 63(9), 3024 - 3031.
[8] S. Dasguptal, “Control over bandlimited communication channels: limitations to stabilizability,” in IEEE CDC, vol. 1, pp. 176–181, 2003.
[9] R. K. Mishra, D. Vasal and H. Kim, "Linear Coding for AWGN Channels With Noisy Output Feedback via Dynamic Programming," in IEEE Transactions on Information Theory, vol. 69, no. 8, pp. 4889-4906, Aug. 2023, doi: 10.1109/TIT.2023.3260807.
[10] S. D. Takloo, A. Farhadi and A. Khaki-Sedigh, ”Control and Measurement of Nonlinear Dynamic Systems over AWGN Channel with Application in Tele-operation of Autonomous Vehicles” 2022 30th Mediterranean Conference on Control and Automation (MED), Vouliagmeni, Greece, 2022, pp. 835-840,doi: 10.1109/MED54222.2022.9837145.
[11] Charalambous, C. D., and Farhadi, A. (2008). LQG optimality and separation principle for general discrete time partially observed stochastic systems over finite capacity communication channels. Automatica, 44(12), 3181 – 3188.
[12] Parsa, A. and Farhadi, A. (2018). Measurement and control of nonlinear dynamic systems over the Internet (IoT): Applications in remote control of autonomous vehicles, Automatica, 95, 93 - 103.
[13] Lin, H. and Antsaklis, P. J. (2009). Stability and stabilizability of switched linear systems: A survey of recent results. IEEE Transactions on Automatic Control, 54(2), 308 - 322. [14] Zhai, G. Hu, B., Yasuda, K. and Michel, A. N. (2002). Qualitative analysis of discrete-time switched systems. In Proceedings of the American Control Conference, (pp. 1880 - 1885). | ||
|
آمار تعداد مشاهده مقاله: 101 تعداد دریافت فایل اصل مقاله: 114 |
||