Search results for "trajectory."
showing 10 items of 201 documents
On constrained Volterra cubic stochastic operators
2020
We consider constrained Volterra cubic stochastic operators and construct several Lyapunov functions for the constrained Volterra cubic stochastic operators. We prove that such kind operators do no...
Fuzzy motion control strategy for cooperation of multiple automated vehicles with passengers comfort
2008
This paper considers motion control for a cooperative system of automated passenger vehicles. It develops a cooperative scheme based on a decentralized planning algorithm which considers the vehicles in an initial open chain configuration. In this scheme the trajectories are intersections-free, and each trajectory is planned independently of the others. To ensure the stabilization of each vehicle in the planned trajectory, a fuzzy closed loop motion control is presented, where, based on the properties of the Fuzzy maps, the Lyapunov’s stability of the motion errors is demonstrated for all the vehicles. Based on the ISO 2631-1 standard, the saturation property of the Fuzzy maps guarantees lo…
Hierarchical fuzzy/Lyapunov control for horizontal plane trajectory tracking of underactuated AUV
2010
A new hierarchical closed loop fuzzy control system for horizontal plane trajectory tracking of underactuated Autonomous Underwater Vehicles (AUV) is presented. A model for the AUV is formulated introducing a polar coordinates transformation for the velocities in the body fixed frame. It is employed to control the unactuated sway direction, the longitudinal position and the yaw by using the surge force and the yaw torque only. The highest level control is developed by employing a fuzzy inference system for obtaining the guidance control laws. The properties of the fuzzy system ensure forward surge velocity, fast convergence and Lyapunov's stability of the motion errors. A new low level kine…
Numerical analysis of dynamical systems: unstable periodic orbits, hidden transient chaotic sets, hidden attractors, and finite-time Lyapunov dimensi…
2018
In this article, on the example of the known low-order dynamical models, namely Lorenz, Rossler and Vallis systems, the difficulties of reliable numerical analysis of chaotic dynamical systems are discussed. For the Lorenz system, the problems of existence of hidden chaotic attractors and hidden transient chaotic sets and their numerical investigation are considered. The problems of the numerical characterization of a chaotic attractor by calculating finite-time time Lyapunov exponents and finite-time Lyapunov dimension along one trajectory are demonstrated using the example of computing unstable periodic orbits in the Rossler system. Using the example of the Vallis system describing the El…
A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints
2005
Abstract In this paper a novel algorithm with a dynamic fuzzy controller applied to the control of trajectory of vehicles with two independent wheels is proposed. An automatic control of trajectory of a vehicle can behave in a not efficient way. It is necessary to consider the friction of the actuators and possible perturbations coming from the outside environment, as for instance the variable characteristics of the ground where the vehicle moves. These perturbations, which depend also on the contact between the wheel and the ground, involve violations of nonholonomic constraints. Thus it is necessary to compensate for these perturbations to obtain a robust control system. The controller sy…
Trajectory Decentralized Fuzzy Control of Multiple UAVs.
2008
This paper considers a complete position and heading rate control system for multiple unmanned aerial vehicles (UAVs) with constant altitude. A decentralized trajectory planning algorithm is proposed, where the UAVs will avoid collisions while moving. In order to stabilize the UAVs in the reference planned trajectories and ensure the boundedness of the control velocities, a fuzzy control law is proposed with Lyapunov's stability proof. Simulation experiments developed in Matlab environment confirm the effectiveness and the robustness of the proposed control algorithm with respect to possible turbulence disturbances perturbing the nominal motion of the UAVs.
A data mining approach for grouping and analyzing trajectories of care using claim data: the example of breast cancer
2013
International audience; BACKGROUND: With the increasing burden of chronic diseases, analyzing and understanding trajectories of care is essential for efficient planning and fair allocation of resources. We propose an approach based on mining claim data to support the exploration of trajectories of care. METHODS: A clustering of trajectories of care for breast cancer was performed with Formal Concept Analysis. We exported Data from the French national casemix system, covering all inpatient admissions in the country. Patients admitted for breast cancer surgery in 2009 were selected and their trajectory of care was recomposed with all hospitalizations occuring within one year after surgery. Th…
Life-course leisure-time physical activity trajectories in relation to health-related behaviors in adulthood: the Cardiovascular Risk in Young Finns …
2021
Background Evidence on whether leisure-time physical activity (LTPA) facilitates individuals’ adoption of multiple healthy behaviors remains scarce. This study investigated the associations of diverse longitudinal LTPA trajectories from childhood to adulthood with diet, screen time, smoking, binge drinking, sleep difficulties, and sleep duration in adulthood. Methods Data were drawn from the Cardiovascular Risk in Young Finns Study. Participants were aged 9–18 years (N = 3553; 51% females) in 1980 and 33–49 years at the latest follow-up in 2011. The LTPA trajectories were identified using a latent profile analysis. Differences in self-reported health-related behaviors across the LTPA trajec…
Associations of Leisure-Time Physical Activity Trajectories with Fruit and Vegetable Consumption from Childhood to Adulthood: The Cardiovascular Risk…
2019
A physically active lifestyle and a diet rich in vegetables and fruits have a central role in promoting health. This study examined the associations between leisure-time physical activity (LTPA) trajectories and fruit and vegetable consumption (FVC) from childhood to middle age. The data were drawn from the Cardiovascular Risk in Young Finns Study with six age cohorts. Participants were 9 to 18 years (n = 3536
The Relation between Geometry and Time in Mental Actions
2012
Mental imagery is a cognitive tool that helps humans take decisions by simulating past and future events. The hypothesis has been advanced that there is a functional equivalence between actual and mental movements. Yet, we do not know whether there are any limitations to its validity even in terms of some fundamental features of actual movements, such as the relationship between space and time. Although it is impossible to directly measure the spatiotemporal features of mental actions, an indirect investigation can be conducted by taking advantage of the constraints existing in planar drawing movements and described by the two-thirds power law (2/3PL). This kinematic law describes one of th…