Pneumatic servo actuators are characterized by highly nonlinear dynamics from spool valve command to cylinder pressure, and as such are well suited to the use of nonlinear control methods requiring measurement of the full state, such as sliding mode control. This paper investigates the possibility of eliminating the pressure measurement required for nonlinear control in lieu of a nonlinear pres...

In this paper we present an observability-based local path planning and collision avoidance technique. Bearing-only measurements are utilized to estimate the time-to-collision (TTC) and bearing to obstacles using an extended Kalman Filter (EKF). To ensure the error covariance matrix computed by an EKF is bounded, the system should be observable. We perform a nonlinear observability analysis to ...

This paper attempts to gain an understanding of the diffusion dynamics of Linux by assessing it on Rogers’ technology dimensions — relative advantage, compatibility, complexity, observability, and trialability. The analysis makes clear that Linux possesses greater relative advantage than its proprietary competitors because of its low cost, lower susceptibility to bugs and crashes, resilience to...

Distributed systems are characterized by having partial observability of the global state during execution. Nevertheless, when these systems comprise cooperative agents, they should attain global objectives. Planning for these decentralized systems is a very complex task. Exchange of local information through communication can alleviate this complexity by allowing the agents to be synchronized ...

Multiagent learning is a challenging problem in the area of multiagent systems because of the non-stationary environment caused by the interdependencies between agents. Learning for coordination becomes more difficult when agents do not know the structure of the environment and have only local observability. In this paper, an approach is proposed to enable autonomous agents to learn where and h...

The robot platooning problem has been studied extensively by the robotics community under some assumptions such as communication existance and global full observability. In this paper, we consider the platooning problem where the previous assumptions are not valid. In such a context, platooning can be considered as a specific flocking which is a collective decision model. This model can, thus, ...

The objective of this research is to identify the antecedents affecting behavioural intentions local housing residences in using photovoltaic (PV) solar technology their houses. An integrated model intention use PV tested research. This study combined theory reason action (TRA), acceptance (TAM), planned behaviour (TPB) and diffusion innovation (DOI) theory. Additional factors, including cost, ...

In the linear control theory, the observability Popov-Belevitch-Hautus (PBH) test plays an important role in studying observability along with the observability rank condition and observability Gramian. The observability rank condition and observability Gramian have been extended to nonlinear systems and have found applications in the analysis of nonlinear systems. On the other hand, there is n...

A completely decentralised observer-based control scheme for interconnected dynamical systems is proposed. The scheme requires no information transfer among the subsystems, local observers or local controllers and applies equally to systems with known and/or unknown disturbances. It is shown that each local observer asymptotically converges to the true state of its corresponding subsystem an4 o...