Through new features such as Replication AI file streaming, instrumentation-free performance profiling, and PAS for OpenEdge HealthScanner, businesses can

speed error detection and resolution, minimize unplanned disruptions to their applications and maximize uptime for their users.

Turbo

speed error goal of [+ or -]2% of maximum mapped speed was selected.

The derivative of the

speed error is approximated by:

(1) Figure 5, reproduced from that paper, quantifies this effect for the August study period: for short lead times up to 3-4 h, averaging over a 500-m-deep layer produces an error of 2.0 m [s.sup.-1], whereas the wind

speed error at the 100-m hub-height level, representing a ~20-m-deep layer average about that height, is 2.5 m [s.sup.-1], or 25% larger.

In

speed error curve shown in Figure 3, we can observe that the deviation of estimated speed from the actual speed is approximately 15 rpm for EKF and less than 10 rpm for smoothed filter.

From Figure 6, it also can be seen that the longer the platoon length is, the larger the

speed error is.

The PI-controller takes decision during steady state to reduce steady state error of the system and the fuzzy logic controller takes decision during transient state to get fast response and low overshoot when the absolute value of

speed error is greater than 7 rpm.

When

speed error is large, in order to improve the response speed of the system and prevent the differential overflow caused by the large transient, we should take a larger [k.sub.p] and smaller [k.sub.d].

More specific implementation process of PID controller is based on the

speed error e and error change rate ec, and three fuzzy controller's output parameters [DELTA]kp, ki and [DELTA]kd generated by fuzzy inference.

As it can be seen from figure, at the start of the mobile platform movement, the direction angle error of both controllers is higher than

speed error. This causes by slippage between the wheel and the ground floor.

A quality control requirement was devised by limiting the deviation of the drifter speed relative to the running average, here called the

speed error [S.sub.err],

We denote by [w.sub.d] = [[[w.sub.di] [w.sub.d2] [w.sub.d3]].sup.T] the desired angular velocity and by [w.sub.e] = w - [w.sub.d] the angular

speed error.