Recently, a renewal interesting is focused on time-delay systems, particularly nonlinear time-delay systems. Krasovskii functional or Razumikhin function based methods have been investigated widely, since the time-del...
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ISBN:
(纸本)0780386531
Recently, a renewal interesting is focused on time-delay systems, particularly nonlinear time-delay systems. Krasovskii functional or Razumikhin function based methods have been investigated widely, since the time-delay system is described by the functional differential equation, and the stability analyzing tools are provided early withthe functional or function as a parallel way withthe Lyapunov stability theory. In the spirit of Lyapunov function based design method, some interesting results on back-stepping design for the time-delay systems have been given, however, this is an issue that easily leads a misunderstanding. this paper will show that the problem to construct a Krasovskii functional or Razumikhin function is not a trivial problem.
In this paper, a design of the augmented state feedback controller by using the concept of Coefficient Diagram Method (CDM) for a servo type of the rotational inverted pendulum system is presented. An Integrator is au...
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ISBN:
(纸本)0780386531
In this paper, a design of the augmented state feedback controller by using the concept of Coefficient Diagram Method (CDM) for a servo type of the rotational inverted pendulum system is presented. An Integrator is augmented to the system due to the responses exhibiting steady-state error. In order to apply the CDM method, the augmented system must be firstly linearized and converted into controllable canonical form by a transform matrix. then a feedback gain matrix in sense of CDM can be obtained. One can observe that the design procedure of the proposed controller is easy compared to other methods. the experimental results are shown in order to verify the effectiveness of the controller.
this paper presents a fuzzy controller-based multiple-model adaptive control system for blood pressure control. We use multiple-model adaptive control (MMAC) algorithm to identify the patient model, as the transfer fu...
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ISBN:
(纸本)0780386531
this paper presents a fuzzy controller-based multiple-model adaptive control system for blood pressure control. We use multiple-model adaptive control (MMAC) algorithm to identify the patient model, as the transfer function parameters are different for each patient and often change with time;and we use fuzzy control (FC) method to design controller bank. Each fuzzy controller in the controller bank is in fact a nonlinear proportional-integral (PI) controller, whose proportional gain and integral gain is adjusted continuously according to error and rate change of error of the process output. For each fuzzy controller, the gains become larger when process output is far from desired set-point, resulting in better dynamic and stable control performance than the regular PI controller, especially when a nonlinear process is involved.
this paper considers the problem of designing a variable structure control (VSC) of linear stochastic system which satisfies multiple indices of closed-loop system. On the sliding phase, the equivalent control of VSC ...
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ISBN:
(纸本)0780386531
this paper considers the problem of designing a variable structure control (VSC) of linear stochastic system which satisfies multiple indices of closed-loop system. On the sliding phase, the equivalent control of VSC of stochastic systems is designed. the feedback gain is calculated to guarantee that the poles of closed-loop system are allocated in specified sector region, disturbance H-infinity is constrained in the specified perturb degree via linear matrix inequality and satisfactory controltheory. So the stable state covariance of closed loop system could be in the given permitted range. the tendency law is proposed to satisfy, requirement of reaching onto the sliding surface. A numeric example is given to show the effective of the proposed approach.
In this paper, we present an adaptive backstepping control algorithm for a class of uncertain nonlinear systems under state-feedback form including hysteretic nonlinearity. the result is applied to a system found in b...
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ISBN:
(纸本)0780386531
In this paper, we present an adaptive backstepping control algorithm for a class of uncertain nonlinear systems under state-feedback form including hysteretic nonlinearity. the result is applied to a system found in base isolation schemes for seismic active protection of building structures. this system exhibits a hysteretic nonlinear behavior which is described by the so-called Bouc-Wen model. Unlike other control schemes, the developed backstepping control does not require the model parameters within known intervals. It is shown that not only global stability is guaranteed by the proposed controller, but also both transient and asymptotic performances are quantified as explicit functions of the design parameters so that designers can tune the design parameters in an explicit way to obtain the required closed loop behavior.
Particle filtering is a stochastic approach to Bayesian recursive inference. In many computer vision applications with limited number of random samples, however, conventional particle filters may find it difficult to ...
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ISBN:
(纸本)0780386531
Particle filtering is a stochastic approach to Bayesian recursive inference. In many computer vision applications with limited number of random samples, however, conventional particle filters may find it difficult to accurately represent the desired aposteriori distribution especially for target objects with narrow likelihood functions. this paper proposes a new particle filtering framework which, by incorporating a special indirect measurement model, can significantly improve the representation capability of the particle set, yielding an accurate estimation of aposteriori distribution for the purpose of tracking. In particular, an add-on resampling technique is proposed to incorporate the indirect measurement. In this way, we can alleviate the problem with large numbers of particles required in conventional particle filtering. Positive experimental results on both synthetic sequences and real world videos are obtained.
As the ideal sliding motion can't be formed in the practical system using a sliding mode control, the sliding mode controller for switched reluctance motor has the problem of large speed ripples. In this paper, a ...
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ISBN:
(纸本)0780386531
As the ideal sliding motion can't be formed in the practical system using a sliding mode control, the sliding mode controller for switched reluctance motor has the problem of large speed ripples. In this paper, a biologically inspired shunting model is incorporated into the variable structure sliding mode control for a switched reluctance motor in order to improve its performance. the simulation by MATLAB demonstrates the effectiveness of the proposed control scheme. the simulation results show that the switched reluctance motor using the proposed biologically inspired sliding mode control has the better speed tracking performance than using the conventional sliding mode control. In addition, the switched reluctance motor controller keeps the features of parameter insensitivity and rapid recovery from load disturbances.
In this paper, we describe a general multiple mobile robots formation control system through communication channel. Withthis technique, the multirobot formation control system without environment constraint can be re...
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ISBN:
(纸本)0780386531
In this paper, we describe a general multiple mobile robots formation control system through communication channel. Withthis technique, the multirobot formation control system without environment constraint can be realized. A distinguishing feature of our work is the fact that robot formation relies only on communication whether the members in team sense others or not. Firstly, we propose a kind of multirobot formation architecture based on multi-agent system. Furthermore, in this architecture, modularization agent design is taken. To demonstrate the validity of such framework, an improved closed-up multirobot rigid formation control algorithm is introduced. Our results include a series of virtual robot simulations and experiments using three mobile robots. the results show our design is feasible.
this paper deals withthe problem of non-fragile H-infinity control for neutral systems with time-varying delays. the state feedback gains to be designed are subject to norm-bounded uncertainties. the purpose of the p...
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ISBN:
(纸本)0780386531
this paper deals withthe problem of non-fragile H-infinity control for neutral systems with time-varying delays. the state feedback gains to be designed are subject to norm-bounded uncertainties. the purpose of the problem is the design of a state feedback controller such that the resulting closed-loop system is asymptotically stable while satisfying a prescribed H-infinity performance level for all admissible uncertainties in the controller gain. Sufficient conditions for the solvability of this problem are obtained for the cases with additive and multiplicative controller uncertainties, respectively. A desired non-fragile state feedback controller can be obtained by solving certain linear matrix inequalities.
A method of image process and features extraction for structured light image of welding seam with arc and splash disturbance is proposed. the seam area is detected by search with large step. the adaptive thresholds of...
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ISBN:
(纸本)0780386531
A method of image process and features extraction for structured light image of welding seam with arc and splash disturbance is proposed. the seam area is detected by search with large step. the adaptive thresholds of image enhancement are determined in the frequency domain of the gray image. then, the target image is pre-processed using image enhancement and binarization. After thinning the seam with its both edges, main characteristic line is obtained using Hotelling transform and Hough transform. Finally, the feature points in the seam are found according to its second derivative. Experimental results show its effectiveness, good performance in real time and adaptability to different seams.
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