the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roess...
详细信息
the positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roesser models for any switching are established. the considerations are illustrated by numerical examples.
In the paper stationarity of random processes obtained from elementary bilinear time-series models is analysed. It is shown in the presented analysis that elementary bilinear time-series models can be interpreted as l...
详细信息
In the paper stationarity of random processes obtained from elementary bilinear time-series models is analysed. It is shown in the presented analysis that elementary bilinear time-series models can be interpreted as linear time-series with time varying random parameters. the analysis is illustrated by simulation experiments showing time dependencies of some statistical moments of the discussed random processes.
the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Opti...
详细信息
the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.
An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which th...
详细信息
An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.
A model of a combination of antiangiogenic treatment and chemotherapy is proposed and analyzed. the model is a modified Hahnfeldt model and the analysis has two goals: first of all we check stability of the equilibriu...
详细信息
A model of a combination of antiangiogenic treatment and chemotherapy is proposed and analyzed. the model is a modified Hahnfeldt model and the analysis has two goals: first of all we check stability of the equilibrium point of the model to find conditions leading to tumour eradication for constant dosing and periodic treatment then we propose an optimization problem and give necessary conditions of its solution. We discuss modifications of the model which enable more realistic description of treatment effects.
A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tr...
详细信息
A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. this is done by utilizing the exact linearization approach [1]. the final feed forward control law is verified in combination with a slightly modified design model as well as the original model.
the paper refers to the issue of robot companion being able to migrate between different embodiments. the main attention is focused on the case when two or more companions can share the same embodiment. It is shown th...
详细信息
the paper refers to the issue of robot companion being able to migrate between different embodiments. the main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. the results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.
this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. Fr...
详细信息
this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1-parameter family of control functions. this family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. the approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.
this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based...
详细信息
this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.
Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. the reason is that estimation of parame...
详细信息
Reversibility of elementary bilinear time-series model is very important issue in parametric model identification based on minimisation of mean square value of prediction error. the reason is that estimation of parameters of irreversible time-series model is irreversible it is difficult. there is already very well known mathematical reversibility condition expressed as a function of the model's coefficient, which has to be identified. the paper contains a discussion of simple condition, which can provide information about model's reversibility before its identification.
暂无评论