the purpose of writing this paper is to find the optimized digital colour recommendation model based on the semantic colour synaesthesia annotation labels with digital HSV (Hue saturation and brightness value colour c...
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the linear quadratic optimal control problem for time invariant systems is presented. the problem with finite final time and fixed end-point is considered. the study takes into account the influence of the time varian...
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ISBN:
(纸本)9781479946013
the linear quadratic optimal control problem for time invariant systems is presented. the problem with finite final time and fixed end-point is considered. the study takes into account the influence of the time variant perturbations in optimal control law implementation. the applicability of the proposed algorithm is illustrated by simulation tests.
Model predictive control (MPC) is a popular advanced model-based control algorithm for controlling systems that must respect a set of system constraints (e.g. actuator force limitations). However, the computing requir...
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ISBN:
(纸本)9781509048250
Model predictive control (MPC) is a popular advanced model-based control algorithm for controlling systems that must respect a set of system constraints (e.g. actuator force limitations). However, the computing requirements of MPC limits the suitability of deploying its software implementation into embedded controllers requiring high update rates. this paper presents a scalable embedded MPC controller implemented on a field-programmable gate array (FPGA) coupled with an on-chip ARM processor. Our architecture implements an AI-ternating Direction Method of Multipliers (ADMM) approach tor computing MPC controller commands. All computations are performed using floating-point arithmetic. We introduce a software/hardware (SW IHW) co-design methodology, for which the ARM software can configure on-chip Block RAM to allow users to 1) configure the MPC controller for a wide range of plants, and 2) update at runtime the desired trajectory to track. Our hardware architecture has the flexibility to compromise between the amount of hardware resources used (regarding Block RAMs and DSPs) and the controller computing speed. For example, this flexibility gives the ability to control plants modeled by a large number of decision variables (i.e. a plant model using many Block RAMs) with a small number of computing resources (i.e. DSPs) at the cost of increased computing time. the hardware controller is verified using a Plant-on-Chip (PoC), which is configured to emulate a mass-spring system in real-time. A major driving goal of this work is to architect an SW/HW platform that brings FPGAs a step closer to being widely adopted by advanced control algorithm designers for deploying their algorithms into embedded systems.
there is an increasing amount of effort to build a fast, energy-efficient, large-scale, and, most importantly, reliable memristor crossbar system for in-memory analog computing. Silicon transistors are used as selecto...
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ISBN:
(纸本)9781728182810
there is an increasing amount of effort to build a fast, energy-efficient, large-scale, and, most importantly, reliable memristor crossbar system for in-memory analog computing. Silicon transistors are used as selectors and on-chip control peripheral circuits to fully unleash the power of the emerging devices. Still, unexpected computing errors occur because of non-ideal device performance. Herein, we review two promising solutions. the first one is the in-situ training of memristor neural networks to self-adapt various defects, and the second one is an analog error-correcting code that detects and corrects unexpected errors with minimum hardware overhead.
We address the motion planning problem for smoothcontrol-nonlinear systems by presenting a regularised version of the well-established homotopy continuation method. the proposed approach (inspired by Tikhonov regular...
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ISBN:
(纸本)9798350362350;9798350362343
We address the motion planning problem for smoothcontrol-nonlinear systems by presenting a regularised version of the well-established homotopy continuation method. the proposed approach (inspired by Tikhonov regularisation in the Moore-Penrose pseudo-inverse theory) deals withthe two issues of the classical method: the singularities of the endpoint map of the nonlinear controlsystem and the global existence of solutions of a differential equation posed on the control space, the path lifting equation (PLE). We analyse the properties of our method and show that it is always well-posed and that the regularised PLE always possesses a global solution. We additionally examine the effect of the regularisation and we give conditions under which the regularized solution converges to the initial solution. Finally, we illustrate the potential of our method through several numerical examples.
An optimal control problem is proposed and studied for a system of ordinary differential equations from population dynamics. the system models a general ecosystem of several species. One introduces some control variab...
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ISBN:
(纸本)9781479946013
An optimal control problem is proposed and studied for a system of ordinary differential equations from population dynamics. the system models a general ecosystem of several species. One introduces some control variables in the system and one associates an optimal control problem. the control variables represent the mixture rates between the species. Pontryagin maximum principle is established for this problem and some particular cases are analyzed.
We propose a simple efficient machinery for computing "nearly exact" boundary of the image of euclidean ball under multidimensional quadratic mapping. It is based on necessary conditions for a point to be ma...
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ISBN:
(纸本)9781479946013
We propose a simple efficient machinery for computing "nearly exact" boundary of the image of euclidean ball under multidimensional quadratic mapping. It is based on necessary conditions for a point to be mapped to the boundary. Several special cases are considered, the results of numerical simulations are presented, in particular, as applied to multiobjective optimization and Pareto set discovery.
Level control for tanks systems are a great challenge due to the non-linear behaviour in the process. In order to cover that task, this paper proposes a Gain Scheduling PID and a μ-Synthesis Robust controllers compar...
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this paper proposes the design of a remote monitoring, data acquisition and controlsystem for a liquid hydrocarbon plant in order to improve the supervision and controlsystem of the product reception, storage and di...
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the problem of modeling and control of an induction motor is approached by using linear approximation of the nonlinear model at certain equilibrium points and robust predictive control approaches. An advanced control ...
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ISBN:
(纸本)9781479946013
the problem of modeling and control of an induction motor is approached by using linear approximation of the nonlinear model at certain equilibrium points and robust predictive control approaches. An advanced control technique for automatic control of the processes under operating constraints and uncertainties, robust model predictive control, was used in this paper. Finally, simulation results are presented, in order to demonstrate the effectiveness of the proposed control algorithm.
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