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Takagi-Sugeno Model-based Steering Control for Autonomous Vehicles with Actuator Saturation

IFAC-PapersOnLine 2016年第5期49卷 206-211页

作者： Nguyen, Anh-Tu Sentouh, Chouki Popieul, Jean-Christophe Laboratory LAMIH UMR CNRS 8201 University of Valenciennes France

This paper is devoted to the development of a novel control law for an autonomous vehicle. The control goal is to perform lane keeping under multiple constraints, namely actuator saturation of the steering system, roads with unknown curvature, and uncertain lateral wind force. Such system constraints will be explicitly considered in the control design procedure. To achieve this goal, we propose a novel constrained Takagi-Sugeno control method using non-quadratic Lyapunov stability framework. The obtained non-parallel distributed compensation controller is not only able to handle various system constraints but also a large variation range of vehicle speed. Especially, by means of the well-known Taylor's approximation method we can significantly reduce the numerical complexity of the proposed control method to ease the real-time control implementation. The control synthesis conditions are expressed in terms of linear matrix inequalities which can be efficiently solved with available solvers. The effectiveness of the proposed method is demonstrated with different simulation scenarios. © 2016

关键词： Automobile steering equipment Actuators Feedback control Linear matrix inequalities Modal analysis numerical methods Real time control Robustness (control systems) Steering Actuator saturations Autonomous Vehicles Lane keeping control numerical complexity Parallel distributed compensation Takagi Sugeno fuzzy systems Takagi Sugeno modeling Taylor's approximation

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Feasibility of Blind Source Separation Methods for the Denoising of Dense-Array EEG 37

Feasibility of Blind Source Separation Methods for the Denoi...

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37th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)

作者： Taheri, N. Kachenoura, A. Ansari-Asl, K. Karfoul, A. Senhadji, L. Albera, L. Merlet, I. Univ Shahid Chamran Dept Elect Engn Fac Engn Ahvaz Iran INSERM U1099 F-35000 Rennes France

ISBN: (纸本)9781424492701

High-density electroencephalographic recordings have recently been proved to bring useful information during the pre-surgical evaluation of patients suffering from drug-resistant epilepsy. However, these recordings can be particularly obscured by noise and artifacts. This paper focuses on the denoising of dense-array EEG data (e.g. 257 channels) contaminated with muscle artifacts. In this context, we compared the efficiency of several Independent Component Analysis (ICA) methods, namely SOBI, SOBIrob, PICA, InfoMax, two different implementations of FastICA, COM2, ERICA, and SIMBEC, as well as that of Canonical Correlation Analysis (CCA). We evaluated the performance using the Normalized Mean Square Error (NMSE) criterion and calculated the numerical complexity. Quantitative results obtained on realistic simulated data show that some of the ICA methods as well as CCA can properly remove muscular artifacts from dense-array EEG.

关键词： blind source separation electroencephalography independent component analysis mean square error methods medical signal processing CCA ICA methods NMSE blind source separation methods canonical correlation analysis dense array EEG data dense array EEG denoising drug resistant epilepsy electroencephalographic recordings muscle artifacts normalized mean square error numerical complexity presurgical evaluation

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Sparsity-Aware Pseudo Affine Projection Algorithm for Active Noise Control

Sparsity-Aware Pseudo Affine Projection Algorithm for Active...

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Annual Summit and Conference of Asia-Pacific-Signal-and-Information-Processing-Association (APSIPA)

作者： Albu, Felix Gully, Amelia de lamare, Rodrigo Valahia Univ Targoviste Dept Elect Targoviste Romania Univ York Dept Elect York YO10 5DD N Yorkshire England

ISBN: (纸本)9786163618238

This paper describes new algorithms promoting sparsity in modified filtered-x algorithms for active noise control. The proposed algorithms are based on recent techniques incorporating approximations to the 10-norm in the cost function used. An approximation to the affine projection algorithm leads to new zero-attracting and reweighted zero-attracting modified filtered-x pseudo affine projection algorithms. The results of simulations indicate that the proposed techniques demonstrate good performance and reduce numerical complexity compared to the original affine projection based algorithms.

关键词： active noise control filtering theory cost function filtered-x algorithms filtered-x pseudo affine projection algorithms l0-norm numerical complexity reweighted zero-attracting sparsity-aware pseudo affine projection algorithm Approximation algorithms Approximation methods Decision support systems Filtering algorithms Noise Speech Speech processing

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numerically Stable and Efficient Implementation of a Continuous-Discrete Multiple-Model Estimator

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INTERNATIONAL JOURNAL OF ELECTRONICS AND TELECOMMUNICATIONS 2013年第4期59卷 369-374页

作者： Sankowski, Miroslaw Buda, Wojciech Bumar Elekt S A Hallera 233A PL-80502 Gdansk Poland Intel Technol Poland Sp ZOO PL-80298 Gdansk Poland

This paper deals with the problem of implementing adaptive radar tracking filters based on continuous-time models of target motion and on discrete-time models of measurement process. The particular difficulties addressed include: nonlinear and non-stationary target movement models with uncertain parameters, and low data rate due to a rotating radar antenna. The proposed tracking filter relies basically on the continuous-discrete variant of the extended Kalman filter (EKF), the probabilistic data association (PDA) technique and the interacting multiplemodel (IMM) state estimation scheme. numerical properties of the algorithm are discussed and a software implementation is developed using the open-source BLAS library. Several design concepts are combined to assure numerical stability, convergence and efficiency of the estimator.

关键词： Radar tracking continuous-time systems nonlinear filtering numerical complexity implementation

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Robust decentralised stabilisation of interval discrete-time singular large-scale systems

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IET CONTROL THEORY AND APPLICATIONS 2010年第2期4卷 244-252页

作者： Mao, W. -J. Chu, J. Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China

The problem of robust decentralised state-feedback stabilisation for discrete-time singular large-scale systems with interval uncertainties is addressed in this study. By using the matrix norm operation and the rank-1 matrix technique for interval matrices, two sufficient conditions to check the robust decentralised stabilisability of uncertain discrete-time singular large-scale systems are, respectively, obtained. At the expense of problem size (numerical complexity), the second condition gives a less conservative result than the first one. It is therefore reasonable to check the robust stabilisability by the first condition, and then if it fails, resort to the second one. Finally, illustrative examples show that the proposed conditions are effective for the design of robust decentralised stabilising state-feedback controller for not only the uncertain discrete-time singular large-scale systems but also the uncertain discrete-time regular large-scale systems.

关键词： Discrete control systems robust control computational complexity Stability in control theory Computational complexity Linear algebra (numerical analysis) rank-1 matrix technique decentralised control interval uncertainties Multivariable control systems matrix norm operation state feedback discrete-time singular large-scale systems robust decentralised stabilising state-feedback controller discrete time systems uncertain systems matrix algebra numerical complexity

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Performance and complexity Analysis of Eigencombining, Statistical Beamforming, and Maximal-Ratio Combining

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2009年第7期58卷 3383-3395页

作者： Siriteanu, Constantin Blostein, Steven D. Seoul Natl Univ Sch Comp Sci & Engn Seoul 151742 South Korea Queens Univ Dept Elect & Comp Engn Kingston ON K7L 3N6 Canada

For receive-side maximal-ratio combining (MRC) and maximum-average-SNR beamforming (BF), the wireless-channel fading correlation impacts the symbol-detection performance-decreasing correlation improves/degrades MRC/BF performance-whereas the numerical complexity of these methods is fixed-high/low for MRC/BF. Matching signal process ing complexity to the actual correlation conditions and, thus, to the achievable performance is possible with a superset of MRC and BF known as maximal-ratio eigencombining (MREC). For imperfectly known and correlated fading gains, new closed-form expressions are derived for the probability density function of the MREC-output SNR, as well as for the outage probability (OP) and the average error probability. These new expressions permit seamless evaluation for any correlation value of MREC, MRC, and BF performance measures, such as the amount of fading, the deep-fade probability, diversity and array gains, and the OP. Our results confirm that, in realistic scenarios, adaptive MREC can achieve MRC-like performance for BF-like complexity.

关键词： Adaptive antenna arrays array gain channel estimation diversity gain eigencombining Laplacian power azimuth spectrum (p.a.s.) lognormal azimuth spread (AS) numerical complexity Rayleigh fading statistical beamforming (BF)

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On reducing numerical complexity of complex robot dynamics

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1999年第3期24卷 269-293页

作者： Rackovic, M Surla, D Vukobratovic, M Fac Sci Novi Sad Math Inst Novi Sad Yugoslavia Mihailo Pupin Inst Belgrade Yugoslavia

An algorithm for the reduction of the numerical complexity of the analytical expressions participating in the dynamic model of robotic mechanism is a necessary part of the process of mathematical modelling of complex robotic mechanisms in symbolic form. Decomposition of the polynomial expressions into the products is a basic part of the algorithm for reducing the number of numerical operations in the analytical expressions of the robotic mechanisms dynamic models. The mathematical background for the data structures as well as the algorithm for decomposition of the polynomial expressions is developed and described in detail. The procedure for the reduction of the numerical complexity is illustrated by an example of the anthropomorphic locomotion configuration with fourteen degrees of freedom, and the obtained results are presented. The emphasis was placed on the procedure for decomposition of the expressions into the products because this procedure gives additional reduction in the number of mathematical operations.

关键词： symbolic model numerical complexity kinematic chain structural matrix graph numeric-symbolic model

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SYMBOLIC MODELING IN ROBOTICS - GENESIS, APPLICATION, AND FUTURE-PROSPECTS

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1993年第1期8卷 1-19页

作者： KIRCANSKI, N VUKOBRATOVIC, M TIMCENKO, A KIRCANSKI, M 1. Robotics Department Mihailo Pupin Institute Belgrade Yugoslavia 2. Columbia University New York USA

This survey article gives an overview of software packages for generating numerically efficient manipulator models in symbolic form, i.e. as computer programs written in a high-level language such as C or FORTRAN. We chronicle the history of computational robot dynamics and, to some extent, multibody systems dynamics. We survey several mechanical computer-aided engineering software packages because they have charted the course for symbolic robot modeling software. The attractive features of var-ious programs regarding areas of application (vehicles, robots, satellites, etc.) and design possibilities (kinematic and dynamic analysis, modal analysis, optimization of mechanical design, numerical efficiency of generated symbolic models, etc.) are emphasized. Finally, as an example, we present the SYM program package in more detail and point out the new strategic area of robotics which has emerged during the last two years: computer-aided generation of control laws.

关键词： ROBOTICS SYMBOLIC MODEL COMPUTATIONAL DYNAMICS CAD numerical complexity

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