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Nonlinear control systems - A brief overview of historical and recent advances

Nonlinear engineering 2017年第4期6卷 301-312页

作者： Iqbal, Jamshed Ullah, Mukhtar Khan, Said Ghani Khelifa, Baizid Ćuković, Saša Department of Electrical Engineering FAST National University of Computer and Emerging Sciences Islamabad Pakistan Department of Electrical Engineering MY University Islamabad Pakistan Department of Mechanical Engineering College of Engineering Yanbu Taibah University Saudi Arabia Department of Computer Science and Automatic Control Mines-Telecom Institute France Faculty of Engineering University of Kragujevac Kragujevac Serbia

Last five decades witnessed remarkable developments in linear control systems and thus problems in this subject has been largely resolved. The scope of the present paper is beyond linear solutions. Modern technology demands sophisticated control laws to meet stringent design specifications thus highlighting the increasingly conspicuous position of nonlinear control systems, which is the topic of this paper. Historical role of analytical concepts in analysis and design of nonlinear control systems is briefly outlined. Recent advancements in these systems from applications perspective are examined with critical comments on associated challenges. It is anticipated that wider dissemination of this comprehensive review will stimulate more collaborations among the research community and contribute to further developments.

关键词： Linear control systems

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Optimizing matrix mapping with data dependent kernel for image classification

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Journal of Information Hiding and Multimedia Signal Processing 2014年第1期5卷 72-79页

作者： Zhang, De-Long Qiao, Jiaqing Li, Jun-Bao Qiao, Li-Yan Chu, Shu-Chuan Roddick, John F. Department of Automatic Test and Control Harbin Institute of Technology China School of Computer Science Engineering and Mathematics Flinders University GPO Box 2100 Adelaide SA 5001 Australia

Kernel based nonlinear feature extraction is feasible to extract the feature of image for *** current kernel-based method endures two problems: 1) kernel-based method is to use the data vector through transforming the image matrix into vector, which will cause the store and computing burden;2) the parameter of kernel function has the heavy influences on kernel based learning method. In order to solve the two problems, we present the method of optimizing matrix mapping with data dependent kernel for feature extraction of the image for classification. The method implements the algorithm without transforming the matrix to vector, and it adaptively optimizes the parameter of kernel for nonlinear mapping. The comprehensive experiments are implemented evaluate the performance of the algorithms. © 2014.

关键词： Matrix algebra

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Noise Reduction in Industry Based on Virtual Instrumentation

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computers, Materials & Continua 2021年第10期69卷 1073-1096页

作者： Radek Martinek Rene Jaros Jan Baros Lukas Danys Aleksandra Kawala-Sterniuk Jan Nedoma Zdenek Machacek Jiri Koziorek Faculty of Electrical Engineering and Computer Science Department of Cybernetics and Biomedical EngineeringVSB–Technical University of Ostrava70800Ostrava-PorubaCzechia Faculty of Electrical Engineering Automatic Control and InformaticsOpole University of TechnologyOpolePoland Faculty of Electrical Engineering and Computer Science Department of TelecommunicationsVSB–Technical University of Ostrava70800Ostrava-PorubaCzechia

This paper discusses the reduction of background noise in an industrial environment to extend *** the Industry 4.0 era,the mass development of voice control(speech recognition)in various industrial applications is possible,especially as related to augmented reality(such as hands-free control via voice commands).As Industry 4.0 relies heavily on radiofrequency technologies,some brief insight into this problem is provided,including the Internet of things(IoT)and 5G *** study was carried out in cooperation with the industrial partner Brose CZ spol.s.r.o.,where sound recordings were made to produce a *** experimental environment comprised three workplaces with background noise above 100 dB,consisting of a laser/magnetic welder and a press.A virtual device was developed from a given dataset in order to test selected commands from a commercial speech recognizer from *** tested a hybrid algorithm for noise reduction and its impact on voice command recognition *** virtual devices,the study was carried out on large speakers with 20 participants(10 men and 10 women).The experiments included a large number of repetitions(100 times for each command under different noise conditions).Statistical results confirmed the efficiency of the tested *** welding environment efficiency was 27%before applied filtering,76%using the least mean square(LMS)algorithm,and 79%using LMS+independent component analysis(ICA).Magnetic welding environment efficiency was 24%before applied filtering,70%with LMS,and 75%with LMS+*** workplace environment efficiency showed no success before applied filtering,was 52%with LMS,and was 54%with LMS+ICA.

关键词： 5G hybrid algorithms signal processing speech recognition

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DEVELOPMENT OF FAULT RECOGNITION EXPERT SYSTEM

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Journal of Southeast University(English Edition) 1991年第2期7卷 59-65页

作者：张慰南黄可鸣 Department of Automatic Control Department of Computer Science and Engineering

The fault recognition is a constructional problem involved in the plane inter-pretation of seismic *** paper presents a fault recognition expert system(FRES)built on blackboard model and introduces its technical characteristics such as rea-soning about control,focusing by step,integration of human inteUigcnce and machine in-telligence.

关键词： computer applications seismic survey applied geophysics/expert system blackboard architccture

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Visual SLAM with oriented landmarks and partial odometry

Visual SLAM with oriented landmarks and partial odometry

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21st International Conference on Electronics Communications and computers, CONIELECOMP 2011

作者： Hernandez, E. Ibarra, J.M. Neira, J. Cisneros, R. Lavin, J.E. Department of Automatic Control CINVESTAV-IPN Mexico Mexico Department of Computer Science and Systems Engineering University of Zaragoza Spain

ISBN: (纸本)9781424495573

In this paper, we describe a system that can carry out visual simultaneous localization and mapping (VSLAM) in structured indoor environments;this system uses a small-sized low-cost commercial humanoid robot which uses a camera mounted on a pan-and-tilt device (it was designed and built by us) as his head. Almost all of the VSLAM approaches use points 2D like features of the robot's environment for estimate his pose and the structure of his environment. We propose a new approach to get points 3D (i.e. feature's position and orientation with respect to the current robot's position are known) this approach is based in a monocular 3D reconstruction scheme;with this information we can improve the results in classical SLAM EKF method. Experiments had made in a structured environment, we implemented them for two cases, though;the first one was implemented without odometry and second one was carried out with partial odometry information;that means we included robot's orientation in EKF algorithm. This information had gotten with an IMU (Inertial Measurement Unit), which we installed in the robot. Finally, we want to point out that all the components used into the robotics' platform are low cost. © 2011 IEEE.

关键词： Anthropomorphic robots

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Identification of Stochastic Wiener Systems using Indirect Inference

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IFAC-PapersOnLine 2015年第28期48卷 620-625页

作者： Wahlberg, Bo Welsh, James Ljung, Lennart Department of Automatic Control and ACCESS School of Electrical Engineering KTH Royal Institute of Technology StockholmSE-100 44 Sweden School of Elect Engineering and Computer Science The University of Newcastle CallaghanNSW 2308 Australia Division of Automatic Control Linköping University LinköpingSE-581 83 Sweden

We study identification of stochastic Wiener dynamic systems using so-called indirect inference. The main idea is to first fit an auxiliary model to the observed data and then in a second step, often by simulation, fit a more structured model to the estimated auxiliary model. This two-step procedure can be used when the direct maximum-likelihood estimate is dificult or intractable to compute. One such example is the identification of stochastic Wiener systems, i.e., linear dynamic systems with process noise where the output is measured using a nonlinear sensor with additive measurement noise. It is in principle possible to evaluate the loglikelihood cost function using numerical integration, but the corresponding optimization problem can be quite intricate. This motivates studying consistent, but sub-optimal, identification methods for stochastic Wiener systems. We will consider indirect inference using the best linear approximation as an auxiliary *** show that the key to obtain a reliable estimate is to use uncertainty weighting when fitting the stochastic Wiener model to the auxiliary model estimate. The main technical contribution of this paper is the corresponding asymptotic variance analysis. A numerical evaluation is presented based on a first-order finite impulse response system with a cubic non-linearity, for which certain illustrative analytic properties are derived. © 2015

关键词： Stochastic models Cost functions Identification (control systems) Impulse response Linear control systems Linear systems Maximum likelihood estimation Nonlinear systems Stochastic systems Uncertainty analysis Best linear approximations Finite impulse response system Indirect inference Maximum likelihood estimate Numerical integrations Optimization problems Technical contribution Wiener systems

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A probabilistic approach to the stability analysis of real-time control systems ?

A probabilistic approach to the stability analysis of real-t...

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作者： Velasco, Manel Martí, Pau Villà, Ricard Fuertes, Josep M. Ayza, Jordi Monroig, Miquel Department of Automatic Control and Computer Engineering Technical University of Catalonia Pau Gargallo 5 08028 Barcelona Spain

ISBN: (纸本)008045108X

in real-time multitasking systems, feasible periodic tasks execute within their periods. However, the exact time at which each task executes vary due to other task interferences. For control tasks, this produces irregular sampling and varying time delays, which may degrade system performance and bring the system to instability. in this paper we present stability conditions that allow us to evaluate if a closed-loop system designed to work at a nominal sampling period hd with a nominal time delay τd will remain stable if the run-time sampling is not strictly periodic and time delays vary randomly. in the closed-loop system model, we consider the irregular sampling and the varying time delays as random variables with known expectation. With this model, the system evolution can be seen as a sequence of random state vectors generated by the system closed-loop matrix. Then, we derive stability conditions for the system in terms of convergence of a sequence of random variables. Copyright © 2005 IFAC.

关键词： Time delay

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Mobile robot exploration based on three dimension cameras acquisition

Mobile robot exploration based on three dimension cameras ac...

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2nd IFAC Symposium on Telematics Applications, TA 2010

作者： Joochim, Chanin Roth, Hubert Department of Electrical Engineering and Computer Science Institute of Automatic Control Engineering University of Siegen Hoelderlinstr. 3 57068 Germany

ISBN: (纸本)9783902661845

The exploration and three dimension map building of mobile robot tasks in an unknown environment are normally do not have any future reference information. The mobile robot has to estimate positions and poses itself. Finding the distinguishable objects in environment are also required in order to create the pose reference points. Therefore, the selected sensors and register mapping algorithm are significant. The sensors which can provide both of depth and image data are still deficient. Recently, the Photonic Mixture Device camera (PMD) is a three dimension sensor which generates real-time high rate volume output of surrounding scenario as well as gray scale data. However, one PMD camera drawback is low resolution output. From this problem, the idea to fusion another high resolution CCD camera to PMD depth data is purposed. In this study hence presents the mobile robot exploration using integration of CCD and PMD camera in order to create the three dimension mapping. The Iterative Closest Point (ICP) algorithm is used for matching clouding points and minimizing the interval pose of the two scans. Eventually, the difference three dimension mapping output between fusion CCD camera and use only pure depth data are presented and evaluated. © 2010 IFAC.

关键词： Mobile robots

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UPB at IberLEF-2023 AuTexTification: Detection of Machine-Generated Text using Transformer Ensembles

UPB at IberLEF-2023 AuTexTification: Detection of Machine-Ge...

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2023 Iberian Languages Evaluation Forum, IberLEF 2023

作者： Preda, Andrei-Alexandru Cercel, Dumitru-Clementin Rebedea, Traian Chiru, Costin-Gabriel Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest060042 Romania

This paper describes the solutions submitted by the UPB team to the AuTexTification shared task, featured as part of IberLEF-2023. Our team participated in the first subtask, identifying text documents produced by large language models instead of humans. The organizers provided a bilingual dataset for this subtask, comprising English and Spanish texts covering multiple domains, such as legal texts, social media posts, and how-to articles. We experimented mostly with deep learning models based on Transformers, as well as training techniques such as multi-task learning and virtual adversarial training to obtain better results. We submitted three runs, two of which consisted of ensemble models. Our best-performing model achieved macro F1-scores of 66.63% on the English dataset and 67.10% on the Spanish dataset. © 2023 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Deep learning

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Synchronization of Kuramoto Oscillators in a Bidirectional Frequency-Dependent Tree Network 57

Synchronization of Kuramoto Oscillators in a Bidirectional F...

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57th IEEE Conference on Decision and control, CDC 2018

作者： Jafarian, Matin Yi, Xinlei Pirani, Mohammad Sandberg, Henrik Henrik Johansson, Karl Automatic Control Department School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781538613955

This paper studies the synchronization of a finite number of Kuramoto oscillators in a frequency-dependent bidirectional tree network. We assume that the coupling strength of each link in each direction is equal to the product of a common coefficient and the exogenous frequency of its corresponding source oscillator. We derive a sufficient condition for the common coupling strength in order to guarantee frequency synchronization in tree networks. Moreover, we discuss the dependency of the obtained bound on both the graph structure and the way that exogenous frequencies are distributed. Further, we present an application of the obtained result by means of an event-triggered algorithm for achieving frequency synchronization in a star network assuming that the common coupling coefficient is given. © 2018 IEEE.

关键词： Synchronization

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