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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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Investigating the Power Budget of a 3U Nanosatellite Designed for Earth Observation

Investigating the Power Budget of a 3U Nanosatellite Designe...

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IEEE Metrology for Aerospace

作者： Amina Daghouri Youssef El Hachimi Abdelaali Ouhammam Mohammed Alae Chanoui Soumia Elhani Hassane Mahmoudi Energy Optimization Diagnosis and Control Team ENSAM University Center for Research in Space Technologies EMI Mohammed V University Rabat Morocco Power Electronics Smart Control Techniques Automatic and Robotics Team EMI University Center for Research in Space Technologies EMI Mohammed V University Rabat Morocco LASTIMI Laboratory EST University Center for Research in Space Technologies EMI Mohammed V University Rabat Morocco

The Electrical Power System (EPS) is one of the most critical subsystems of a nanosatellite. Thus, its design should be done carefully for a successful mission. To verify that the power needs of its subsystems does not exceed the power available, a power budget should be established. The purpose of this work is to evaluate the 3U nanosatellite's EPS by analyzing its power budget using Systems Tool Kit (STK) software. In this study, the orbital design, the sizing of the PV panels and the batteries used are presented. The simulation is done taking into account the worst case assumptions: the sun-synchronous Low Earth Orbit (LEO) orbit with the longest eclipse period, the worst case solar irradiance of 1316 W/m 2 . The results of the power budget established confirm the selection and the sizing of PV panels and the batteries.

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High throughput event filtering: The interpolation-based DIF algorithm hardware architecture

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Microprocessors and Microsystems 2025年

作者： Marcin Kowalczyk Tomasz Kryjak Embedded Vision Systems Group Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Krakow Poland

In recent years, there has been rapid development in the field of event vision. It manifests itself both on the technical side, as better and better event sensors are available, and on the algorithmic side, as more and more applications of this technology are proposed and scientific papers are published. However, the data stream from these sensors typically contains a significant amount of noise, which varies depending on factors such as the degree of illumination in the observed scene or the temperature of the sensor. We propose a hardware architecture of the Distance-based Interpolation with Frequency Weights(DIF) filter and implement it on an FPGA chip. To evaluate the algorithm and compare it with other solutions, we have prepared a new high-resolution event dataset, which we are also releasing to the community. Our architecture achieved a throughput of 403.39 million events per second (MEPS) for a sensor resolution of 1280 × 720 and 428.45 MEPS for a resolution of 640 × 480. The averagevalues of the Area Under the Receiver Operating Characteristic (AUROC) index ranged from 0.844 to 0.999, depending on the dataset, which is comparable to the state-of-the-art filtering solutions, but with much higher throughput and better operation over a wide range of noise levels.

关键词： Dataset Denoising DVS FPGA High-throughput

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Conditions for asymptotic stability of first order scalar differential-difference equation with complex coefficients

arXiv

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arXiv 2022年

作者： Kapica, Rafal Zawiski, Radoslaw Faculty of Applied Mathematics AGH University of Science and Technology al. Mickiewicza 30 Kraków30-059 Poland Department of Automatic Control and Robotics Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland

We investigate a scalar characteristic exponential polynomial with complex coefficients associated with a first order scalar differential-difference equation. Our analysis provides necessary and sufficient conditions for allocation of the roots in the complex open left half-plane what guarantees asymptotic stability of the differential-difference equation. The conditions are expressed explicitly in terms of complex coefficients of the characteristic exponential polynomial, what makes them easy to use in applications. We show examples including those for retarded PDEs in an abstract *** Codes 34K20 (Primary), 30C15, 34K06, , 34K41 (Secondary) © 2022, CC BY.

关键词： Asymptotic stability

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Design and Development of Industrial Cyber-Physical System Testbed 20th

Design and Development of Industrial Cyber-Physical System T...

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20th Polish control Conference, PCC 2020

作者： Możaryn, Jakub Ordys, Andrzej Stec, Adam Bogusz, Konrad Al-Jarrah, Omar Y. Maple, Carsten Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland Warwick Manufacturing Group The University of Warwick CoventryCV4 7AL United Kingdom

ISBN: (纸本)9783030509354

Cyber-physical systems (CPS) are integral components of Industry 4.0. However, there is a lack of benchmark systems for the design, development and testing of CPS. To this end, this article presents the design and development of an industrial CPS testbed using a stand of two coupled tanks, a Programmable Logic controller (PLC), and an Internet-of-Things (IoT) gateway. The testbed can connect to cloud services, combining the industrial and management components together, where a cloud-based service can be used to manage the system. It also can be used to design, develop and evaluate fault diagnosis, fault-tolerant control, and cyber-security algorithms for CPS. Due to its versatility and reconfigurability, the proposed testbed can be used to test various scenarios of possible faults and cyber-attacks in industrial systems. © 2020, Springer Nature Switzerland AG.

关键词： Cyber Physical System

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control of a differentially driven nonholonomic robot subject to a restricted wheels rotation

Control of a differentially driven nonholonomic robot subjec...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dariusz Pazderski Krzysztof Kozłowski Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The paper deals with non-standard motion tasks specified for a two-wheeled nonholonomic robot. It is assumed that wheels cannot fully rotate which reduces a set of feasible movements significantly. In spite of these constraints, it is expected that position of the robot can be changed without violating nonholonomic constraints. Such a possibility comes from the small time local controllability (STLC) of the kinematics described on four-dimensional configuration manifold. In order to solve these specific tasks a feedback taking advantage of the transverse function approach is designed. Consequently, the system can be virtually released from non-holonomic constraints. The transverse function also defines a virtual geometry constraint which makes it possible to limit wheels *** of the designed controller are illustrated by results of numerical simulations in various motion task scenarios.

关键词： Wheels Mobile robots Kinematics Task analysis Manifolds Trajectory

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A Unified Formulation of Geometry-aware Discrete Dynamic Movement Primitives

arXiv

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arXiv 2022年

作者： Abu-Dakka, Fares J. Saveriano, Matteo Kyrki, Ville Electronic and Computer Science Department Faculty of Engineering Mondragon Unibertsitatea Arrasate20500 Spain Automatic Control Lab Department of Industrial Engineering University of Trento Trento Italy Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Aalto Finland

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional approach works well for some robotic tasks, but for many tasks of interest, it is necessary to learn skills such as orientation, impedance, and/or manipulability that have specific geometric characteristics. An effective encoding of such skills can be only achieved if the underlying geometric structure of the skill manifold is considered and the constrains arising from this structure are fulfilled during both learning and execution. However, typical learned skill models such as dynamic movement primitives (DMPs) are limited to Euclidean data and fail in correctly embedding quantities with geometric constraints. In this paper, we propose a novel and mathematically principled framework that uses concepts from Riemannian geometry to allow DMPs to properly embed geometric constrains. The resulting DMP formulation can deal with data sampled from any Riemannian manifold including, but not limited to, unit quaternions and symmetric and positive definite matrices. The proposed approach has been extensively evaluated both on simulated data and real robot experiments. The performed evaluation demonstrates that beneficial properties of DMPs, such as convergence to a given goal and the possibility to change the goal during operation, apply also to the proposed formulation. © 2022, CC BY-NC-ND.

关键词： Demonstrations

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Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Connected Inverters

Terminal Sliding Modes-Based PLLs for Three-Phase Grid-Conne...

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Annual Conference of Industrial Electronics Society

作者： Pooyan Alinaghi Hosseinabadi Mostefa Kermadi Hemanshu Pota Saad Mekhilef Ali Soltani Sharif Abadi The School of Engineering and Information Technology The University of New South Wales Canberra ACT Australia The Power Electronics and Renewable Energy Research Laboratory (PEARL) University of Malaya Kuala Lumpur Malaysia The School of Science Computing and Engineering Technologies Swinburne University of Technology Hawthorn VIC Australia Faculty of Mechatronics Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland

This paper proposes and experimentally implements new phase-locked loop algorithms using non-adaptive and adaptive terminal sliding modes for the three-phase grid-connected inverters. The proposed algorithms aim to extract the grid voltage phase and frequency and provide them for the inverter controller. The proposed sliding mode-based PLL algorithms provide faster, more robust, and more accurate detection of the grid voltage information compared to the conventional PI-PLL. This leads to better current controller performance and subsequently, improves the quality of the injected currents into the grid. The finite-time stability notion is incorporated with robust sliding modes to ensure a fast convergence rate. An adaptive law is proposed to determine a proper value for the switching gain which leads to a better overall performance of the PLL compared with a non-adaptive one. The Lyapunov stability theory is used to obtain the stability proofs of the closed-loop systems under both designed sliding modes-based PLLs. The proposed PLL algorithms are validated by simulation and experimental results for the three-phase grid-connected inverter under normal and various abnormal grid conditions.

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Mechanical state-space linearization of mechanical control systems and symmetric product of vector fields ⁎

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IFAC-PapersOnLine 2021年第19期54卷 204-209页

作者： Marcin Nowicki Witold Respondek Poznan University of Technology Institute of Automatic Control and Robotics Piotrowo 3a 61-138 Poznań Poland INSA de Rouen Normandie Laboratoire de Mathématiques 76801 Saint-Etienne-du-Rouvray France

We study mechanical control systems and their linearization via diffeomorphisms that preserve their mechanical structure, called mechanical state-space linearization, that is, the transformed system is linear and mechanical. We provide necessary and sufficient conditions for the mechanical linearization, verifiable in terms of the dynamics of the original system. We also give a classification of linear mechanical control systems with the help of their invariants and illustrate our results by examples.

关键词： Mechanical systems linearization linearizable systems state transformations

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Recent advances in data-driven methods for degradation modelling across applications

arXiv

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arXiv 2025年

作者： Jarosz, Anna Zagorowska, Marta Baranowski, Jerzy AGH University of Krakow Dept. of Automatic Control & Robotics al. Mickiewicza 30 Krakow30-059 Poland NTNU Department of Engineering Cybernetics Trondheim7034 Norway

Understanding degradation is crucial for ensuring the longevity and performance of materials, systems, and organisms. To illustrate the similarities across applications, this article provides a review of data-based method in materials science, engineering, and medicine. The methods analyzed in this paper include regression analysis, factor analysis, cluster analysis, Markov Chain Monte Carlo, Bayesian statistics, hidden Markov models, nonparametric Bayesian modeling of time series, supervised learning, and deep learning. The review provides an overview of degradation models, referencing books and methods, and includes detailed tables highlighting the applications and insights offered in medicine, power engineering, and material science. It also discusses the classification of methods, emphasizing statistical inference, dynamic prediction, machine learning, and hybrid modeling techniques. Overall, this review enhances understanding of degradation modelling across diverse domains. © 2025, CC BY-SA.

关键词： Hybrid materials

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