Topological obstructions preclude the existence of a continuous state-feedback control law that globally asymptotically stabilizes the inverted equilibrium manifold of the 3D pendulum. Furthermore, memoryless disconti...
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Topological obstructions preclude the existence of a continuous state-feedback control law that globally asymptotically stabilizes the inverted equilibrium manifold of the 3D pendulum. Furthermore, memoryless discontinuous feedbacks are either unbounded or not robust to arbitrarily small measurement noise. In this paper, we propose a hybrid feedback that coordinates a “synergistic” family of potential functions and their gradient-based feedbacks to ensure global asymptotic stability of the inverted equilibrium manifold of the 3D pendulum. The hybrid scheme is robust to small perturbations including measurement noise, eliminates performance limitations of smooth state feedback, and obviates the need for large torques created by some non-smooth state-feedback control laws. We provide a brief simulation study to illustrate the efficacy of the method and compare it with a smooth feedback.
Coronary artery heart disease is one of the main reasons of death in under development countries such as Iran. Based on vagueness in data and uncertainty in decision making finding an optimal way for diagnosis would b...
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We propose a hybrid controller ensuring robust global asymptotic stability of a desired spherical orientation in a kinematic setting-a task that is impossible by continuous or memoryless discontinuous state-feedback d...
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ISBN:
(纸本)9781424477456
We propose a hybrid controller ensuring robust global asymptotic stability of a desired spherical orientation in a kinematic setting-a task that is impossible by continuous or memoryless discontinuous state-feedback due to topological obstructions. The hybrid control structure relies on hysteretically switching between locally stabilizing control laws that are generated by a "synergistic" family of potential functions. We propose a parametrized diffeomorphism as a means of generating such a synergistic family. This construction is accomplished by composing an existing potential function with the diffeomorphism invoked with different parameters, thus generating new potential functions that have different critical behavior. A salient feature of the construction is that it can produce a synergistic family of potential functions from a single potential function.
We propose a Lyapunov-based hybrid controller that ensures robust global asymptotic stability of a desired planar orientation, a task that is impossible by continuous or (non-hybrid) discontinuous state feedback due t...
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ISBN:
(纸本)9781424474264
We propose a Lyapunov-based hybrid controller that ensures robust global asymptotic stability of a desired planar orientation, a task that is impossible by continuous or (non-hybrid) discontinuous state feedback due to topological obstructions. The hybrid control structure relies on hysteretically switching between (almost globally) stabilizing control laws which are generated by a family of diffeomorphisms that stretch the space of planar rotations onto itself. A salient feature of the proposed control technique is that it can produce a robustly globally asymptotically stabilizing controller from an existing control law and a corresponding Lyapunov function.
This paper develops a new trivariate hierarchical spline scheme for volumetric data representation. Unlike conventional spline formulations and techniques, our new framework is built upon a novel parametric domain cal...
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In this paper we developed a framework for a computer vision system to determine kinematic information of the human hand motion, i.e., joint motion in discrete intervals of time. Since a 2D computer vision system deve...
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ISBN:
(纸本)9781601321541
In this paper we developed a framework for a computer vision system to determine kinematic information of the human hand motion, i.e., joint motion in discrete intervals of time. Since a 2D computer vision system developed does not provide complete kinematic information of the human hand, to overcome this we need a 3D vision system that uses multiple cameras and reconstructs a 3D image using reconstruction techniques. The resulting 3D image is used to determine the joint angles for all joints in the human hand. The vision system obtained is relatively inexpensive compared to commercial applications available, and can be used by persons who do not have expert knowledge of vision systems.
Active disturbance rejection control (ADRC) has been applied to solve various types of control problems across many engineering disciplines, but largely within the confine of minimum phase systems. This paper, however...
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ISBN:
(纸本)9787894631046
Active disturbance rejection control (ADRC) has been applied to solve various types of control problems across many engineering disciplines, but largely within the confine of minimum phase systems. This paper, however, explores systematically its applications to non-minimum phase (NMP) systems, particularly those with transfer functions that have right half plane zeros. It is first shown that, a regular ADRC controller, if not tuned carefully, could easily yield an undesirable solution for NMP systems. We then demonstrate the reasons behind the difficulty using transfer function analysis, leading to a solution in how we tune the ADRC for NMP systems. In particular, a systematic design and tuning procedure is obtained based on the relationship between the high frequency gain of the system and the controller bandwidth. Finally, the proposed method allows a user to easily make a tradeoff between the undershoot, which is unique in NMP systems, and the response time, using the frequency response method of gain and phase compensation.
We theoretically demonstrate up to ~50% enhancement of the overall optical absorption in thin-film organic photovoltaic solar cells in which the top transparent electrode is partially substituted by a periodic metalli...
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The problem we would like to discuss and solve is based on a remote controlling of created packages containing predefined components with a predefined numbers of these components. In principle the problem acts as a ch...
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We rigorously investigate the effect of fabrication-related disorders in subwavelength metal-dielectric-metal plasmonic waveguides. We use a Monte Carlo method to calculate the roughness-induced enhancement of the att...
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