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International Conference on Information Fusion

作者： B. Majidi B. Moshiri ECE Department Faculty of Engineering University of Tehran Iran Control and Intelligent Processing Center of Excellence ECE Department Faculty of Engineering University of Tehran Iran

ISBN: (纸本)0972184457

In this article a computer vision system for classification of pomegranate, pear and apple, using high level fusion of various visual features is presented. Due to this fact that in real applications orientation of the fruit with respect to camera is completely random and fruits such as pear and some kinds of pomegranate don't have symmetrical shapes, the estimation of fruits volume in this project is done -with aid of a neural network that was trained with simple features of fruit's profile images. For surface defect detection, the processing system must inspect the whole area of the fruit. In our approach, the inspection of fruit surface defects is based on fusing of fruit's side images. The blobs of this image are extracted and fruit is classified according to these blobs. Meanwhile a set of basic color parameters of fruit surface are extracted and finally the fruit is classified using high level fusion of these visual features.

关键词： Cameras Shape Neural networks Image fusion Humans Image color analysis Image analysis Layout Data engineering Computer vision

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A data fusion approach for multi-camera based visual servoing

A data fusion approach for multi-camera based visual servoin...

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International Symposium on Optomechatronic Technologies

作者： Assa, Akbar Janabi-Sharifi, Farrokh Moshiri, Behzad Mantegh, Iraj Department of Mechanical and Industrial Engineering Ryerson University Toronto ON Canada Control and Intelligent Processing Center of Excellence School of ECE University of Tehran Tehran Iran National Research Council Canada Montreal QC Canada

ISBN: (纸本)9781424476848

Accurate visual servoing depends extensively on the quality of pose estimation. Sensor fusion provides a solution to improve accuracy and robustness of pose estimation. This paper introduces sensor fusion methods using two cameras to reduce the inaccuracy of pose estimation. Simulation results are reported to verify the efficiency of the proposed methods. © 2010 IEEE.

关键词： Extended Kalman filters

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Synchronization of Kuramoto oscillators: Inverse Taylor expansions

arXiv

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arXiv 2018年

作者： Jafarpour, Saber Huang, Elizabeth Y. Bullo, Francesco Center for Control Dynamical Systems and Computation University of California Santa Barbara United States Department of Mechanical Engineering Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

Synchronization in networks of coupled oscillators is a widely studied topic with extensive scientific and engineering applications. In this paper, we study the frequency synchronization problem for networks of Kuramoto oscillators with arbitrary topology and heterogeneous edge weights. We propose a novel equivalent transcription for the equilibrium synchronization equation. Using this transcription, we develop a power series expansion to compute the synchronized solution of the Kuramoto model as well as a sufficient condition for the strong convergence of this series expansion. Truncating the power series provides (i) an efficient approximation scheme for computing the synchronized solution, and (ii) a simple-to-check, statistically-correct hierarchy of increasingly accurate synchronization tests. This hierarchy of tests provides a theoretical foundation for and generalizes the best-known approximate synchronization test in the literature. Our numerical experiments illustrate the accuracy and the computational efficiency of the truncated series approximation compared to existing iterative methods and existing synchronization tests. Copyright © 2018, The Authors. All rights reserved.

关键词： Synchronization

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A distributed simplex algorithm and the multi-agent assignment problem

A distributed simplex algorithm and the multi-agent assignme...

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作者： Bürger, Mathias Notarstefano, Giuseppe Allgöwer, Frank Bullo, Francesco Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Engineering University of Lecce Via per Monteroni 73100 Lecce Italy Center for Control Dynamical Systems and Computation University of California Santa Barbara CA 93106 United States

ISBN: (纸本)9781457700804

In this paper we propose a novel distributed algorithm to solve degenerate linear programs on asynchronous networks. Namely, we propose a distributed version of the well known simplex algorithm. We prove its convergence to the global lexicographic minimum for possibly fully degenerate problems and provide simulations supporting the conjecture that the completion time scales linearly with the diameter of the graph. The algorithm can be interpreted as a dual version of the constraints consensus algorithm proposed in [1] to solve abstract programs when the last is applied to linear programs. Finally, we study a multi-agent task assignment problem and show that it can be solved by means of our distributed simplex algorithm. © 2011 AACC American Automatic control Council.

关键词： Linear programming

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Comparative Analysis of GOA, WCA and PSO Tuned Fractional Order-PID controller for Cart-Inverted Pendulum

Comparative Analysis of GOA, WCA and PSO Tuned Fractional Or...

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Power and Renewable Energy Conference (IPRECON), IEEE International

作者： Neelam Verma Sudarshan K. Valluru Department of Electrical Engineering Center for Control of Dynamical Systems and Computation Delhi Technological University Delhi India

control of cart based inverted pendulum system is a classical problem of control system and is widely used to verify the effectiveness of control algorithms. In this paper, fractional order PID (FOPID) controller has been used to control the cart position and pendulum angle. Three optimization algorithms namely, particle swarm optimization (PSO), water cycle algorithm (WCA) and grasshopper optimization algorithm (GOA) has been used to tune the parameters of the FOPID controller for underline problem. Results shows that, FOPID controller was able to control both cart position and pendulum angle effectively. Further, it has also been shown that GOA tuned FOPID controller performs better as compared to WCA and PSO tuned FOPID controller. The entire system was simulated using MATLAB2018a.

关键词： Renewable energy sources Software packages control systems Particle swarm optimization Optimization Matlab

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A scaled feedback stabilization of power integrator triangular systems

A scaled feedback stabilization of power integrator triangul...

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American control Conference (ACC)

作者： D.B. Dacic P.V. Kokotovic Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California슠Santa Barbara Santa Barbara CA USA Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California슠Santa Barbara Santa Barbara CA USA

Using unbounded time-varying scaling of the states we design C/sup 1/ feedback laws for power integrator triangular systems which globally asymptotically stabilize (GAS) the origin despite the uncontrollability of the linearization. With bounded scaling the feedback laws achieve global practical stability (GPS). For a trade-off between GAS/GPS of the origin and unboundedness/boundedness of the scaling we construct a dynamic version of these feedback laws.

关键词： Global Positioning System State feedback Content addressable storage Time varying systems Convergence Stability Backstepping Nonlinear systems Sufficient conditions control engineering

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Hybrid control of Planar Rotations

Hybrid Control of Planar Rotations

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American control Conference

作者： Christopher G. Mayhew Andrew R. Teel Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA 93106-9560

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.

关键词： Lyapunov method Hysteresis Robust control control systems Robust stability Noise measurement Asymptotic stability Mobile robots Feedback Noise robustness

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Hybrid control of Spherical Orientation

Hybrid Control of Spherical Orientation

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2010 49th IEEE Conference on Decision and control

作者： Christopher G. Mayhew Andrew R. Teel Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA 93106-9560

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.

关键词： potential function hybrid control Diffeomorphism family Sphericity control Architecture

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Hybrid Dynamical Systems: Robust Stability and control

Hybrid Dynamical Systems: Robust Stability and Control

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Chinese control Conference (CCC)

作者： Cai Chaohong Goebel Rafal G. Sanfelice Ricardo R. Teel Andrew Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Seattle WA USA Seattle WA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: rsanfelice@ece.ucsb.edu Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: teel@ece.ucsb.edu

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are summarized. These tools are useful for the development of hybrid control algorithms.

关键词： Robust stability control systems Oscillators Evolution (biology) State-space methods Equations Chaos Stability analysis Systems engineering and theory Biological system modeling

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A necessary and sufficient condition for total observability of discrete-time linear time-varying systems

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IFAC-PapersOnLine 2017年第1期50卷 729-734页

作者： Witczak M. Puig V. Rotondo D. Witczak P. Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra 65-254 Poland Department of Automatic Control (ESAU) Technical University of Catalonia Edifici U Despatx 525 (Campus Sud)Pau Gargallo 5 Barcelona 08028 United Kingdom Center for Autonomous Marine Operations and Systems (AMOS) Department of Engineering Cybernetics Norwegian University of Science and Technology (NTNU) Trondheim Norway

This paper deals with the total observability problem of discrete-time linear time-varying systems. In particular, a review and suitable analysis of the state-of-the-art of this emerging area are provided. Subsequently, the total observability problem of discrete-time linear time-varying systems is transformed into the one of checking the rank of a convex sum of matrices. As a result, a new total observability test is proposed, along with a suitable computational strategy. The final part of this paper shows examples regarding observability analysis that clearly exhibit the benefits of using the proposed approach. © 2017

关键词： block P-matrices discrete-time systems linear time-varying systems observability

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