We report results of digital integration of a piecewise linear system operating in a chaotic, parameter sensitive region, using different precisions of floating number representation in a digital computer. We compare ...
We report results of digital integration of a piecewise linear system operating in a chaotic, parameter sensitive region, using different precisions of floating number representation in a digital computer. We compare these results to the "exact" closed form solution. Resulting discrepancies are explained by treating the computer as a deterministic system superimposing its dynamics on the dynamics of the investigated system. Good approximations of the true attractor are obtained by injecting controlled amounts of uniformly distributed random noise during digital integration of the system trajectories.
The problem of transforming a class of linear time-varying continuous time systems into controllable and observable block companion canonical forms is considered. In terms of system block controllability (observabilit...
The problem of transforming a class of linear time-varying continuous time systems into controllable and observable block companion canonical forms is considered. In terms of system block controllability (observability) matrix, this paper generalizes the results of Shieh et al. [3] and provides systematic and straightforward algorithms for obtaining block companion canonical forms. An example is provided to illustrate this transformation technique.
The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a specia...
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The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a special Liapunov function describing the stability domain. Results are presented which show consistent improvement in the dynamic response for a fifth-order, long-shaft, servo system.
In motion control applications, the precise regulation of Industrial Hydraulic Actuators (IHA) is essential for properly ascertaining the position of the actuator rod. This research used a Hammerstein-Wiener (HW) mode...
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The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition of quadratic stability is derived. An uncertainty stability margin coefficient rho ...
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The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition of quadratic stability is derived. An uncertainty stability margin coefficient rho is introduced to give a quantitative measure of the stability. It is proposed that the uncertain region be approximated by a convex hyperpolyhedron. In this case, the computation of rho becomes a two-level optimization problem, in which the extremum of the inner level can be reached by one of the corners of the hyperpolyhedron.
Accurate and high-fidelity driving scene reconstruction demands the effective utilization of comprehensive scene information as conditional inputs. Existing methods predominantly rely on 3D bounding boxes and BEV road...
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A class of optimal state and output feedback control laws for discrete-time time-invariant linear systems which minimizes a class of discrete-time time-multiplied performance indexes is presented. A necessary conditio...
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A class of optimal state and output feedback control laws for discrete-time time-invariant linear systems which minimizes a class of discrete-time time-multiplied performance indexes is presented. A necessary condition, an existence condition, and a sufficient condition for the control laws are derived. A simple example is given to illustrate the effectiveness of the proposed control laws.
In a recent paper, a new method for the digital control of a continuous-time system based on a table look-up technique was presented. This digital controller is called a discrete-time quantized data (DTQD) controller....
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In a recent paper, a new method for the digital control of a continuous-time system based on a table look-up technique was presented. This digital controller is called a discrete-time quantized data (DTQD) controller. In order to minimize the number of table entries, a grid embedding process is proposed. This control technique proved successful when applied to the regulator problem. However, when a DTQD controller using the grid embedding process is applied to a continuous-time system with additive disturbances, the performance of the DTQD controller degraded, causing oscillations and possible limit cycle phenomena. In this paper, the grid embedding process is replaced with a continuous scaling process. The continuous scaling process retains the advantages of the grid embedding process in reducing the number of table entries. In addition, it reduces the amount of oscillation in the system response when disturbances are present.
The sensitivity of a class of N th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variat...
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The sensitivity of a class of N th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variations in system parameters and design variables. The derivation of sensitivity matrices can be readily obtained by considering the Lagrangian of the performance index. It is shown that while faster system response performance can be obtained by designing with higher order time-multiplying factor in the performance index, the design also increases the optimum cost of control and absolute cost sensitivity, as can be expected.
The concept of learning and training machines, and some early methodologies were introduced about two decades ago. Robotic systems, undoubtedly, can be developed to a more advanced and intelligent stage. The realizati...
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