In this paper, the selection of H/sub /spl infin// weighting functions for general practical applications is investigated. Uncertainty weighting functions for typical low-order plants with parametric uncertainties are...
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In this paper, the selection of H/sub /spl infin// weighting functions for general practical applications is investigated. Uncertainty weighting functions for typical low-order plants with parametric uncertainties are derived. It is shown that H/sub /spl infin// weighting function for a general SISO plant can be obtained by the combination of these elementary low-order plants. Weighting functions of reflecting other system specifications in H/sub /spl infin// design are also investigated. Explicit weighting function expressions are given to address position and rate limits of an actuator, tracking error performance, overshoot, etc. Finally, the proposed methods are demonstrated by the roll-angle control design of a laboratory-scale model of a vertical take-off aircraft via simulation and real-time control.
Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case i...
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Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case is described in particular detail. Several examples illustrate the results.
Large and expensive specific hardware are usually required for tracking systems based on computer vision. This circumstance limits their extensive application in industrial processes. With the aim of overcoming this f...
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Large and expensive specific hardware are usually required for tracking systems based on computer vision. This circumstance limits their extensive application in industrial processes. With the aim of overcoming this fact, a low-cost image processor has been implemented. This specific single-board processor permits a standard industrial PC to perform the tracking of some relevant local features at video rate (50 Hz). Local features in the image are transformed to a polar representation in order to simplify the recognition and location processes prior to rotations. This transformation is provided in real time by the presented image processor, so the host only has to apply the recognition algorithm. For image processor implementation, FPGA technology has been used.
This paper proposes a new method for multichain hyper-redundant robot models. A hyper-redundant model is a manipulator with a great flexibility-a tentacle model which can achieve any shape in space. We will discuss a ...
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This paper proposes a new method for multichain hyper-redundant robot models. A hyper-redundant model is a manipulator with a great flexibility-a tentacle model which can achieve any shape in space. We will discuss a system formed by hyper-redundant manipulators grasping a common object with hardpoint control. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the force distribution. Then, the lower-level local control problem is treated as a open-chain redundant manipulator control problem. A closed loop control based on the inverse dynamic model and the direct sliding mode control (DSMC) procedure are proposed. The fuzzy rules are established. Simulation results are presented and discussed.
We present a texture analysis algorithm based on perceptual features. A specific architecture has been developed in order to implement texture features extraction which is low cast, easy-to-implement and reprogrammabl...
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We present a texture analysis algorithm based on perceptual features. A specific architecture has been developed in order to implement texture features extraction which is low cast, easy-to-implement and reprogrammable depending on the vision system conditions. We apply our algorithm in detection and tracking of submarine cable where underwater vehicles control requires high speed in visual information treatment.
We present the implementation of an architecture for the distributed control of an omnidirectional mobile robot driven by stepper motors. We have developed the kinematic modelling of such a robot from which control an...
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We present the implementation of an architecture for the distributed control of an omnidirectional mobile robot driven by stepper motors. We have developed the kinematic modelling of such a robot from which control and sensor equations are derived. These relations permit us to map in time, movements with respect to a fixed floor frame into wheels movements, and vice versa. A hierarchical control model has been selected for real time computation of control algorithm and parallel synchronisation of motors movement. It consists on a low cost specific hardware which includes one master processor (a PC) plus three slave microcontrollers (8051).
Static task scheduling in distributed computing systems is a very complex problem and known to be NP-hard. This problem is even harder when the module execution times become probabilistic. In this paper we study the e...
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Static task scheduling in distributed computing systems is a very complex problem and known to be NP-hard. This problem is even harder when the module execution times become probabilistic. In this paper we study the effect of probabilistic module execution times on the performance of task-scheduling algorithms. We show that in static task scheduling, for probabilistic module execution times, and in the existence of some factors there is no need to use an expensive task-scheduling algorithm. Given any two static task-scheduling algorithms that use deterministic module execution times in assigning task modules to the distributed system, the performance of these two algorithms will not remain the same when these module execution times become probabilistic rather than deterministic. We also study the effects of some factors an our results.
This paper studies the problem of global disturbance attenuation with stability for a class of multi-input multi-output nonlinear systems with penalty on input signal. The system under consideration is assumed to be i...
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ISBN:
(纸本)0780343948
This paper studies the problem of global disturbance attenuation with stability for a class of multi-input multi-output nonlinear systems with penalty on input signal. The system under consideration is assumed to be in a special form which is much more general than the lower triangular form, A recursive algorithm composed of backstepping and augmentation is applied to show that the global disturbance attenuation with stability can be achieved via a static state feedback.
Huge and expensive computation resources are usually required to perform graph labelling at high speed. This fact restricts an extensive use of this methodology in industrial applications such as visual inspection. A ...
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Huge and expensive computation resources are usually required to perform graph labelling at high speed. This fact restricts an extensive use of this methodology in industrial applications such as visual inspection. A new systolic architecture is presented which computes structural distances between cliques of different graphs based on a modified incremental Levenshtein distance algorithm. The distances obtained are used as a support function for graph labelling using probabilistic relaxation techniques. The proposed architecture computes the distances between k input cliques of an input graph and one reference clique of a reference graph. It does not limit the number of cliques nor cliques complexity of the input graph, so any input graph can be labelled. A low cost solution has been implemented based on FPGAs.
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