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Generalized Norm Optimal Iterative Learning control with Intermediate Point and Sub-interval Tracking

International Journal of Automation and computing 2015年第3期12卷 243-253页

作者： David H.Owens Chris T.Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield School of Electronics and Computer Science University of Southampton Advanced Robotics Division Italian Institute of Technology

Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. This problem addresses the practical needs of many applications, including industrial automation, crane control, satellite positioning and motion control within a medical stroke rehabilitation context. This paper provides a substantial generalization of this framework by providing a solution to the problem of convergence at intermediate points with simultaneous tracking of subsets of outputs to reference trajectories on subintervals. This formulation enables the NOILC paradigm to tackle tasks which mix "point to point" movements with linear tracking requirements and hence substantially broadens the application domain to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments. A solution to the problem is presented in the framework of NOILC and inherits NOILC s well-defined convergence properties. Design guidelines and supporting experimental results are included.

关键词： Iterative learning control learning control optimization linear systems robotics.

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DECOUPLING controlLER DESIGN VIA EXACT MODEL-MATCHING TECHNIQUES

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1978年第11期125卷 1285-1289页

作者： PARASKEVOPOULOS, PN Automatic Control Systems Laboratory Department of Electrical Engineering Democritus University of Thrace Xanthi Greece

This paper presents a new method for synthesising decoupling controllers for linear time-invariant multivariable systems. The novel approach proposed is based on the idea of formulating, and subsequently solving, the decoupling problem as an exact model-matching problem. This, in effect, results in reducing the decoupling problem to one of solving a linear system of equations.

关键词： multivariable control systems decoupling controllers linear multivariable systems design control system analysis and synthesis methods exact model matching control system synthesis Multivariable control systems linear system of equations linear systems modelling

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Nonlinear Bandwidth and Bode Diagrams based on Scaled Relative Graphs

arXiv

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arXiv 2025年

作者： Krebbekx, Julius P.J. Tóth, Roland Das, Amritam Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands Systems and Control Lab HUN-REN Institute for Computer Science and Control Budapest Hungary

Scaled Relative Graphs (SRGs) provide a novel graphical frequency domain method for the analysis of nonlinear systems. In this paper, we use the restriction of the SRG to particular input spaces to compute frequency-dependent gain bounds for incrementally stable nonlinear systems. This leads to a nonlinear (NL) generalization of the Bode diagram, where the sinusoidal, harmonic, and subharmonic inputs are considered separately. When applied to the analysis of the NL loop transfer and sensitivity, we define a notion of bandwidth for both the open-loop and closed-loop, compatible with the LTI definitions. We illustrate the power of our method on the analysis of a DC motor with a parasitic nonlinearity, verifying our results in simulations. © 2025, CC BY.

关键词： Frequency domain analysis

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PERFORMABILITY ANALYSIS OF DISTRIBUTED REAL-TIME systems - COMMENTS

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IEEE TRANSACTIONS ON computerS 1994年第2期43卷 255-256页

作者： SHALLOF, A BENNETT, S Department of Automatic Control and Systems Engineering University of Sheffield Sheffield Yorkshire UK

Referring to the above-mentioned paper, some errors are detected and correct solutions are proved and some remarks are given.

关键词： REAL-TIME systems PETRI NET LAGUERRE FUNCTIONS PERFORMABILITY

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STARS Assisted Semi-Grant-Free NOMA Communications

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IEEE Transactions on Wireless Communications 2025年

作者： Xie, Jin Yue, Xinwei Zhao, Jingjing Zou, Yixuan Liu, Yuanwei Liu, Rongke Ding, Zhiguo Key Laboratory of Information and Communication Systems China Beijing Information Science and Technology University Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing100101 China Beihang University School of Electronic and Information Engineering Beijing100191 China Queen Mary University of London School of Electronic Engineering and Computer Science LondonE1 4NS United Kingdom The University of Hong Kong Department of Electrical and Electronic Engineering Hong Kong Hong Kong Kyung Hee University Department of Electronic Engineering Gyeonggi-do Yongin-si17104 Korea Republic of Khalifa University Department of Computer and Information Engineering Abu Dhabi United Arab Emirates

This paper investigates the performance of simultaneously transmitting and reflecting surface (STARS) assisted semi-grant-free non-orthogonal multiple access network with randomly distributed users. By deploying STARS, the transmit signals of grant-based user (GBU) and grant-free users (GFUs) can be exquisitely adjusted to reduce interference. We propose a maximum channel scheduling (MCS) protocol that allows a GFU to access GBU’s channel with the assistance of STARS. In particular, the impacts of perfect/imperfect successive interference cancellation (pSIC/ipSIC) on MCS protocol are taken into account. To characterize the performance of STARS aided MCS (STARS-MCS) network, we derive the expressions of outage probability for GBU and GFU with pSIC/ipSIC. By applying convolution theorem and Laplace transform, the asymptotic expressions of outage probability and diversity orders for GBU and GFU are attained. We further design a STARS-based power control (SPC) strategy to eliminate the outage probability error floor and improve the outage performance. Numerical results show that: 1) The performance of STARS-MCS outperforms the existing benchmarks in terms of outage probability and system throughput;2) The SPC strategy can effectively improve the performance of the STARS-MCS network and eliminate the outage probability error floor at high signal-to-noise ratios;and 3) By adjusting reflection and transmission coefficients of STARS, the outage performance of GBU and GFU can be greatly enhanced. © 2025 IEEE. All rights reserved.

关键词： Laplace transforms

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EIGENVALUE ASSIGNMENT OF LINEAR-MULTIVARIABLE 2-DIMENSIONAL systems

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1979年第11期126卷 1204-1208页

作者： PARASKEVOPOULOS, PN School of Engineering Automatic Control Systems Laboratory Department of Electrical Engineering Democritus University of Thrace Xanthi Greece

The paper describes a simple frequency-domain method for the eigenvalue assignment of linear time-invariant multivariable 2-dimensional systems by means of state and output feedback. Necessary and sufficient conditions are established for single-input systems, whereas for the multi-input case, an equivalent single-input-system approach is employed to treat the problem.

关键词： multivariable control systems eigenvalue assignment eigenvalues and eigenfunctions feedback linear multivariable systems time invariant frequency-domain synthesis control system analysis and synthesis methods Multivariable control systems two dimensional linear systems frequency domain method

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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

引用

IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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Pneumonia Detection from X-ray Images Using Convolutional Neural Networks 24

Pneumonia Detection from X-ray Images Using Convolutional Ne...

引用

24th International Conference on control systems and computer Science, CSCS 2023

作者： Dediu, Viorel Udrea, Andreea Faculty of Automatic Control and Computer Science Univesity Politehnica of Bucharest Department of Automatic Control and Systems Engineering Bucharest Romania

ISBN: (纸本)9798350313390

Pneumonia is one of the top causes of death in Romania and early detection of this disease improves the recovery chances and shortens the length of hospitalization. In this work, we develop a solution for automatic pneumonia detection based on convolutional neural networks. Four network models are investigated. They are trained on 4.163 images from a public dataset and tested on 530 images. The best results are obtained by one of the proposed models conducting to a sensitivity of 98.72%, an accuracy of 89.81%, and ROC 93.46%. Thus, this research proposes a lightweight screening tool that can help triaging the patients with pneumonia. © 2023 IEEE.

关键词： Convolution

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The Intelligent systems of Skin Thickness in Measured by Optical Coherence Tomography

The Intelligent Systems of Skin Thickness in Measured by Opt...

引用

IEEE International Conference on Consumer Electronics (ICCE)

作者： Ardha Ardea Prisilla Mariya Nissar Gilang Titah Ramadhan Wei-Cheng Shen Hsu-Tang Cheng Ben-Yi Liau Yih-Kuen Jan Wen-Hung Chao Chih-Yang Lin Chi-Wen Lung Department of Digital Media Design Asia University Taichung Taiwan Department of Fashion Design LaSalle College Jakarta Jakarta Indonesia Department of Applied Science and Humanities Jamia Millia Islamia New Delhi India Department of Computer Science and Information Engineering Asia University Taichung Taiwan Department of Creative Product Design Asia University Taichung Taiwan Division of Plastic Surgery Asia University Hospital Taichung Taiwan Department of Automatic Control Engineering Feng Chia Asia University Taichung Taiwan Department of Kinesiology and Community Health University of Illinois Urbana USA Department of Mechanical Engineering National Central University Taoyuan Taiwan

ISBN: (数字)9798331521165

ISBN: (纸本)9798331521172

This study investigates the intelligent systems to evaluate walking interventions on skin thickness using Optical Coherence Tomography (OCT). The walking durations of 10 and 20 min were conducted with participants wearing insoles providing 160 mmHg air pressure. Skin thickness in the stratum corneum (SC) and epidermis (ED) was measured at four-foot regions: the big toe (T1), first metatarsal (M1), second metatarsal (M2), and heel (HL). Results revealed a significant decrease in SC at HL after 20 min of walking. This finding suggests that prolonged walking with air-pressure insoles may reduce mechanical stress at HL and could contribute to preventing and managing diabetic foot ulcers.

关键词： Legged locomotion Optical coherence tomography Optical variables measurement Particle measurements Epidermis Intelligent systems Stress Thickness measurement Stress measurement Foot

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NEW ALGORITHM FOR D-CURVE COMPUTATION

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ELECTRIC POWER systems RESEARCH 1987年第3期13卷 203-208页

作者： NOVOTNY, M MUDRONCIK, D MULLER, P Department of Automatic Control Systems of Industrial Processes Faculty of Electrical Engineering Slovak Technical University Bratislava Czechoslovakia

An effective algorithm for the calculation of stability regions in the plane of two control parameters is proposed. The algorithm is suitable for small computers. In comparison with the classical technique, the derived algorithm requires fewer manual calculations. The program and its short characteristic equation is included. Utilization of the program is illustrated on an example of an automatically controlled power system having a ‘forced’ excitation system.

关键词： ELECTRIC POWER systems

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