When designing a self-tuning controller for multivariable systems a proper representation of the model structure is important, particularly if the interactions between loops are significant. A popular transfer functio...
When designing a self-tuning controller for multivariable systems a proper representation of the model structure is important, particularly if the interactions between loops are significant. A popular transfer function structure used to describe multivariable processes is the P-canonical form structure where loop interactions are treated as feedforward couplings. However, polynomial-based controllers can also be applied to multivariable systems by designing several single-input single-output controllers, and compensation for cross-coupling between the different loops can be achieved by treating these interactions as feedforward measurable disturbances. This is the theme of this paper which considers the extension of the Generalized Predictive control algorithm (GPC) to this technique. Following a derivation of the control strategy, called Generalized Predictive control with Feedforward (GPCF), it is applied to a realistic nonlinear model for anaesthesia in a series of simulations. These results are compared with those obtained using the multivariable GPC version with a P-canonical form representation for the discrete multivariable model. The GPCF scheme is shown, in this case, to offer advantages over the multivariable GPC in terms of transient responses, interaction reduction, control quality, and computational burden.
During the digital recognition process of digital display instrument, if there is no lighting or light is weak, the recognition rate comes low because of poor image quality. As to this problem, this paper proposes a n...
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ISBN:
(纸本)9781479907571
During the digital recognition process of digital display instrument, if there is no lighting or light is weak, the recognition rate comes low because of poor image quality. As to this problem, this paper proposes a new algorithm for image segmentation. The algorithm uses the histogram equalization to improve image contrast and enhance gray difference between the background and the area to be identified. And then it positions display area coarsely using the adaptive region growing method. Finally, the display area is precisely positioned by projection method. And adaptive threshold segmentation is done in this area. The experimental results show that the algorithm can rapidly and accurately position the display area of digital display instrument. And segmentation effect of the positioned image is improved obviously, effectively simplifying the subsequent digital recognition algorithms and guaranteeing its recognition accuracy.
Both continuous and discrete time transfer functions of non-linear systems are analysed and interpreted in the frequency domain by investigating the properties and graphical representation of these functions. The cont...
Both continuous and discrete time transfer functions of non-linear systems are analysed and interpreted in the frequency domain by investigating the properties and graphical representation of these functions. The contributions that some typical terms from non-linear time domain models make to the transfer functions is illustrated to provide a better understanding of the frequency response behaviour of complex non-linear dynamic systems.
Background: In light of global population aging and the increasing prevalence of Rheumatoid Arthritis (RA) with age, strategies are needed to address this public health challenge. Machine learning (ML) may play a vita...
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Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degr...
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Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of *** control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, *** on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.
In this paper, a new approach of maneuvering target tracking algorithm based on the autoregressive extended Viterbi(AREV) model is proposed. In contrast to weakness of traditional constant velocity(CV) and constant ac...
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In this paper, a new approach of maneuvering target tracking algorithm based on the autoregressive extended Viterbi(AREV) model is proposed. In contrast to weakness of traditional constant velocity(CV) and constant acceleration(CA) models to noise effect reduction, the autoregressive(AR) part of the new model which changes the structure of state space equations is proposed. Also using a dynamic form of the state transition matrix leads to improving the rate of convergence and decreasing the noise effects. Since AR will impose the load of overmodeling to the computations, the extended Viterbi(EV) method is incorporated to AR in two cases of EV1 and EV2. According to most probable paths in the interacting multiple model(IMM) during nonmaneuvering and maneuvering parts of estimation, EV1 and EV2 respectively can decrease load of overmodeling computations and improve the AR performance. This new method is coupled with proposed detection schemes for maneuver occurrence and termination as well as for switching initializations. Appropriate design parameter values are derived for the detection schemes of maneuver occurrences and terminations. Finally, simulations demonstrate that the performance of the proposed model is better than the other older linear and also nonlinear algorithms in constant velocity motions and also in various types of maneuvers.
We consider the problem of reconstructing the initial states of an ensemble of linear systems from output measurements that are anonymized in the sense that the association between output measurements and systems in t...
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The applicability of transputers in controlsystems is investigated. This is done by implementing a controller for a flexible robot arm with one degree of freedom on a system consisting of an IBM-AT and four transpute...
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The applicability of transputers in controlsystems is investigated. This is done by implementing a controller for a flexible robot arm with one degree of freedom on a system consisting of an IBM-AT and four transputers. It is found that a control system with transputers offers a great improvement compared with conventional digital controlsystems. Transputers can solve the common problem in control practice, i.e. having very sophisticted controllers but not being able to implement them because they need too much computing time. However, transputers are not an optimal solution for more sophisticated controlsystems because of shortcomings in the scheduling mechanism.
Stability theory plays a central role in system theory and engineering. Stability of equilibriumpoints is usually characterized in the sense of Lyapunov. Based on Lyapunov theory, this paper proposes a general methodo...
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