The past few years have witnessed the impressive performance of sparse representation based classification (SRC) for visual recognition. However, the SRC technique may lead to high residual error and poor performance ...
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Examination of the control of a high-speed vehicle is essential to achieve autonomous navigation on high speed roads. Velocity profile generation is one of the challenging problems. In this paper we analyze the effici...
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Examination of the control of a high-speed vehicle is essential to achieve autonomous navigation on high speed roads. Velocity profile generation is one of the challenging problems. In this paper we analyze the efficiency of an on-line velocity profiler algorithm. The presented method is based on a receding horizon implementation in which the vehicle executes part of the computed optimal trajectory, while simultaneously optimizing the path up to a new horizon. The search space at each optimization step is considerably reduced, which results in reduced computational cost. We present an analysis of the horizon length selection and the impact on the running times compared to the infinite-horizon solution.
The paper is focused on systems with delay terms at the left (and the right) side of differential equations. Analysis and synthesis of delay systems can be conveniently studied through a special ring of RQ-meromorphic...
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ISBN:
(纸本)9781509017393
The paper is focused on systems with delay terms at the left (and the right) side of differential equations. Analysis and synthesis of delay systems can be conveniently studied through a special ring of RQ-meromorphic functions. The control methodology is based on a solution of Diophantine equations in this ring. Final controllers result in the Smith predictor like structure. controller parameters are tuned through a pole-placement problem as a desired multiple root of the characteristic closed loop equation. The methodology is illustrated by a stable second order transfer function with a dead-time term. Then the paper brings an autotuning method as a combination of biased-relay feedback estimation and the proposed algebraic control design. The developed approach is illustrated by examples in the Matlab and Simulink environment.
The problem of performance enhancement for multiple frequencies estimation is studied. First, we consider a basic gradient-based estimation approach with global exponential convergence. Next, we apply the dynamic regr...
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This paper presents method with two modifications how to transform data in real-time for better performance of normalized least mean squares (NLMS) algorithm. The method centers input vector for adaptive filter online...
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ISBN:
(纸本)9781509006212
This paper presents method with two modifications how to transform data in real-time for better performance of normalized least mean squares (NLMS) algorithm. The method centers input vector for adaptive filter online according to temporary or historical statistical attributes of the input vector. The method is derived for an adaptive filter with NLMS adaptation. The filter implementation is the linear neural unit. The stability condition for the given filter is also presented. The filter is tested on multiple simulated time series contaminated with white noise. The convergence of the suggested algorithms is also analyzed and time complexity is discussed.
Repetitive processes are a class of 2D systems that can be used to model physical systems and also there are applications, such as iterative learning control, where using a repetitive processes setting for design has ...
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The classification of heartbeats using electrocardiogram (ECG) aiming arrhythmia detection is a well researched subject and still there are room for improvements concerning the recommended databases. In this sense, ai...
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ISBN:
(纸本)9781509006212
The classification of heartbeats using electrocardiogram (ECG) aiming arrhythmia detection is a well researched subject and still there are room for improvements concerning the recommended databases. In this sense, aiming to classify heartbeats for arrhythmia detection, we extend a previous ours proposal that uses vectorcardiogram, a bi-dimensional representation of two ECG leads, by incorporating the time component producing a three-dimensional representation, the temporal vectorcardiogram. Along with the new representation, also we apply complex networks to extract features from the temporal VCG. The new proposed features feed then a Support Vector Machines (SVM) classifier. The temporal VCG have increased in the global accuracy, and have better results classifying the N and S classes, when it is compared with the best result to our previous work with VCG. We conclude that new techniques to extract 3D features from the Temporal VCG could be an interesting research direction.
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differ...
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ISBN:
(纸本)9781467383479
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization. Using some important properties of these theoretical tools we show that the constraints can be validated at all times. Exact and sub-optimal constructions of the collision avoidance optimization problem are provided. The results are validated through extensive simulations over standard autonomous aerial vehicle dynamics.
The problem of interval observer design is studied for a class of linear hybrid systems. Several observers are designed oriented on different conditions of positivity and stability for estimation error dynamics. Effci...
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