We present a new stabilization approach for unstable linear plants with long input delay, unknown parameters and disturbance. The predictor-based algorithm providing plant identification and stabilization is proposed....
详细信息
We present a new stabilization approach for unstable linear plants with long input delay, unknown parameters and disturbance. The predictor-based algorithm providing plant identification and stabilization is proposed. Also the extension is considered with estimation and cancellation of an unknown disturbance. A numerical examples are given to illustrate the efficiency of our adaptive controller.
This paper addresses the problem of fully covering an a priori known environment with fixed obstacles by a mobile agent. The blind region (i.e., the region hidden by the obstacles from the viewpoint of the agent) is d...
详细信息
This paper addresses the problem of fully covering an a priori known environment with fixed obstacles by a mobile agent. The blind region (i.e., the region hidden by the obstacles from the viewpoint of the agent) is described geometrically via both an exact and an over-approximation procedure. It is shown that the structure of this region depends on the hyperplane arrangement originating from the obstacles. This is further used to provide an mixed integer programming construction which allows to test if the feasible space is (or is not) fully covered by the agent(s). These novel results are examined over illustrative examples.
The problem of pole assignment, by static output feedback controllers has been tackled as far as solvability conditions and the computation of solutions when they exist by a powerful method referred to as global linea...
详细信息
Field Oriented control (FOC) technique is one of the most frequently applied algorithm to control the torque and the speed of a three-phase electric drive. The paper focuses on high speed or high-pole count motor FOC ...
详细信息
ISBN:
(纸本)9781479943883
Field Oriented control (FOC) technique is one of the most frequently applied algorithm to control the torque and the speed of a three-phase electric drive. The paper focuses on high speed or high-pole count motor FOC drives when both the sampling over reference frequency ratio F and the carrier over reference frequency m f is low. The paper presents that the stability range of a speed sensor-less FOC motor drive can be extended by recalculating the reference signal of the Space Vector Modulation algorithm at the negative peak of the carrier signal as well by approximating the rotor flux angle change over one half carrier period. The result was verified by computer simulations and laboratory measurements.
A metro centralized train operation control algorithm is proposed which answers to the changes in the regulation restrictions, normally considered fixed, caused by perturbations in the system. A method is explained of...
详细信息
A metro centralized train operation control algorithm is proposed which answers to the changes in the regulation restrictions, normally considered fixed, caused by perturbations in the system. A method is explained of using special regulative characteristics of every station-to-station block of the metro line, which allows the usage of more flexible running and station times for the trains. Proposed algorithm lowers the quantity of restrictive signals generated by the safety system ("red lights") and, by consequence, lowers the quantity of emergency stops between stations, allowing to save energetic resources spent on repeated train acceleration and to raise, in general, the quality of the transportation process.
A novel microgrid control is proposed in the paper. Independent control of active and reactive power for each unit connected to the common microgrid bus is realized in addition to the power sharing in the designed rat...
详细信息
A novel microgrid control is proposed in the paper. Independent control of active and reactive power for each unit connected to the common microgrid bus is realized in addition to the power sharing in the designed ratio among the units. The concepts of voltage droop and frequency droop applied widely are incorporated here as well. The price paid for the independent control is the reference frame transformation needed in the novel control.
In this paper, we propose a statistical approach to reconstruct the brain neuronal activity based only on recorded EEG data. The brain zones with the strongest activity are expressed at a macro level by a few number o...
详细信息
ISBN:
(纸本)9781479914821
In this paper, we propose a statistical approach to reconstruct the brain neuronal activity based only on recorded EEG data. The brain zones with the strongest activity are expressed at a macro level by a few number of active brain dipoles. Normally, for solving the EEG inverse problem, fixed dipole locations are assumed, independently of the different stimuli that excite the brain. The proposed particle filter (PF) framework presents a shift in the current paradigm by estimating dynamic brain dipoles, which may vary from one location to another in the brain depending on internal/external stimuli that may affect the brain. Also, in contrast to previous solutions, the proposed PF algorithm estimates simultaneously, the number of the active dipoles, their moving locations and their respective oscillations in the three dimensional head geometry.
The paper describes an adaptive control of MIMO (multi-input multi-output) systems under parametric uncertainty. A control algorithm consecutive compensator for double channel plant is analyzed. Applicability conditio...
详细信息
ISBN:
(纸本)9781479952922
The paper describes an adaptive control of MIMO (multi-input multi-output) systems under parametric uncertainty. A control algorithm consecutive compensator for double channel plant is analyzed. Applicability conditions of control law for foregoing plant are proposed. Efficiency of control scheme is illustrated by simulation results.
In this paper, we revisit the pose determination problem of a partially calibrated camera with unknown focal length, hereafter referred to as the PnPf problem, by using n(n ≥ 4) 3D-to-2D point correspondences. Our co...
详细信息
In this paper, we revisit the pose determination problem of a partially calibrated camera with unknown focal length, hereafter referred to as the PnPf problem, by using n(n ≥ 4) 3D-to-2D point correspondences. Our core contribution is to introduce the angle constraint and derive a compact bivariate polynomial equation for each point triplet. Based on this polynomial equation, we propose a truly general method for the PnPf problem, which is suited both to the minimal 4-point based RANSAC application, and also to large scale scenarios with thousands of points, irrespective of the 3D point configuration. In addition, by solving bivariate polynomial systems via the Sylvester resultant, our method is very simple and easy to implement. Its simplicity is especially obvious when one needs to develop a fast solver for the 4-point case on the basis of the characteristic polynomial technique. Experiment results have also demonstrated its superiority in accuracy and efficiency when compared with the existing state-of-the-art solutions.
暂无评论