This paper presents the solution of the global robust output regulation problem for a class of nonlinear systems with relative degree one without knowing the control direction. The result is also applied to an asympto...
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The experiments aimed to compare data driven models for the valuation of residential premises were conducted using KEEL (Knowledge Extraction based on Evolutionary Learning) system. Twelve different regression algorit...
The experiments aimed to compare data driven models for the valuation of residential premises were conducted using KEEL (Knowledge Extraction based on Evolutionary Learning) system. Twelve different regression algorithms were applied to an actual data set derived from the cadastral system and the registry of real estate transactions. The 10-fold cross validation and statistical tests were applied. The lowest values of MSE provided models constructed and optimized by means of support vector machine, artificial neural network, decision trees for regression and quadratic regression, however differences between them were not statistically significant. Worse performance revealed algorithms employing evolutionary fuzzy rule learning. The experiments confirmed the usefulness of KEEL as a powerful tool with its numerous evolutionary algorithms together with classical learning approaches to carry out laborious investigation on a practical problem in a relatively short time.
In this paper we show how to accurately track position and orientation of a mobile robot using positioning only RF ultrasound transceiver system and dead-reckoning. The solution is based on geometrical displacement of...
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In this paper we show how to accurately track position and orientation of a mobile robot using positioning only RF ultrasound transceiver system and dead-reckoning. The solution is based on geometrical displacement of the positioning device from the axis of rotation of the robot which brings dependency in position of the device and robot's orientation and enables the correction of the absolute orientation of the robot. Estimation is done via extended Kalman filter with variable discretization time because of stochastic nature of measurement arrival times. We describe and analyze the main sources of noise in odometry and position device readings. We also suggest the method for measurement outlier elimination derived from empirical measurement analysis. Experimental verification of the proposed method is presented that yields position error aprox. 1plusmn2.5 centimeters and 1plusmn2 degrees.
This paper presents the solution to a quadrotor control problem based on a discrete automaton that, in combination with classical PID controllers, creates a hybrid control system. Some modifications to the known and w...
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This paper presents the solution to a quadrotor control problem based on a discrete automaton that, in combination with classical PID controllers, creates a hybrid control system. Some modifications to the known and widely used mathematical model of quadrotor aircrafts are also discussed in this paper. The paper shows an open loop control concept that flies the aircraft into looping. Finally, the performance of the suggested control scheme is tested with simulations.
This paper presents a parameter identification method involving a high-order sliding mode observer. The method is based on the equivalent output injection technique. Using the finite-time convergence of the sliding mo...
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ISBN:
(纸本)9781424474264
This paper presents a parameter identification method involving a high-order sliding mode observer. The method is based on the equivalent output injection technique. Using the finite-time convergence of the sliding mode observer, an algebraic reconstruction algorithm is designed to identify the system parameters through a finite time window.
The paper presents the possibility of using a sliding window for image feature extraction in order to identify image regions of interest. The study includes the comparison of feature extraction methods both in the spa...
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In this work, we present a new managament strategy for a ground coupled HVAC system in a cooling dominated office area. The idea is disminish the electrical consumption while keeping the thermal comfort requirements. ...
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In this work, we present a new managament strategy for a ground coupled HVAC system in a cooling dominated office area. The idea is disminish the electrical consumption while keeping the thermal comfort requirements. This objective is achieved by means of the proper management of some parameters of the system: the air mass flow in the fan, the mass water flow in the internal and external hydraulic circuit and the set point temperature in the water to water heat pump. The electric consumption of the HVAC system is calculated for this new management strategy and compared with the results obtained for a conventional management strategy. In our simulation, the annual electrical energy savings of the ground coupled HVAC system are bigger than the 24% when it is managed by the new one.
This paper studies the global robust output regulation problem for a class of output feedback systems subject to an uncertain exosystem by using output feedback *** adaptive control technique is used to handle the unk...
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This paper studies the global robust output regulation problem for a class of output feedback systems subject to an uncertain exosystem by using output feedback *** adaptive control technique is used to handle the unknown parameter vector in the *** is shown that this unknown parameter vector can be exactly estimated asymptotically if the controller incorporates a minimal internal *** effectiveness of our approach has been illustrated by an asymptotic tracking problem associated with a generalized fourth-order Lorenz system.
Finite-time optimal control problems with quadratic performance index for linear systems with linear constraints can be transformed into Quadratic Programs (QPs). Model Predictive control requires the online solution ...
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In this paper, the consensus problems for networks of second-order agents with fixed and switching topology are *** constructing a new kind of digraph and employing a purely graph theoretical method, the convergence r...
In this paper, the consensus problems for networks of second-order agents with fixed and switching topology are *** constructing a new kind of digraph and employing a purely graph theoretical method, the convergence results for first-order consensus algorithms are extended to solve the second-order case under certain assumptions.
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