Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case i...
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Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case is described in particular detail. Several examples illustrate the results.
When an unknown object with Lambertian reflectance is viewed orthographically, there is an implicit ambiguity in determining its 3-d structure: we show that the object's visible surface f(x, y) is indistinguishabl...
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When an unknown object with Lambertian reflectance is viewed orthographically, there is an implicit ambiguity in determining its 3-d structure: we show that the object's visible surface f(x, y) is indistinguishable from a `generalized bas-relief' transformation of the object's geometry, f¯(x, y) = λf(x, y)+μx+vy, and a corresponding transformation on the object's albedo. For each image of the object illuminated by an arbitrary number of distant light sources, there exists an identical image of the transformed object illuminated by similarly transformed light sources. This result holds both for the illuminated regions of the object as well as those in cast and attached shadows. Furthermore, neither small motion of the object, nor of the viewer will resolve the ambiguity in determining the flattening (or scaling) λ of the object's surface. Implications of this ambiguity on structure recovery and shape representation are discussed.
A new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. We propose a multiarticulated snake-like mobile robot, with a body consisting of repeating modules, c...
Static task scheduling in distributed computing systems is a very complex problem and known to be NP-hard. This problem is even harder when the module execution times become probabilistic. In this paper we study the e...
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Static task scheduling in distributed computing systems is a very complex problem and known to be NP-hard. This problem is even harder when the module execution times become probabilistic. In this paper we study the effect of probabilistic module execution times on the performance of task-scheduling algorithms. We show that in static task scheduling, for probabilistic module execution times, and in the existence of some factors there is no need to use an expensive task-scheduling algorithm. Given any two static task-scheduling algorithms that use deterministic module execution times in assigning task modules to the distributed system, the performance of these two algorithms will not remain the same when these module execution times become probabilistic rather than deterministic. We also study the effects of some factors an our results.
This paper studies the problem of global disturbance attenuation with stability for a class of multi-input multi-output nonlinear systems with penalty on input signal. The system under consideration is assumed to be i...
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ISBN:
(纸本)0780343948
This paper studies the problem of global disturbance attenuation with stability for a class of multi-input multi-output nonlinear systems with penalty on input signal. The system under consideration is assumed to be in a special form which is much more general than the lower triangular form, A recursive algorithm composed of backstepping and augmentation is applied to show that the global disturbance attenuation with stability can be achieved via a static state feedback.
We use the T-S fuzzy model to express dynamic systems, and present an online identification algorithm for its parameters and structures. A multivariable fuzzy generalized predictive control approach is put forward bas...
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ISBN:
(纸本)078034863X
We use the T-S fuzzy model to express dynamic systems, and present an online identification algorithm for its parameters and structures. A multivariable fuzzy generalized predictive control approach is put forward based on the identified fuzzy model by means of Clark's principle of single-variable generalized predictive control, some of whose performances are analyzed in detail. A simulation study for the multivariable load control system of an electric generating unit shows that the approach is superior to a conventional load control system.
In this paper, an adaptive Kalman filtering algorithm is exploited for use to estimate the abrupt reduction of control effectiveness in dynamic systems. control effectiveness factors are used to quantify faults enteri...
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In this paper, an adaptive Kalman filtering algorithm is exploited for use to estimate the abrupt reduction of control effectiveness in dynamic systems. control effectiveness factors are used to quantify faults entering control systems through actuators. A set of covariance-dependent forgetting factors is introduced into the filtering algorithm. As a result, the change in the control effectiveness is accentuated to help achieve a more accurate estimate more rapidly. The algorithm is applied to an aircraft model for the identification of impairment in its control surfaces.
An H ∞ -γ-suboptimal strongly robust performance problem (H ∞ -γ-SSRPP), for a class of linear systems with multiple time delays and parameter uncertainties is considered in this paper. A set of necessary and suff...
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An H ∞ -γ-suboptimal strongly robust performance problem (H ∞ -γ-SSRPP), for a class of linear systems with multiple time delays and parameter uncertainties is considered in this paper. A set of necessary and sufficient conditions for the existence of control laws that achieve the above mentioned strongly robust performance is derived and characterized in terms of the solutions of three well-defined linear matrix inequalities (LMIs). An explicit parameterization of these laws is also provided. On considère dans cet article le problème de commande fortement robuste H ∞ -γ-sousoptimale pour une classe de systèmes linéaires avec retards multiples et incertitudes paramétriques (H ∞ -γ-SSRPP). Un ensemble de conditions nécessaires et suffisantes pour l'existence de telles lois de commandes sont données en termes de solutions de trois inégalit'es matricielles linéaires bien définies (LMI).
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