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20th European Signal Processing Conference, EUSIPCO 2012

作者： Şicleru, Bogdan C. Dumitrescu, Bogdan Dept. of Automatic Control and Systems Engineering Faculty of Automatic Control and Computers Politehnica University of Bucharest 313 Spl. Independenei 060042 Bucharest Romania Tampere Int. Center for Signal Processing Tampere University of Technology P.O. Box 553 SF-33101 Tampere Finland

ISBN: (纸本)9781467310680

We present in this paper a design method for two-dimensional two-channel sparse nonseparable FIR filter banks using transformation of variables. In a first phase the transformation function is designed in a least-squares fashion. The second stage of the algorithm introduces the sparseness in a greedy manner by removing at each step the minimum coefficient of the filter in absolute value. The obtained results show that the sparse filter banks offer the possibility of choosing the complexity of the filters and have also better stopband energy. © 2012 EURASIP.

关键词： Filter banks

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Optimal solutions to robust stabilization problem for a class of systems with parametric uncertainty

Optimal solutions to robust stabilization problem for a clas...

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7th IFAC Symposium on Robust control Design, ROCOND'12

作者： Wu, Qinghe Xu, Li Mansour, Mohamed School of Automation Beijing Institute of Technology Beijing 100081 China Faculty of System Science and Technology Dept. of Electronics and Information Systems Akita Prefectural University Akita 015-0055 Japan Automatic Control Laboratory Swiss Federal Institute of Technology Zurich ETH Zentrum CH-8092 Zürich Switzerland

ISBN: (纸本)9783902823038

This paper tackles the robust stabilization problem for the plant family described by the transfer function set P(s, δ, δ) whose coefficients of the denominator and the numerator polynomials are affine in a real uncertain parameter vector δ satisfying the norm constraint δp ≤ δ for p ≥ 1. It is shown that there exists a fixed controller robustly stabilizing all the members of P(s, δ, δ) if and only if its every member plant is free of unstable pole-zero cancelation. The optimal robust stabilizer is characterized in terms of a three dimensional frequency dependent Hahn-Banach minimizer. Classes of P(s, δ, δ) are characterized using Nevanlinna-Pick interpolation theory. For these classes optimal robust stabilizers can be obtained in closed forms using H ∞-optimization technique. © 2012 IFAC.

关键词： Stabilization

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Fault tolerant component management platform over Data Distribution Service

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IFAC Proceedings Volumes 2012年第4期45卷 218-223页

作者： Aitor Agirre Elisabet Estévez Marga Marcos Ikerlan-IK4 Research Alliance Arizmendiarrieta 2 20500 Arrasate Spain Dept. Of Electronics and Automatic Engineering EPS Jaén Universidad de Jaén Jaén Spain Dept. Of Automatic Control and Systems Engineering ETSI Bilbao UPV/EHU Bilbao Spain

Distributed Real Time systems (DRTS) are evolving to a higher level of complexity in terms of heterogeneity, dynamism and QoS constraints, as they must interact with an increasingly demanding environment. In an scenario with distributed applications running over different hardware platforms and networks, middleware technologies that provide real-time or QoS support are gaining importance, as they ease the development and deployment of complex distributed applications in heterogeneous networks while ensuring certain time and QoS constraints. In this sense, distribution middleware technologies like Data Distribution Service (DDS) have emerged, adding extensive QoS support to traditional middleware advantages. This paper proposes a component based applications management platform built on top of DDS that provides an easy way to deploy, configure and manage component based distributed applications, while ensuring the fulfillment of certain QoS aspects.

关键词： Middleware QoS DDS Fault-tolerance Distributed systems

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Optimal Solutions to Robust Stabilization Problem for a Class of systems with Parametric Uncertainty

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IFAC Proceedings Volumes 2012年第13期45卷 156-161页

作者： Qinghe Wu Li Xu Mohamed Mansour School of Automation Beijing Institute of Technology Beijing 100081 China Faculty of System Science and Technology Dept. of Electronics and Information Systems Akita Prefectural University Akita 015-0055 Japan Automatic Control Laboratory Swiss Federal Institute of Technology Zurich ETH Zentrum CH-8092 Zürich Switzerland

This paper tackles the robust stabilization problem for the plant family described by the transfer function set P ( s, δ , δ ) whose coefficients of the denominator and the numerator polynomials are affine in a real uncertain parameter vector δ satisfying the norm constraint || δ || p ≤ δ for p ≥ 1. It is shown that there exists a fixed controller robustly stabilizing all the members of P ( s, δ , δ ) if and only if its every member plant is free of unstable pole-zero cancelation. The optimal robust stabilizer is characterized in terms of a three dimensional frequency dependent Hahn-Banach minimizer. Classes of P ( s, δ , δ ) are characterized using Nevanlinna-Pick interpolation theory. For these classes optimal robust stabilizers can be obtained in closed forms using ℋ ∞ -optimization technique.

关键词： real parameter uncertainty parametric robust stabilization stabilizability radius stability radius ℋ ∞ -optimization

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QoS enabled application management platform over DDS

QoS enabled application management platform over DDS

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Workshop on Posters and Demos Track, PDT'11 - 12th International Middleware Conference, Middleware'11

作者： Agirre, Aitor Estévez, Elisabet Marcos, Marga Ikerlan-IK4 Arizmendiarrieta 2 20500 Arrasate Spain Dept. Of Electronics and Automatic Control EPS Jaén Universidad de Jaén Jaén Spain Dept. of Automatic Control and Systems Engineering ETSI Bilbao UPV/EHU Bilbao Spain

ISBN: (纸本)9781450310734

Distributed Real Time systems (DRTS) are getting more and more complex, dynamic, open, while interacting with a progressively more demanding and heterogeneous environment. In such an scenario middleware technologies that provide realtime or QoS support are gaining importance, as they ease the development and deployment of complex distributed applications in heterogeneous networks while ensuring certain time and QoS constraints. In this sense, distribution middleware technologies like Data Distribution Service (DDS) have emerged, adding extensive QoS support to traditional middleware advantages. This paper proposes a component based applications management platform built on top of DDS that provides an easy way to deploy, configure and manage component based distributed applications, while ensuring the fulfillment of certain QoS aspects. © 2011 ACM.

关键词： Fault tolerance

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An interpolation approach for robust constrained output feedback

An interpolation approach for robust constrained output feed...

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IEEE Conference on Decision and control

作者： H.-N. Nguyen P.-O. Gutman S. Olaru M. Hovd SUPELEC Systems Sciences (E3S) - Automatic Control Dept. France Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Department of Engineering Cybernetics Norwegian University of Science and Technology

ISBN: (纸本)9781612848006

In this paper, we consider the regulation problem for uncertain linear discrete time systems with bounded disturbance, bounded input and bounded output. Based on the input-output representation, an extended state space model is constructed via the delayed inputs and outputs of the systems and hence there is no need for any estimate of the unmeasured states. The control is obtained using an interpolation technique, which assures feasibility and a robustly asymptotically stable closed loop behavior.

关键词： Robustness Interpolation Ellipsoids Lyapunov methods Uncertainty Linear programming Minimization

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A genetic approach to optimize the coverage performance of multiple random path-planning robots

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12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Habib, Ahsan Alam, M.S. Aldebrez, F.M. Siddique, N.H. Dept. of Applied Physics Electronics and Communication Engineering University of Dhaka Bangladesh Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom School of Computing and Intelligent Systems University of Ulster United Kingdom

ISBN: (纸本)9814291269

This paper presents a new approach to multi-agent coverage path planning problem. This algorithm enables multiple robots with limited sensor capabilities to perform coverage efficiently over a shared territory. Each robot is assigned with an exclusive route, which enables it to carry out its cleaning process simultaneously with minimal path overlapping. The objectives of this work are (i) Identify a path for each robot such that each robot is responsible for covering a different region. In this way, there will be minimal overlap between coverage of the robots, (ii) the methods and procedures must be applicable to a group of simple mobile robots with very few sensors to guarantee their industrial interest.

关键词： Motion planning

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Damping structure selection in nonlinear ship manoeuvring models

Damping structure selection in nonlinear ship manoeuvring mo...

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作者： Perez, Tristan Revestido-Herrero, Elías School of Engineering Discipline of Mechanics and Mechatronics University of Newcastle Callaghan NSW 2308 Australia Trondheim Norway Dept. of Electronic Technology Systems Engineering and Automatic Control University of Cantabria Spain

ISBN: (纸本)9783902661883

This paper presents the application of a statistical method for model structure selection of lift-drag and viscous damping components in ship manoeuvring models. The damping model is posed as a family of linear stochastic models, which is postulated based on previous work in the literature. Then a nested test of hypothesis problem is considered. The testing reduces to a recursive comparison of two competing models, for which optimal tests in the Neyman sense exist. The method yields a preferred model structure and its initial parameter estimates. Alternatively, the method can give a reduced set of likely models. Using simulated data we study how the selection method performs when there is both uncorrelated and correlated noise in the measurements. The first case is related to instrumentation noise, whereas the second case is related to spurious wave-induced motion often present during sea trials. We then consider the model structure selection of a modern high-speed trimaran ferry from full scale trial data. © 2010 IFAC.

关键词： Regression analysis

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Parameter estimation of thrust models of uninhabited airborne systems

Parameter estimation of thrust models of uninhabited airborn...

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作者： Perez, Tristan De Lamberterie, Pierre Donaire, Alejandro Herrero, Elias Revestido School of Engineering Discipline of Mechanics and Mechatronics University of Newcastle Callaghan NSW 2308 Australia University of Newcastle Callaghan NSW 2308 Australia Dept. of Electronic Technology Systems Engineering and Automatic Control University of Cantabria Spain

ISBN: (纸本)9783902661876

This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify the estimation. The proposed estimation method is based on three steps. The first step uses a regression model in which the thrust is assumed constant. This allows us to obtain biased initial estimates of the aerodynamic coefficients of the surge model. In the second step, a robust nonlinear state estimator is implemented using the initial parameter estimates, and the model is augmented by considering the thrust as random walk. In the third step, the estimate of the thrust obtained by the observer is used to fit a polynomial model in terms of the propeller advanced ratio. We consider a numerical example based on Monte-Carlo simulations to quantify the sampling properties of the proposed estimator given realistic flight conditions.

关键词： Parameter estimation

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Nonlinear optimal position control design for 2-link RR-robot manipulator

Nonlinear optimal position control design for 2-link RR-robo...

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International Conference on Emerging Technologies

作者： Khan, Bilal Arif, Jawad Riaz, Shah Automatic Control and Systems Engg University of Sheffield S1 3JD United Kingdom Dept of Electrical and Electronics Engg Imperial College London SW7 2AZ United Kingdom Dept. of Electrical Engg. COMSATS Institute of Information Technology Abbottabad Pakistan

ISBN: (纸本)9781424480586

A novel approach is used here to design a nonlinear optimal position control for 2-link RR-robot manipulator by representing the class of nonlinear system into the sequence of linear time varying systems. The solution of linear sequences converge to nonlinear one is based on the local Lipchitz conditions at any compact time. The recursive approximation theory is incorporated with the classical control design technique to compute the optimal position control which is generated from the approximate sequence of linear time varying systems. A case study is presented to demonstrate the effectiveness of proposed scheme for the regulation and servo control of 2-link robot manipulator. Also, it is extended to n-link RR-robot manipulator - the simulation results for 3-link RR-robot manipulator regulation is demonstrated. © 2010 IEEE.

关键词： Robot applications

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