The paper discusses the usefulness of Gröbner bases methods in a variety of control problems for a class of polynomial systems. Polynomial systems are described by difference or differential equations in which th...
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The paper discusses the usefulness of Gröbner bases methods in a variety of control problems for a class of polynomial systems. Polynomial systems are described by difference or differential equations in which the transition map or vectorfield are polynomials. Gröbner bases methods are useful in both the analysis and the design of polynomial control systems.
Substantial progress has been made recently towards designing, building and test-flying remotely piloted Micro Air Vehicles (MAVs) and small UAVs. We seek to complement this progress in overcoming the aerodynamic obst...
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Substantial progress has been made recently towards designing, building and test-flying remotely piloted Micro Air Vehicles (MAVs) and small UAVs. We seek to complement this progress in overcoming the aerodynamic obstacles to flight at very small scales with a vision-guided flight stability and autonomy system, based on a robust horizon detection algorithm. In this paper, we first motivate the use of computer vision for MAV autonomy, arguing that given current sensor technology, vision may be the only practical approach to the problem. We then describe our statistical vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification. Next, we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feedback controller for self-stabilized flight, and report results on vision-based autonomous flights of duration exceeding ten minutes.
Many fundamental problems in the max-plus-algebraic system theory for discrete event systems — among which the minimal state space realization problem — can be solved using an Extended Linear Complementarity Problem...
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Many fundamental problems in the max-plus-algebraic system theory for discrete event systems — among which the minimal state space realization problem — can be solved using an Extended Linear Complementarity Problem (ELCP). We present some new, more efficient methods to solve the ELCP. We show that an ELCP with a bounded feasible set can be recast as a standard Linear Complementarity Problem (LCP). Our proof results in three possible numerical solution methods for a given ELCP: regular ELCP algorithms, mixed integer linear programming algorithms, and regular LCP algorithms. We also apply these three methods to a basic max-plus-algebraic benchmark problem.
Presents the detailed algorithm established for determination of workspace for a 3-DOF coordinate measuring machine using parallel link mechanism by constructing the inverse kinematic model first and then reviewing th...
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Presents the detailed algorithm established for determination of workspace for a 3-DOF coordinate measuring machine using parallel link mechanism by constructing the inverse kinematic model first and then reviewing the physical and kinematical constraints from the structural characteristics of the parallel link mechanism, and discusses the actual geometries of workspace and the factors having effect on workspace through computer simulation thereby providing necessary theoretical basis for the research and development of coordinate measuring machines using parallel link mechanism.
It is concluded from the results of testing the frequency characteristics of the sub micron precision machine tool servo control system, that the existence of several oscillating modalities is the main factor that aff...
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It is concluded from the results of testing the frequency characteristics of the sub micron precision machine tool servo control system, that the existence of several oscillating modalities is the main factor that affects the performance of the control system. To compensate for this effect,several concave filters are utilized in the system to improve the control accuracy. The feasibility of compensating for several oscillating modalities with a single concave filter is also studied. By applying a modified Butterworth concave filter to the practical system, the maximum stable state output error remains under ±10 nm in the closed loop positioning system.
In this paper, a sufficient condition of robust D-stability for discrete-delay perturbed singular systems is presented, and the robust stability sufficient condition is independent of the delay. Two classes of perturb...
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In this paper, a sufficient condition of robust D-stability for discrete-delay perturbed singular systems is presented, and the robust stability sufficient condition is independent of the delay. Two classes of perturbations for systems are discussed: (1) highly structured parametric perturbations; (2) unstructured parametric perturbations. An useful technique for robust pole-assignment in a specified circular region is also proposed, the criterion is tested easily, and convenient for the application in the engineering. Two examples have been given to validate the proposed method.
In this paper, the tabu search algorithm is employed to train Hidden Markov Model (HMM) to search out the optimal parameter structure of HMM for automatic speech recognition. The proposed TS-HMM training provided a me...
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This paper presents a new in-flight alignment algorithm for an SDINS under large initial heading error. To handle large heading error a new attitude error model is introduced. The attitude errors are divided into head...
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This paper shows design & implementation of adaptive neural networks controller for DC Motor Speed control System. DC Motor is actuated by Pulse Width Modulation (PWM)-based H-Bridge actuator. By using certain lea...
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This paper shows design & implementation of adaptive neural networks controller for DC Motor Speed control System. DC Motor is actuated by Pulse Width Modulation (PWM)-based H-Bridge actuator. By using certain learning methods to the networks, changing plant's parameter can be estimated and used to produce appropriate control action. The experiment shows that the controller conforms the adaptive control scheme, although there are flaws which related to feedback resolution. The most interesting result is that the implementation circuit is based on very simple 8-bit microcontroller system.
A novel approach to fault diagnosis in nonlinear stochastic systems is proposed. It is based on the particle filtering (PF) algorithm, a Monte Carlo technique based state estimation method, and the multiple model (MM)...
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