in this paper a general algorithm to obtain Robust H ∞ Static Output Feedback controllers is derived. The technique used is based on the transformation of the time-varying uncertainty problem into one without uncerta...
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in this paper a general algorithm to obtain Robust H ∞ Static Output Feedback controllers is derived. The technique used is based on the transformation of the time-varying uncertainty problem into one without uncertainty and then applying the dual-iteration numerical technique of Iwasaki to the problem of determining the optimal parameters for a static H ∞ output feedback controller. To show how the method works, we apply it to a model which contains time-varying structured parameter uncertainty and is subject to external disturbances.
Pseudo-linear neural networks (PNN) based modeling and control strategy for a class of nonlinear dynamic systems is proposed. The training of the PNN is implemented by using a recursive prediction error (RPE) algorith...
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Pseudo-linear neural networks (PNN) based modeling and control strategy for a class of nonlinear dynamic systems is proposed. The training of the PNN is implemented by using a recursive prediction error (RPE) algorithm. The control strategy is based on one-step-ahead prediction, in which a direct controller design for an affine nonlinear system and the second order based optimization for a general nonlinear system are adopted. The stability of the closed loop controlsystem is investigated, and some sufficient conditions for the local asymptotic stability are derived. The some simulated examples showed the good results of proposed control strategies in this paper.
The intelligent multisensor state information fusion based on a new stochastic, fuzzy, neural network is investigated. This network carries out the parameter and structure learning to obtain the optimal fuzzy membersh...
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The intelligent multisensor state information fusion based on a new stochastic, fuzzy, neural network is investigated. This network carries out the parameter and structure learning to obtain the optimal fuzzy membership functions and the optimal number of fuzzy rules of stochastic dynamic systems. The state information fusion with radar and infrared sensors based on the network is simulated in an uncertain environment. The numerical results show that the proposed intelligent method is effective and superior to fuzzy neural network based method
Access to restricted spaces underwater requires a small unencumbered camera. A low cost solution has been envisaged. It consists of an hermetic capsule enclosing the camera and lights, joined to the host by an umbilic...
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Access to restricted spaces underwater requires a small unencumbered camera. A low cost solution has been envisaged. It consists of an hermetic capsule enclosing the camera and lights, joined to the host by an umbilical. Along the umbilical go six water carrying ducts. Three of them end at backwards pointing nozzles located at the capsule body. The jets of water flowing from the nozzles are controlled and their forces allow some restricted positioning of the camera. Another three ducts end at nozzles located some distance up the umbilical, and allow greater maneuverability.
Some frequency-domain properties of innovations sequence are studied. As their applications, a frequency-domain method for the identification of statistical parameters in adaptive Kalman filtering is proposed. This me...
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Some frequency-domain properties of innovations sequence are studied. As their applications, a frequency-domain method for the identification of statistical parameters in adaptive Kalman filtering is proposed. This method has clear physical meaning, and by using the weighted least-squares estimation algorithm, the statistical parameters can be identified accurately and robustly. A sufficient condition for the identifiability of model mismatches with arbitrary phase characters in adaptive Kalman filtering is also given, by using the structure of innovations sequence and the theory of higher-order statistics.
A new wavelet based robust M-estimation method is proposed. This method has advantages of directly estimating the error distribution from data, without basing on any preselected generalized distribution and error clas...
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A new wavelet based robust M-estimation method is proposed. This method has advantages of directly estimating the error distribution from data, without basing on any preselected generalized distribution and error classification. This M-estimator is optimal over any error distribution in the sense of maximum likelihood estimation. A nonlinear chemical engineering example is given for its implementation in Monte Carlo study to compare the results with previous methods.
control of a gas-turbine engine requires management of continuous and discrete (state-event) behaviour. A design environment- the Development Framework, is used to define both the continuous and discrete aspects of a ...
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control of a gas-turbine engine requires management of continuous and discrete (state-event) behaviour. A design environment- the Development Framework, is used to define both the continuous and discrete aspects of a turbine engine controller. The approach uses purpose-built software translation tools to capture the system's specification from commercial simulation tools. A unified design model based on a data flow notation, comprising both continuous and state-event behaviour is automatically generated. Specification and design models of selected gas-turbine engine controller subsystems are presented. The complexity of the application suggests that the approach can be used for industrial scale projects.
Constrained predictive controller that is based on Youla-Kučera (YK) parametrisation of all stabilising controllers is discussed. The optimised variables are not future control increments as usual but directly paramet...
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Constrained predictive controller that is based on Youla-Kučera (YK) parametrisation of all stabilising controllers is discussed. The optimised variables are not future control increments as usual but directly parameters of the controller. Both finite and infinite horizon formulations are handled.
In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be o...
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In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be obtained by using a linearizing transformation. This transformation tends to be very complex. For the application in this paper it can be shown that a simplified transformation can be sufficient for achieving good control results.
Embedded systems are computer-based systems which must respond to external stimuli within time scales determined by the external environment. Such systems are required to achieve ever more demanding behavioural. perfo...
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Embedded systems are computer-based systems which must respond to external stimuli within time scales determined by the external environment. Such systems are required to achieve ever more demanding behavioural. performance and safety requirements. Embedded systems are found in applications such as primary flight control, gas-turbine engine control and railway traffic management Often complex embedded systems are distributed, typically to achieve demanding performance or dependability requirements, and must operate within hard real-time constraints. Considerable effort is required to select optimal design solutions and ensure adherence to specified requirements. In embedded systems safety, reliability and response-times are considered as strict constraints on the system design. Achievement of these constraints requires meticulous analysis, typically through the use of specialist modelling and simulation techniques. Integration of knowledge and understanding obtained from disparate detailed models remains a considerable challenge. Ideally, a system which has both continuous dynamics and event-driven parts. would be modelled in one environment, using the most appropriate techniques for each part, and allowing the analysis of the whole system to be carried out simultaneously. The paper presents an integrated approach in order to translate automatically the information manipulated during the different phases of the design: specification. analysis, design and implementation.
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