This paper develops a new set of stability conditions for asymptotic stability of two-dimensional linear systems described by Roesser and Fornasini-Marchesini state-space models through extensive use of the Kalman-Yak...
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This paper develops a new set of stability conditions for asymptotic stability of two-dimensional linear systems described by Roesser and Fornasini-Marchesini state-space models through extensive use of the Kalman-Yakubovich-Popov lemma. The resulting tests are formulated in terms of a convex optimization problem over linear matrix inequality constraints. Testing the resulting conditions only requires computations on matrices with constant entries with consequent computational load advantages when compared with alternatives, especially when direct extension to stabilizing control law design is required. Illustrative numerical examples are also given.
This paper presents analysis of components tolerance influence on fault diagnosis efficiency of analog electronic circuits. There has been proposed method of finding optimal frequency of input periodic excitation with...
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The problem of identification of linear quasi-periodically varying systems is considered. This problem can be solved using generalized adaptive notch filtering (GANF) algorithms. It is shown that accuracy of system pa...
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In this paper we consider the problem of noncausal identification of nonstationary, linear stochastic systems, i.e., identification based on prerecorded input/output data. We show how several competing weighted least ...
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In this paper a real-time image based visual servoing scheme for a nonholonomic mobile robot is presented. The proposed method takes into account the nonholonomic motion constraint of mobile robots. As a distinctive f...
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The paper presents a virtual platform implemented in SystemC based on AMBA-bus standards. The platform has been implemented as a multi-core structure with all components required by typical electronic embedded systems...
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This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrot...
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ISBN:
(纸本)9781467344401
This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. controller is designed based on feedback linearization to track desired trajectories. controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.
A correct diagnostics together with the early prediction of failure or malfunction of the system are the major issues in modern maintenance. Nowadays, the time-honored diagnostics may be inadequate and lead to omittin...
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SONIC (Self-Optimizing Narrowband Interference Canceller) is an acronym of the recently proposed ac- tive noise control algorithm with interesting adaptivity and robustness properties. SONIC is a purely feedback contr...
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ISBN:
(纸本)9781618392800
SONIC (Self-Optimizing Narrowband Interference Canceller) is an acronym of the recently proposed ac- tive noise control algorithm with interesting adaptivity and robustness properties. SONIC is a purely feedback controller, capable of rejecting nonstationary sinusoidal disturbances (with time-varying amplitudes and/or frequencies) in the presence of plant (secondary path) uncertainties. We show that even though SONIC can work reliably without access to the reference signal, when frequency of the disturbance is unknown and possibly time-varying the algorithm can take advantage of such an additional source of information. Unlike the classical feedforward solutions, the reference signal is used only to extract information about the instantaneous frequency of the disturbance. The time advantage, available due to the fact that the acoustic delay in the system is larger than the electrical delay, allows one to incorporate in the control loop the smoothed, and hence more accurate, frequency estimates. This increases the attenuation effciency of SONIC and widens its operating range - the modified algorithm can be safely used in the presence of faster frequency changes.
This paper gives new results on the design and experimental evaluation of an Iterative Learning control (ILC) law in a repetitive process setting. The experimental results given are from a gantry robot facility that h...
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This paper gives new results on the design and experimental evaluation of an Iterative Learning control (ILC) law in a repetitive process setting. The experimental results given are from a gantry robot facility that has been extensively used in the benchmarking of linear model based ILC designs. An example is also given to demonstrate that this new design offers much superior performance in comparison to some previous designs based on the Roesser model for 2D linear systems.
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