In this paper, the problem of parameter estimation is investigated for a class of discrete-time linear systems with missing outputs and outliers. It is assumed that the unknown parameters are constant and the evolutio...
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In this paper, the problem of parameter estimation is investigated for a class of discrete-time linear systems with missing outputs and outliers. It is assumed that the unknown parameters are constant and the evolution of the systems is subject to some unknown but bounded noises. To solve such a problem, a recursive algorithm based on set membership identification is proposed and employed. Besides, the data validation is processed and outliers are set aside. The effectiveness of the algorithm is verified by performing some numerical simulations.
Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** there are various wireless communication protocols available to accomplish the control networks. Recently,...
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Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** there are various wireless communication protocols available to accomplish the control networks. Recently, IEEE802.15.4e protocol for low latency deterministic network has been introduced that shows prominent theoretical characteristics under effective frequency planning to minimize mutual interference. Factory automation, highly exacting from low latency point of view, requires sensors refresh rate not more than of order 10 milliseconds. This new protocol meets such stringent requirement of industrial automationsystems. In this paper, we compare the new protocol with its previous version and observe its suitability for industrial networked controlsystems as a communication protocol. We introduce different LLDN(low latency deterministic network) superframe configurations that show trade-offs among various network parameters. It gives an insight of relationship among various network parameters like sensors refresh rate, number of devices accommodated in network and data payload exchanged between coordinator and end devices with emphasis on different levels of security incorporated.
This paper studies the stability of state estimation for a discrete-time linear stochastic system, the states of which are measured by multiple sensors and transmitted over multiple wireless channels. Random packet lo...
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ISBN:
(纸本)9781479947249
This paper studies the stability of state estimation for a discrete-time linear stochastic system, the states of which are measured by multiple sensors and transmitted over multiple wireless channels. Random packet loss process introduced by each wireless channel is modeled by an independent and identically distributed(i.i.d.) Bernoulli process. The estimation strategy designed in this paper is based on Covariance Intersection fusion of local state estimates of the observable subsystem of each sensor. The sufficient conditions, imposing constraint on the packet success probability of each channel, are established by taking into account each observable subsystem structure to guarantee the expectation of the trace of estimation error covariance matrices is exponentially bounded, and the upper bound is given. Simulation examples are provided to demonstrate the effectiveness of the results.
Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the de...
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ISBN:
(纸本)9781479947249
Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning *** control input is added into the derived control strategy,with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position,it can also realize obstacle avoidance for agents between themselves.
This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To...
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This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To overcome the problem that only positions are measured, a observer is designed to estimate the velocity for each follower. By employing the estimated states, the distributed observer-based controller is proposed using only position measurements. Furthermore, the condition for the distributed tracking problem on the directed graph is derived, such that the tracking errors and observer errors semi-globally converge to zero. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.
Probing nanostructures (e.g., nanoelectronics) requires accurate and precise nanopositioning. Furthermore, since measuring I-V data from DC to GHz typically takes more than a minute, little drift is tolerated during t...
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Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The ...
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Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller. A non-singular terminal sliding mode position controller is used here due to its good performance, under which state errors would converge to zero in finite time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hyste...
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In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear system. Then, a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances, with an intention of improving and enhancing the dynamic performance and the robustness of system. The feasibility of the proposed control scheme is verified by experiment of a PEA. The result shows that when faced with a fast-rate control input, the proposed method can also ensure the system a good performance.
This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to con...
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ISBN:
(纸本)9781479920747
This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.
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