The paper is concerned with the control of a pinball machine. The plant is a hybrid system because of the continuous movement of the ball and the only discrete sensors and actuators. As no additional optical sensors a...
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The paper is concerned with the control of a pinball machine. The plant is a hybrid system because of the continuous movement of the ball and the only discrete sensors and actuators. As no additional optical sensors are used, a complicated discrete event control problem arises. With the help of an identified Semi Markov Model, an optimal controller is designed and tested.
The organization of distributed multimedia servers is important in the design of low-cost high-performance multimedia application environments and is determined by such important parameter as the input/output capacity...
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The organization of distributed multimedia servers is important in the design of low-cost high-performance multimedia application environments and is determined by such important parameter as the input/output capacity of the systems links. Major principles for implementing the intercommunications of workstation operating under maximum throughput of transfer medium has been considered. The operating conditions and a conflict-free transfer medium access have been discussed. Circuitry and performance diagrams, also a circuit architecture for the main transfer medium component, the message signal switching sector have been given. Integration of such centres in implementing media of different topology has been discussed.
This paper presents an application of wavelet networks in identification and control design tor a class of non-linear dynamical systems. The technique of feedback linearization, supervisory control and H∞ control are...
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The paper deals with the LPV systems in respect to fault detection and isolation. The FPRG method is extended to use with affine LPV system where one could guarantee the disturbance attenuation. The paper presents a m...
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ISBN:
(纸本)9634208754
The paper deals with the LPV systems in respect to fault detection and isolation. The FPRG method is extended to use with affine LPV system where one could guarantee the disturbance attenuation. The paper presents a method for the robust detection filter design based on geometric approach for Linear Parameter Varying systems. The filter is using the general Fundamental Problem in Residual Generation method in presence of external noise, while disturbance decoupling from failure signitures in LPV system is not possible. The disturbance attenuation is achieved with induced L2 norm minimization concepts for LPV model class. A numerical example is solved to demonstrate the effectiveness of robust LPV fault detection filter.
Velocity-scheduled LPV steering models for road-vehicles are presented and a method is given for identifying them. The aim is to build models for steering controllers that navigate the vehicle either directly by the s...
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Velocity-scheduled LPV steering models for road-vehicles are presented and a method is given for identifying them. The aim is to build models for steering controllers that navigate the vehicle either directly by the steering system or by asymmetric braking of the front wheels. These models are useful e.g. for autonomous vehicles and for safety control in steer-by-wire systems. A continuous-time physical model is developed in state-space, then various complexity LPV models are derived and identified based on in-situ measurements of a truck.
In the intelligent transportation systems, the automatic navigation system is the active research domain. The lane lines reconstruction based on the computer vision is the kernel technique. This paper describes the mu...
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In the intelligent transportation systems, the automatic navigation system is the active research domain. The lane lines reconstruction based on the computer vision is the kernel technique. This paper describes the multi-lane line reconstruction with a single view for highway application. We calibrate the camera and get the model of the road. Then, we detect the white lane lines and reconstruct the multi lane lines. This paper also analysis the basic way in keeping the road based on the vision model and the lane line model. We have experimented the system with the algorithms on highway at 150 km/h in Sichuan province and Chongqing city in China. The result shows that the algorithms can work perfectly.
The paper proposes a dynamic inversion based velocity tracking controller for four-wheeled road vehicles, that fits well into cooperating control systems. First, the dynamic inverse of the linear parameter varying (LP...
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The paper proposes a dynamic inversion based velocity tracking controller for four-wheeled road vehicles, that fits well into cooperating control systems. First, the dynamic inverse of the linear parameter varying (LPV) single-track model is constructed, and the global asymptotic stability of the zero dynamics is proved. Using the obtained stable inverse two controllers are designed depending on whether the yaw rate is measurable on not. In both cases the quadratic stability of the resulted closed-loop control structure is checked and proved. The dynamic properties of the proposed controllers are illustrated on simulation examples.
LEARN2control is a new computer-based learning system, that can be used to deepen basic knowledge in control engineering by self-study in a project-oriented environment. The didactic concept aims at teaching the depen...
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LEARN2control is a new computer-based learning system, that can be used to deepen basic knowledge in control engineering by self-study in a project-oriented environment. The didactic concept aims at teaching the dependencies and interactions between various methods for modelling, analysis and control system design
Continuous Q-learning algorithm has been widely used in robotic domains for its simplicity and well-developed theory. In this paper mobile robot navigation using neural Q-learning is processed. Firstly, according to o...
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ISBN:
(纸本)0780384032
Continuous Q-learning algorithm has been widely used in robotic domains for its simplicity and well-developed theory. In this paper mobile robot navigation using neural Q-learning is processed. Firstly, according to our developed mobile robot CASIA-I and its working environment, an approach is proposed, used to determine the reward/penalty function of Q-learning. Secondly, after analysis of the continuous Q-learning algorithm based on the multi-layer feedforward neural network, a method for computing the weights of the hidden and output layers is given, and mobile robot navigation using neural Q-learning is implemented. At last, experimental results are included to show that the action policy obtained through Q-learning can make the mobile robot reach the destination without obstacle collision.
Interesting structural considerations can be derived from comparison of the topologies and forms of regulators obtained by the pole-placement design, the GTDOF control and the MPC . Practical advice is given to the po...
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Interesting structural considerations can be derived from comparison of the topologies and forms of regulators obtained by the pole-placement design, the GTDOF control and the MPC . Practical advice is given to the polynomial orders of the MPC . Two new simple method is introduced for iterative ID and control based on these findings.
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