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An alternative formulation of the interpolation based constrained H∞ control of discrete-time LPV systems 10

An alternative formulation of the interpolation based constr...

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2009 10th European control Conference, ECC 2009

作者： Peni, Tamas Kulcsar, Balazs Bokor, Jozsef Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences P.O.Box 63 BudapestH-1518 Hungary Delft Center for System and Control Faculty of Mech. Maritime and Materials Eng. Technical University of Delft Mekelweg 2 Delft2628CD Netherlands

ISBN: (纸本)9783952417393

The paper presents an alternative formulation of the interpolation based constrained H∞ control presented originally in [16], [12], [17]. The concept itself has not been changed: by interpolating among unconstrained state feedback gains both the H∞ performance and the satisfaction of the hard state, input and output constraints can be guaranteed. The novelty is in the computation of the region of applicability of the controller. It is now based on the d-invariant sets of the individual controllers and not on the high dimensional extended system comprising all of the closed loops generated by the controllers. © 2009 EUCA.

关键词： controllers

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Performance evaluation of robot motion incorporating uncertainties in sensors and motion 1

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22nd International Conference on Industrial, eng.neering and Other Applications of Applied Intelligent Systems, IEA/AIE 2009

作者： Seo, Dong Jin Ko, Nak Yong Kim, Gwang Jin Moon, Yongseon Bae, Youngchul Lim, Seung-Woo Robotics Institute Redone Technologies Co. Ltd. Korea Republic of Department of Control and Instrumentation Eng. Chosun Univ. Korea Republic of School of Information Communication Sunchon Nat'l Univ. Korea Republic of Division of Electrical Electronic Communication Chonnam Nat'l Univ. Korea Republic of Department of Information Communication Dongkang College Korea Republic of

ISBN: (数字)9783642025686

ISBN: (纸本)3642025676

This paper describes the performance evaluation of mobile robot motion. The evaluation is based on a probabilistic model of robot motion and sensor output. In the simulator, robot motion includes uncertainties in translational velocity and rotational velocity. Among various kinds of sensors, implemented in the simulator is a range sensor which is used widely for obstacle detection, map making, and localization. The sensor model includes measurement noise with Gaussian distribution around true range value, failure of detection, and unexplainable random measurement. The simulator is used to test a collision avoidance algorithm, map making, and motion coordination algorithm. The results from a simulated environment with uncertainty are compared with the results from a simulator with no uncertainty. In practical application of a mobile robot, major problems arise due to the unexpected uncertainty of motion and sensors. The simulator is useful to predict problems of robot motion before the robot is deployed in the field. For wider availability, the simulator can be further developed to include error models in various sensors. © 2009 Springer Berlin Heidelberg.

关键词： Simulators

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Equidistributed sequences along space-filling curves in sampling of images

Equidistributed sequences along space-filling curves in samp...

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16th European Signal Processing Conference, EUSIPCO 2008

作者： Rafajlowicz, Ewaryst Skubalska-Rafajlowicz, Ewa Institute of Computer Eng. Control and Robotics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50 370 Wroclaw Poland

A new sampling scheme for 2D images is proposed, which is dedicated for fast processing and storing long sequences of industrial images. It was proved that the spectrum of non-bandlimited images can be approximated up to a desired accuracy when number of samples grows. A simple reconstruction scheme is also proposed. copyright by EURASIP.

关键词： Signal processing

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Investigating voice communication over multipath wireless mobile ad hoc network 08

Investigating voice communication over multipath wireless mo...

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Proceedings of the 2nd international conference on Ubiquitous information management and communication

作者： Vaidya, Binod Ko, Nak-Yong Jarng, Soon-Suck Han, Seungjo Dept. of Electronics and Computer Eng. Tribuvan University Kathmandu Nepal Dept. of Control and Instrumentation Robotics Eng. Chosun Univ. Kwangju Korea Republic of Dept. of Information and Communication Eng. Chosun Univ. Kwangju Korea Republic of

ISBN: (纸本)9781595939937

With the rapid growth and popularity of wireless LANs (WLANs), a demand of Voice over IP (VoIP) is also increasing. In recent years, dominant trend of development in Mobile Ad hoc Networks (MANET) technology makes VoIP services more appealing. However, it is still quite challeng.ng to ensure quality voice communication in MANET. Some of these challeng.s include packet loss due to network congestion, and variable packet latency. Not only traditional single-path ad-hoc routing but also traditional voice codec fails to perform well under these conditions. In this paper, we depict a framework for VoIP over multipath multihop wireless network, in which we propose multipath ad-hoc routing and traffic allocation approach. © 2008 ACM.

关键词： Mobile ad hoc networks

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Falling-down avoidance control for acrobat robot by Q-learning with function approximaion

Falling-down avoidance control for acrobat robot by Q-learni...

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SICE Annual Conference 2008 - International Conference on Instrumentation, control and Information Technology

作者： Suzuki, H. MYamakita Hirano, S. Luo, Z.W. Dept. of Mechanical and Control Eng. Tokyo Institute of Technology Tokyo Japan Nagoya Japan Dept. of Computer and Systems Eng. Kobe University Kobe Japan

ISBN: (纸本)9784907764296

In this paper we consider a landing control of an acrobat robot by taking steps to avoid falling-down by applying Q-Learning with function approximation. We use Q-leaning since it is difficult to design controller systematically for an acrobat robot, a typical variable constraint and hybrid system. Since Q-learning requires large computation time on line, we use a function approximation to Q-table, and propose to update the Q-table and the approximate function alternatively. The validity of the proposed method will be demonstrated by numerical simulation and experiment. © 2008 SICE.

关键词： Hybrid systems

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Equidistributed sequences along space-filling curves in sampling of images

Equidistributed sequences along space-filling curves in samp...

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European Signal Processing Conference (EUSIPCO)

作者： Ewaryst Rafajłowicz Ewa Skubalska-Rafajłowicz Institute of Computer Eng. Control and Robotics Wroclaw University of Technology Wroclaw Poland

ISBN: (纸本)9782839904506

关键词： Image reconstruction Europe Signal processing Iron Approximation methods Accuracy computers

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Introducing an incremental learning method for fuzzy descriptor models to identify nonlinear singular systems

Introducing an incremental learning method for fuzzy descrip...

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2008 Mediterranean Conference on control and Automation, MED'08

作者： Mirmomeni, M. Lucas, C. Shafiee, M. Araabi, B.N. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Eng. University of Tehran Tehran Iran Electrical Engineering Department Amirkabir University of Technology Tehran Iran School of Cognitive Sciences Institute for Studeils in Theoretical Physice and Mathematics Tehran Iran

ISBN: (纸本)9781424425051

Singular systems have been the subject of interest over the last two decades due to their many practical applications. But it has to be said that system identification of such system is still a challeng.ng area because of the difficulty of identification of such systems for their complex structures. In addition, it seems that by developing a useful method for identification of singular system, one can use the useful property of such systems in describing the natural complex phenomena. This paper presents a novel methodology for identifying nonlinear singular systems from empirical data. Singular systems are idealized models for systems with slow and quick modes of change. However, their identification is a challeng.ng problem even for the linear case. A new learning method, generalized locally linear model tree (GLoLiMoT) algorithm is introduced. The contribution of this paper is to provide a method for adjusting the parameters of fuzzy descriptor model, e.g. the splitting ratio and the standard deviation, the number of locally linear neurons or the number of linear singular systems for the consequent part in fuzzy descriptor model as well as the order of the singular system. By these modifications an accurate model of nonlinear singular system is obtained which is compared with several other methods in two case studies. Results depict the power of the proposed approach in describing nonlinear complex phenomena. © 2008 IEEE.

关键词： Trees (mathematics)

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Using neurofuzzy models and spectral analysis for prediction of the exotic phenomena with catastrophic jumps

Using neurofuzzy models and spectral analysis for prediction...

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International Conference on Computational Science and Its Applications, ICCSA 2008

作者： Mirmomeni, Masoud Lucas, Caro Araabi, Babak Nadjar Control and Intelligent Processing Center of Excellence Electrical and Computer Eng. Department University of Tehran Tehran Iran National Foundations of Elite Tehran Iran Young Researches Club Azad University Tehran Iran School of Cognitive Sciences Institute for Studies in Theoretical Physics and Mathematics Tehran Iran

ISBN: (纸本)3540698388

Catastrophe theory is a mathematical technique for the analysis of system equations, defining the jump phenomena and sudden changes caused by smoothed alterations in the situation. This theory has been used several times to describe many exotic phenomena in different domain of science such as biology and physics. On the other hand, recent technological progress entails high risk levels. Such progress in 21st century has made human life increasingly dependent on technologies which exotic phenomena with catastrophic behaviors seem to be a threat for them. It is meaningful to develop a long-term predictor for modern technologies to avoid such exotic phenomena. In this study, a long-term predictor based on neurofuzzy models and spectral analysis as a powerful method to describe complex phenomena is proposed as an alarm system to avoid unexpected catastrophic events. Results depict the power of this alarm system to protect technologies from undesirable sudden and catastrophic changes. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Spectrum analysis

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A state feedback h control design for switched fuzzy systems

A state feedback h control design for switched fuzzy systems

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2008 4th International IEEE Conference Intelligent Systems, IS 2008

作者： Yang, Hong Dimirovski, Georgi M. Zhao, Jun Northeastern University of Shenyang Control Science Institute School of Information Science and Engineering Shenyang Liaoning 110004 China Dogus University of Istanbul Computer Eng. Department Faculty of Engineering Acibadem Zeamet Sk. No. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University of Skopje ASE Institute Faculty of Electrical Engineering MK-1000 Skopje Macedonia

ISBN: (纸本)9781424417391

A model of the switched fuzzy systems whose subsystems are fuzzy systems is presented first. Then the problem of state feedback robust H8 control of this class of systems is solved using switching technique and single Lyapunov function. A switching strategy of the switched fuzzy system with continuous controlled input is developed. The main condition is given in form of convex combination linear matrix inequalities, which are solvable using LMI Toolbox. The elaborated illustrative but real-world example and the respective simulation experiments demonstrate the effectiveness of the proposed method. © 2008 IEEE.

关键词： Fuzzy systems

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eng.neering procedure for analysis of nonlinear structure consisting of fuzzy element and typical nonlinear element

Engineering procedure for analysis of nonlinear structure co...

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2007 Mediterranean Conference on control and Automation, MED

作者： Sijak, Tomislav Kuljaca, Ognjen Kuljaca, Ljubomir Brodarski Institute Control Engineering Dept. Zagreb Croatia Alcorn State University Systems Research Institute Alcorn State MS United States Faculty of El. Eng. and Computing Dept. of Control and Computer Zagreb Croatia

ISBN: (纸本)142441282X

eng.neering procedure for approximate analytical determination of describing function of nonlinear systems with odd static characteristics is presented in the paper. Generalized mathematical expressions for determining such describing function with error estimation are given. The procedure is illustrated on determination of describing function, and corresponding error estimation, of nonlinear structure consisting of fuzzy element and typical nonlinear element. ©2007 IEEE.

关键词： Estimation

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