This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are ba...
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ISBN:
(纸本)9789898565716
This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are based on either the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a nonorthogonal projection of a robot on the desired path, were presented. The additional condition that should be imposed on the function δ, which is a parameter depending on a linear velocity of the robot and on a distance error, was described. The influence of the function δ on the convergence of the non-singular algorithm has been shown using computer simulations.
Two algorithms recovering an input nonlinearity in a nonlinear distributed element modeled as a Hammerstein system are proposed. The ?rst is based on the empirical distribution function while the other on the empirica...
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Augmented finite transition systems generalize nondeterministic transition systems with additional liveness conditions. We propose efficient algorithms for synthesizing control protocols for augmented finite transitio...
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ISBN:
(纸本)9781479932757
Augmented finite transition systems generalize nondeterministic transition systems with additional liveness conditions. We propose efficient algorithms for synthesizing control protocols for augmented finite transition systems to satisfy high-level specifications expressed in a fragment of linear temporal logic (LTL). We then use these algorithms within a framework for switching protocol synthesis for discrete-time dynamical systems, where augmented finite transition systems are used for abstracting the underlying dynamics. We introduce a notion of minimality for abstractions of certain fidelity and show that such minimal abstractions can be exactly computed for switched affine systems. Additionally, based on this framework, we present a procedure for computing digitally implementable switching protocols for continuous-time systems. The effectiveness of the proposed framework is illustrated through two examples of temperature control for buildings.
This paper studies an attitude synchronization problem for spacecraft formation with switching interaction *** adaptive control architecture which allows for parameter uncertainties and unknown external disturbances i...
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ISBN:
(纸本)9781479947249
This paper studies an attitude synchronization problem for spacecraft formation with switching interaction *** adaptive control architecture which allows for parameter uncertainties and unknown external disturbances is established for the decentralized controllers *** paper also shows that the attitude synchronization under dynamically changing interaction topologies can be achieved asymptotically if the union of the switching communication graphs is jointly connected in a finite time ***,some simulations indicate the capabilities of the proposed results.
Sign-Perturbed Sums (SPS) is a recently developed non-asymptotic system identification algorithm that constructs confidence regions for parameters of dynamical systems. It works under mild statistical assumptions, suc...
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ISBN:
(纸本)9781467360890
Sign-Perturbed Sums (SPS) is a recently developed non-asymptotic system identification algorithm that constructs confidence regions for parameters of dynamical systems. It works under mild statistical assumptions, such as symmetric and independent noise terms. The SPS confidence region includes the least-squares estimate, and, for any finite sample and user-chosen confidence probability, the constructed region contains the true system parameter with exactly the given probability. The main contribution in this paper is to prove that SPS is strongly consistent, in case of linear regression based models, in the sense that any false parameter will almost surely be excluded from the confidence region as the sample size tends to infinity. The asymptotic behavior of the confidence regions constructed by SPS is also illustrated by numerical experiments.
This paper presents a shunt active power filter (SAPF) topology, based on the concept of a transformer with open-end winding (OEW), for reactive power and harmonic compensations employed in three-phase four wire (3P4W...
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This paper presents a shunt active power filter (SAPF) topology, based on the concept of a transformer with open-end winding (OEW), for reactive power and harmonic compensations employed in three-phase four wire (3P4W) systems under balanced and unbalanced conditions. The proposed system uses two independent dc-links and two independent converters series connected through transformers. Complete system control, including PWM technique, is developed and a comparison between the proposed SAPF and conventional one is presented as well. Simulation and experimental results are provided to validate the theoretical approach.
TV White Space (TVWS) is becoming a useful communication medium through cognitive radio techniques. IEEE 802.22 Wireless Regional Area Network (WRAN) has been adopted as a standard in this regard. WRAN has a coverage ...
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ISBN:
(纸本)9781479940745
TV White Space (TVWS) is becoming a useful communication medium through cognitive radio techniques. IEEE 802.22 Wireless Regional Area Network (WRAN) has been adopted as a standard in this regard. WRAN has a coverage radius of up to 30km. Due to large cells and opportunistic spectrum utilization, the self-coexistence situation, where multiple WRAN Base Stations (BSs) share the same spectrum band in the same region, is expected to be common. This paper explores the use of relay-based WRANs to improve the transmission performance under the self-coexistence situation; this performance improvement has not been reported to the best of our knowledge. In particular, we investigate the delay performance of multi-hop WRANs under the self-coexistence situation using simulations, and compare the performance to the case of single-hop WRANs without relay. We also evaluate the delay performance for hybrid scenarios where some of the Consumer Premise Equipments (CPEs) use relay while others communicate directly to BSs. Numerical results indicate that using relay transmissions for CPEs in the overlap area of self-coexisting WRANs can help decrease the average packet delay when the transmission resources become scarce.
A repetitive control theory is proposed to solve the synchronization problem between the wafer stage and reticle stage. A macro-micro control method is used based on a macro-micro control structure in which a linear m...
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Observer design for a class of distributed parameter systems based on the so called hyperbolic observer canonical form (o.c.f.) is considered. The method relies on the tight relation between hyperbolic d.p.s. and func...
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This study presents a real-time, and auto-alarm intelligent system of healthcare for ICU patients. The current version of the expert system can detect EEG and ECG to identify different types of abnormal cardiac rhythm...
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This study presents a real-time, and auto-alarm intelligent system of healthcare for ICU patients. The current version of the expert system can detect EEG and ECG to identify different types of abnormal cardiac rhythms in real-time and identify patients' acute stress. The proposed system also activates an emergency medical alarm system when problems occur.
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