This paper addresses robust control and scheduling codesign for networked embedded control systems (NECS) with uncertain but interval-bounded time-varying computation and communication delays. The NECS is modeled as a...
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ISBN:
(纸本)9781467320658
This paper addresses robust control and scheduling codesign for networked embedded control systems (NECS) with uncertain but interval-bounded time-varying computation and communication delays. The NECS is modeled as a discretetime switched linear system with polytopic uncertainty. A robust receding-horizon control and scheduling problem with a quadratic performance criterion is introduced and solved based on the concept of (relaxed) dynamic programming. Closed-loop stability is guaranteed a priori by imposing stability constraints formulated as linear matrix inequalities. The effectiveness of the proposed modeling and synthesis methods is evaluated for networked embedded control of a set of pendulums. Notably, the proposed strategy is generally applicable to discrete-time switched linear systems with polytopic uncertainty.
Optimized Link State Routing (OLSR) protocol is a leading proactive routing protocol for Mobile Ad-hoc Networks (MANETs). Since the OLSR protocol in its standard version does not support multi-path packet forwarding, ...
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The SIFT algorithm had a profound impact on the area of image local feature extraction and computer vision, since its inception. Because of its robustness and anti-interference performance, it has been widely applied ...
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Results of the transfer function analysis for a class of distributed parameter systems described by hyperbolic partial differential equations are presented. Assuming two lumped boundary inputs and two outputs distribu...
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Results of the transfer function analysis for a class of distributed parameter systems described by hyperbolic partial differential equations are presented. Assuming two lumped boundary inputs and two outputs distributed along the spatial variable, the expressions for the individual elements of the transfer function matrix are derived for the decoupled system, using both exponential and hyperbolic functions. A formula for converting the transfer function matrix to the form describing the original coupled system is also proposed. The considerations are illustrated with a practical example of an electrical transmission line.
Robust optimal experiment design for dynamic system identification is cast as a minmax optimization problem, which is infinite-dimensional. If the input spectrum is discretized (either by considering a Riemmann approx...
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This paper addresses the motion planning problem of the trident snake robot consisting of a triangular body equipped with 2-link branches with actuated joints. The kinematics of the robot are represented by a driftles...
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This paper addresses the motion planning problem of the trident snake robot consisting of a triangular body equipped with 2-link branches with actuated joints. The kinematics of the robot are represented by a driftless control system referred to as body controlled. This system converts to joint controlled after applying a feedback transformation. A two step motion planning strategy has been proposed to provide the joint control of the robot. First, a constrained motion planning problem is solved for the body control, preventing the feedback from getting singular, second the joint control is achieved by combining the body control with the feedback. It has been shown that the former step can be accomplished using the imbalanced Jacobian motion planning algorithm. The motion planning strategy is illustrated by computer simulations.
In the constantly expanding Semantic Web, the domain of describing offers and concepts related to them plays an important role. The use of ontologies provides a means for automated processing of knowledge, which is ex...
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The specific relationships between the classical pole-placement state feedback, the RICCATI equation based LQ paradigm and the KALMAN frequency domain approach are discussed. It is shown that arbitrary pole placement ...
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ISBN:
(纸本)9780889869226
The specific relationships between the classical pole-placement state feedback, the RICCATI equation based LQ paradigm and the KALMAN frequency domain approach are discussed. It is shown that arbitrary pole placement is not possible by standard LQ optimality. A possible solution of this anomaly is to use more general LQ criterion with specific weights on the state, input and crossterm.
Multi-commodity trading can be performed both in centralized and distributed architecture environment. Choice of architecture creates a need to choose an appropriate communication model. Thus the definition of communi...
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In the chapter, first we discuss needs and motivations for market-based mechanism for complex, distributed systems, especially focusing on infrastructures sectors. A great number of issues related to market mechanisms...
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