This paper deals with the design of robust fault detection and isolation observers where only a single observer is employed to isolate different faults. To this end, the problem of parameterizing such observers is sho...
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This paper deals with the design of robust fault detection and isolation observers where only a single observer is employed to isolate different faults. To this end, the problem of parameterizing such observers is shown to be equivalent to designing a structurally constrained controller in the standard control problem framework. Thereby, the problem is reformulated as a well known classical control problem, which enables the use of existing tools to optimize robustness with respect to arbitrary exogenous disturbances. To account for parametric uncertainties, an approximate model matching approach is used.
In this article, a linear matrix inequality (LMI)-based design for robust fault isolation observers (FIOs) for linear systems with arbitrary fault detectability indices is presented. A parametric design is used to ach...
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In this article, a linear matrix inequality (LMI)-based design for robust fault isolation observers (FIOs) for linear systems with arbitrary fault detectability indices is presented. A parametric design is used to achieve stable fault isolation in square systems as well as non-square systems. Based on this design, the influence of arbitrary disturbances is attenuated by a proper optimization of the observer gain matrices. The applicability of the proposed design is verified in simulations of a helicopter model.
Abstract In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that th...
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Abstract In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that the nonlinear state feedback law is independent of the inertial frame. Generally, the method requires non trivial computations but leads to global convergence results for the invariant tracking error. We illustrate the design procedure in detail for a master-slave synchronization of a bacterial growth model, which may escape to infinity in finite time.
This paper deals with the development and application possibilities of a 2D thermovision sensing system based on infrared non-cooled detector and advanced HW/SW signal processing technology. The design and results fro...
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ISBN:
(纸本)0819426326
This paper deals with the development and application possibilities of a 2D thermovision sensing system based on infrared non-cooled detector and advanced HW/SW signal processing technology. The design and results from preliminary experiments are briefly described.
This article deals with the synchronization of heterogeneous multi-agent systems. A simple distributed control law is provided to solve the problem. The presented approach is based on the idea to ascribe the heterogen...
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This article deals with the synchronization of heterogeneous multi-agent systems. A simple distributed control law is provided to solve the problem. The presented approach is based on the idea to ascribe the heterogeneous case to a homogeneous synchronization task, for which the solution is well known. The presented method is applicable to networks of completely different agents, even with different dimensions. Additionally, the communication effort is minimized because only the states which are to be synchronized need to be exchanged through the network. An example illustrates the efficiency of the concept.
In attempt to find a suitable general exact metodology how to represent the knowledge based systems structure and dynamics in analytical terms by means of Petri nets is made in this paper. In attempting to treat probl...
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In attempt to find a suitable general exact metodology how to represent the knowledge based systems structure and dynamics in analytical terms by means of Petri nets is made in this paper. In attempting to treat problems of the synthesis of control systems for the manufacturing systems by means of a uniform analytical technique, we fInd that the procedure based on the natural inference mechanism of the Petri nets can be used to be a model of the deductive type of an automatic reasoning process. This process represents a principal kernel of the control systems synthesis. The applicability of this approach is illustrated on simple examples
A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in t...
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The technical use of biological or biochemical processes requires additionally to the biological preparation and process engineering an intelligent automatic control engineering whose performance characteristics excel...
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The technical use of biological or biochemical processes requires additionally to the biological preparation and process engineering an intelligent automatic control engineering whose performance characteristics excel the classical approaches. Most fermentations are operated in a phase-building batch mode, which does not allow a linearization of the not or only inexact known process model and the operation near one or several different working points. With Bio X + + an intelligent control system was successfully designed, whose fundamentals and extensions will be the contents of the article at hand
In this paper,a new optimization based design method for stabilization of polynomial systems with input constraints is *** method utilizes the sum of squares decomposition of polynomials and results in a nonpolynomial...
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In this paper,a new optimization based design method for stabilization of polynomial systems with input constraints is *** method utilizes the sum of squares decomposition of polynomials and results in a nonpolynomial control law fulfilling amplitude constraints of the *** of input rate constraints can be included by extending the optimization *** resulting sum of squares optimization problems are ***,an iterative algorithm is used to obtain a *** applicability of the method is demonstrated by an example system,for which it turns out that the resulting controller exploits the given amplitude range very well and leads to better control performance than a polynomial controller.
We propose a method capable of acquiring an occupancy grid map-based representation of the local, static driving environment around an intelligent vehicle in the presence of dynamic objects. These corrupt the represen...
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We propose a method capable of acquiring an occupancy grid map-based representation of the local, static driving environment around an intelligent vehicle in the presence of dynamic objects. These corrupt the representation due to violating the underlying static-world assumptions of common grid mapping algorithms and are therefore detected and filtered from the map. For this purpose, a subsequent step is suggested that identifies, clusters and merges dynamic cell hypothesis in a novel way. Thereafter, an Interacting-Multiple-Model-Unscented-Kalman-Probabilistic-Data-Association (IMM-UK-PDA) tracker is used to classify of whether cell movements behave consistently with possible movement characteristics of real dynamic objects or are just generated by noise or newly observed static environment. In opposition to many other approaches, the method explicitly combines information of newly occupied and free areas, completes the shape of only partly visible dynamic objects and uses an advanced object tracking scheme to clean the grid from dynamic object corruptions. The method is evaluated with grids generated by an automotive radar and stereo camera in real traffic environments.
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