This paper proposes a local and - in contrast to existing synthesis approaches - non-iterative and performance-oriented design method for linear, full-order, mismatch-based anti-windup compensators which is applicable...
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This paper proposes a local and - in contrast to existing synthesis approaches - non-iterative and performance-oriented design method for linear, full-order, mismatch-based anti-windup compensators which is applicable to control systems with unstable plants. Non-iterative means that the anti-windup compensator is found by solving a convex optimization problem. Hence, initial guesses or trial-and-error loops can be avoided leading to a significant simplification of the design process. Performance-oriented means that the L 2 gain of a system characterizing the degradation from the unconstrained linear performance is minimized. Two examples are considered to demonstrate the new design method.
We propose a new set point tracking controller achieving short settling times respecting for saturating input vectors. One major advantage of the method is that once we designed a controller stabilizing the origin wit...
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ISBN:
(纸本)9781424477456
We propose a new set point tracking controller achieving short settling times respecting for saturating input vectors. One major advantage of the method is that once we designed a controller stabilizing the origin with an associated domain of attraction we are able to state the tracking controller. Additionally, no assumptions concerning the rate of the reference signal are necessary.
This paper proposes a new design method for full-order mismatch-based anti-windup compensators applicable to SISO systems. It is based on multiplier theory and path following. In contrast to available approaches the n...
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This paper proposes a new design method for full-order mismatch-based anti-windup compensators applicable to SISO systems. It is based on multiplier theory and path following. In contrast to available approaches the new method allows synthesizing globally stabilizing mismatch-based compensators with enhanced local performance based on small-signal L_(2) gains. A hydraulic actuator serves as an example to demonstrate the effectiveness of the proposed technique.
Computational complexity of two path planning approaches for a two-dimensional (2D) work space is considered: The approach using safe triangles and the approach based on quadtree. The average cost of establishing work...
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Computational complexity of two path planning approaches for a two-dimensional (2D) work space is considered: The approach using safe triangles and the approach based on quadtree. The average cost of establishing work space representation, i.e. of building the safe triangles and the quadtree respectively, are estimated. Both approaches are simulated to plan paths for numerous work spaces with obstacles which are generated at random. The results of the simulation are summarized to show the expected behavior of each approach. Comparison based on analyses and simulation is presented.
A new view on the control synthesis of DEDS (discrete event dynamic systems) is presented in this paper. Petri nets (PN), frequently used for DEDS modelling, are understood here in a form of corresponding oriented gra...
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This paper considers job-shop-scheduling problem in multimachine multipart manufacturing systems. The purpose of the article is to contribute to the decision on scheduling rules for job-shop problems. The paper also d...
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An application for image sensing and image analysis in medicine (ophthalmology) is described. A new approach to corneal endothelium microscopy image grabbing and analysis by means of the CCD camera; frame grabber and ...
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An application for image sensing and image analysis in medicine (ophthalmology) is described. A new approach to corneal endothelium microscopy image grabbing and analysis by means of the CCD camera; frame grabber and PC improves operability and quality of this examination. Some specialized algorithms for image filtering and cellular walls detection are also described and examples of their application are shown.
Motion features based on optical flow are very powerful in tasks such as the recognition of human actions or gestures. Usually, they are combined with gradient information to form a set of spatiotemporal features. How...
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ISBN:
(纸本)9782874190810
Motion features based on optical flow are very powerful in tasks such as the recognition of human actions or gestures. Usually, they are combined with gradient information to form a set of spatiotemporal features. However, humans can recognize gestures and actions and thus derive the implied motion out of static images alone. We model this associative recognition within a learned hierarchy of non-negative sparse coding layers. In the first stages, topology preserving gradient and motion features are processed separately. Afterwards, they are projected onto a combined inner representation, that is learned during the training phase. We show, that during recognition the learned, combined representation improves the recognition of human actions, even in the absence of explicit motion information.
Neurophysiological findings suggest that the visual cortex of mammals contains neural populations that are sensitive to specific motion patterns. In this paper, we present a new method to learn such patterns in an uns...
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A model of one-degree-of freedom robot contacting the environment is developed. To alleviate the problem of noncolocation the structural properties of the arm are also modeled and the states of mechanical system betwe...
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A model of one-degree-of freedom robot contacting the environment is developed. To alleviate the problem of noncolocation the structural properties of the arm are also modeled and the states of mechanical system between oolocated and noncolocated sensor are reconstructed with the reduced-order observer and used with a robust control technique based on definition of spectral and modal properties of the mechanical system.
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