Motor controllers are vital parts of robotic manipulators as well as their grippers. Typical, commercial motor controllers available on the market are developed to work with high level robot industrial controllers, he...
详细信息
The paper deals with the problem of designing filters for non-linear discrete-time stochastic systems. In particular, it is shown how to design an unknown input filter for a single (constant) unknown input distributio...
详细信息
The paper deals with the problem of designing observers for a class of discrete-time nonlinear systems with an unknown input. In particular, with the use of the Lyapunov method, a design procedure of an asymptotically...
详细信息
The paper deals with the problem of estimating an unknown input distribution matrix for non-linear discrete-time stochastic systems. In particular, it is shown how to use the unscented Kalman filter as an unknown inpu...
详细信息
This paper deals with a nonlinear model predictive control designed for a boiler unit. The predictive controller is realized by means of a recurrent neural network which acts as a one-step ahead predictor. As the auto...
详细信息
An approach is proposed to joint activation of stationary sensor nodes and design of mobile sensor trajectories in a hybrid sensor network collecting measurements for parameter estimation of a process described by a p...
An approach is proposed to joint activation of stationary sensor nodes and design of mobile sensor trajectories in a hybrid sensor network collecting measurements for parameter estimation of a process described by a partial differential equation. The ultimate objective is maximization of the log-determinant of the information matrix associated with the estimated parameters. The search for the optimal solution is performed using the branch-and-bound method in which a block coordinate ascent method is employed to produce an upper bound to the maximum objective function. It alternates between solving a relaxed combinatorial problem for the selection of active stationary nodes and a relaxed optimal control problem for the design of sensor trajectories. The former is achieved using a simplicial decomposition algorithm in which the restricted master problem is solved using a multiplicative algorithm for optimal design. In turn, the latter is solved by another algorithm for optimal design, namely the Wynn-Fedorov algorithm, which is capable of finding an optimal element in the convex hull of the set of attainable information matrices and can be easily implemented by using a standard optimal control solver as its component.
In this paper, a predictive fault-tolerant control strategy is presented. After a short introduction to the Takagi-Sugeno fuzzy systems, a summary of the control strategy that integrates control and fault identificati...
详细信息
In this paper, a predictive fault-tolerant control strategy is presented. After a short introduction to the Takagi-Sugeno fuzzy systems, a summary of the control strategy that integrates control and fault identification taking into account a possible actuator saturation is presented. Finally, the last part of the paper exhibits experimental results regarding the tunnel furnace that confirm the effectiveness of the proposed approach.
Possible formulations of mathematical programing problem concerning energy aware network are presented. Two main possibilities of reducing problem complexity are analysed: allocation of predefined paths and reformulat...
详细信息
Possible formulations of mathematical programing problem concerning energy aware network are presented. Two main possibilities of reducing problem complexity are analysed: allocation of predefined paths and reformulation of task using continuous variables. Properties of both methods are analysed and hybrid formulation is proposed. Comparison of complexity is provided.
We propose two methods for the disambiguation of results in time-delay based detection and localization of sound sources, when a triangle of microphones is applied for signal acquisition. A standard approach is to cre...
ISBN:
(纸本)9781467347358
We propose two methods for the disambiguation of results in time-delay based detection and localization of sound sources, when a triangle of microphones is applied for signal acquisition. A standard approach is to create histograms of time differences of arrival (TDOA) for each microphone pair in a triangular array and to create an averaged histogram. But each individual histogram is designed to detect unique orientation of source only within the local range of [-π/2, π/2]. Hence, taking the average for different pairs is not appropriate and such method suffers from ambiguity of results in the full range of orientations: [0,2π]. Our first proposition is a delay vector transformation method, that combines corresponding delay measurements into vectors and transforms them into a 2-D space in which a full-range orientation histogram can finally be established and analyzed. In our second method, individual orientation histograms obtained for pairs of microphones are analyzed first and for each detected source two competitive hypotheses are created. Due to a final clustering of the hypothesis set a unique orientation of each source can be estimated.
Summary form only given: A repetitive process makes a series of sweeps or passes through dynamics defined on a finite duration termed the pass length. The process output is termed the pass profile and when each pass i...
详细信息
Summary form only given: A repetitive process makes a series of sweeps or passes through dynamics defined on a finite duration termed the pass length. The process output is termed the pass profile and when each pass is completed, resetting to the starting location occurs before the next pass begins. On each pass the previous pass profile acts as a forcing function on, and hence contributes to, the dynamics produced. The result can be oscillations that increase in amplitude form pass-to-pass and which cannot be controlled by standard control action. There has been a considerable volume of profitable work on the development of a control theory for these processes with more recent focus on the design of control laws. The novel contribution of this paper is a new design algorithm which makes more use of available previous pass profile information and reduces the conservativeness present in existing alternatives.
暂无评论