This paper describes a nonlinear Model Predictive control (MPC) algorithm based on a neural Wiener model. The model is linearised on-line along the predicted trajectory. Thanks to linearisation, the algorithm is compu...
详细信息
This paper describes a special neural model developed with the specific aim of being used in nonlinear Model Predictive control (MPC). The model consists of two neural networks. The model structure strictly mirrors it...
详细信息
Abstract The problem under consideration is to determine an activation policy of discrete scanning sensors for identification of unknown parameters in distributed systems in the situation when some resource related co...
详细信息
Abstract The problem under consideration is to determine an activation policy of discrete scanning sensors for identification of unknown parameters in distributed systems in the situation when some resource related constraints have to be simultaneously satisfied. An observation policy is proposed to provide a proper distribution of sensors over the considered spatial domain for the purpose of maximizing the parameter identification accuracy using a minimal number of sensors and reducing the accumulated activation time. The problem is cast as a multiobjective optimization one and solved using the goal attainment method which applies sequential quadratic programming and an efficient guided search algorithm based on the branch-and-bound method.
In this paper, an active fault-tolerant control strategy is presented. After a short introduction to the Takagi-Sugeno fuzzy systems, a novel control strategy that integrates control and fault identification taking in...
详细信息
The paper presents k-means based hybrid segmentation method for breast cancer diagnosis problem. It is part of the computer system to support diagnosis based on microscope images of the fine needle biopsy. The system ...
详细信息
The paper provides a preview of some work in progress on the computer system to support breast cancer diagnosis. The approach is based on microscope images of the FNB (Fine Needle Biopsy) and assumes distinguishing ma...
详细信息
The paper deals with the problem of designing an unknown input filter for non-linear discrete-time stochastic systems. In particular, it is shown how to design an unknown input filter for a single (constant) unknown i...
详细信息
This paper shows control accuracy and computational efficiency of suboptimal model predictive control (MPC) based on neural models. The algorithm uses on-line a neural model of the process to determine its local linea...
详细信息
The paper focuses on the problem of Cartesian trajectory generation for manipulators. The proposed solution relies on the computation of spline coefficients both in the Cartesian and joint spaces. The method takes int...
详细信息
The paper focuses on the problem of Cartesian trajectory generation for manipulators. The proposed solution relies on the computation of spline coefficients both in the Cartesian and joint spaces. The method takes into account motor capabilities by checking maximum velocity and acceleration constraints. The solution was experimentally verified on a novel manipulator with hybrid, parallel-serial kinematic structure.
Complex robotic systems require a formal method of specification that guides the system developer and facilitates the implementation. In this paper the proposed formalism is utilized to specify a control system of a r...
详细信息
Complex robotic systems require a formal method of specification that guides the system developer and facilitates the implementation. In this paper the proposed formalism is utilized to specify a control system of a robot identifying hand postures. The formalism is based on the concept of an agent and the description of an agent's behaviors by defining transition functions. The presented exemplary system - a robot capable of actively adjusting its location so as to recognize reliably hand gestures presented by a human operator - needs to exhibit six behaviors, which are defined formally.
暂无评论