This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedba...
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This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedback *** weakest consensusability condition is obtained for MASs over both directed and undirected graphs,which extends the existing results to MIMO discrete-time *** synthesis procedures are also *** work demonstrates the importance of the graph and controller co-design based on resource allocation for MIMO discrete-time MASs.
The purpose of this paper is to study positioning control performance of the one-DOF manipulator driven by pneumatic artificial muscles using active disturbance rejection controller. Owing to the pneumatic artificial ...
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The purpose of this paper is to study positioning control performance of the one-DOF manipulator driven by pneumatic artificial muscles using active disturbance rejection controller. Owing to the pneumatic artificial muscle's highly nonlinear and time-varying behavior, it is difficult to achieve good positioning performance. In this paper, the nonlinear and time-varying behavior of pneumatic artificial muscle is considered as disturbance to be estimated by extended state observer. Tracking differentiator is designed to get corresponding smooth signal and differential signal of reference input to avoid overshoot. A linear error feedback combining with estimated value compensation of disturbance is designed to ensure a good response of system. Moreover, stability analysis of the close-loop system is given by Lyapunov theory. Finally, simulation results verify the effectiveness of the proposed controller.
Power factor correction converters are used in many applications as AC-DC power supplies aiming at maintaining a near unity power factor. Systems of this type are known to exhibit nonlinear phenomena such as sub-harmo...
Power factor correction converters are used in many applications as AC-DC power supplies aiming at maintaining a near unity power factor. Systems of this type are known to exhibit nonlinear phenomena such as sub-harmonic oscillations and chaotic regimes that cannot be described by traditional averaged models. In this paper, we derive a time varying discretetime map modeling the behavior of a power factor correction AC-DC boost converter. This map is derived in closed-form and is able to faithfully reproduce the system behavior under realistic conditions. In the chaotic regime the map exhibits a sequence of bifurcation similar to a bandcount doubling cascade on the low frequency. However, the observed scenario appears in some sense incomplete, with some gaps in the bifurcation diagram, whose appearance to our knowledge has never been reported before. We show that these gaps are caused by high frequency oscillations.
Starting from the user’s requirements previously defined, a new soft robotics approach was chosen and developed in order to overcome the criticalities arisen in the analysis of the state of the art. One of the key po...
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The chapter presents the design of the device actuators and sensors in terms of concept developing, dimensioning, testing and prototyping. Inspired by soft robotics concept, the design of actuators is based on the cha...
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In this chapter we wrap up our literature investigation, pointing out the key focuses and requirements to be considered. We will go through our evaluations upon actuators, sensors, control systems and we will present ...
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Effective spectrum sensing strategies enable cognitive radios to enhance the spectrum efficiency. In this paper, modeling, performance analysis, and optimization of spectrum handoff in a centralized cognitive radio ne...
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Hysteretic noisy chaotic neural network (HNCNN) has been proven to be a powerful tool in solving combinatorial optimization problems, which can increase the effective convergence toward optimal or near-optimal solutio...
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In this paper, we consider input-affine invertible MIMO nonlinear systems which can be transformed into a special normal form by means of the structure algorithm. The normal form highlights a partial state, a subset o...
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A fast sphere extraction method is proposed in this paper. The proposed method utilizes the one-dimensional histogram as search space. The polytope method, which is one of the minimization algorithms, is employed for ...
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A fast sphere extraction method is proposed in this paper. The proposed method utilizes the one-dimensional histogram as search space. The polytope method, which is one of the minimization algorithms, is employed for search parameters. The histogram has two characteristics. (a) The distribution of the histogram changes if the parameters of representing the sphere change. (b) The value of highest frequency of histogram becomes maximum if the best parameters are obtained. By employing the polytope method, the best parameters of sphere can be obtained when we get the highest frequency of histogram. The proposed method can extract the sphere from 3D vertex data without large memory space or long processing time.
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