In polytopic model-based controller synthesis, the vertices of the model determine the achievable performance characteristics. This paper introduces a new concept, that allows for the sophisticated construction of non...
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ISBN:
(纸本)9781509018987
In polytopic model-based controller synthesis, the vertices of the model determine the achievable performance characteristics. This paper introduces a new concept, that allows for the sophisticated construction of non-simplex enclosing polytopes. The non-simplex structures in general, have much better descriptor properties than the simplex one that leads to less conservative synthesis. The paper demonstrates the workflow of controller design for a nonlinear system through the example of the TORA (Translational Oscillator with a Rotational Actuator) system. The numerical results clearly show that the proposed approach is capable of excluding non-stabilizable regions located between the exact convex hull and the enclosing simplex. The non-simplex polytope leads to an increased number of vertices but it practically does not influence the viability of Tensor-Product (TP) formalization and the feasibility of controller design while the achievable control performance can be improved significantly.
This paper deals with a number of parallel LMS family algorithms in the context of their use in the acoustic echo cancellation. The most complex parts of the LMS-based algorithms were determined and parallelized. A nu...
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Modern engineering design and simulation software (CAD, CAM, CAE) allow for extensive use of virtual prototypes along the product and production development reducing the cost and time of physical prototyping. These so...
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Modern engineering design and simulation software (CAD, CAM, CAE) allow for extensive use of virtual prototypes along the product and production development reducing the cost and time of physical prototyping. These software technologies in turn has also important role in testing and verification against the various regulations. This paper reviews the recent progress of virtual verification (ViVer) technology and the underlying emerging concepts with special focus on the role of certification service providers. The paper covers multiple aspects of the ViVer concept serving as a conceptual guideline for the development of virtual verification systems of the future.
control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-s...
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control of robot locomotion profits from the use of pre-planned trajectories. This paper presents a way to generalize globally optimal and dynamically consistent trajectories for cyclic bipedal walking. A small task-space consisting of stride-length and step time is mapped to spline parameters which fully define the optimal joint space motion. The paper presents the impact of different machine learning algorithms for velocity and torque optimal trajectories with respect to optimality and feasibility. To demonstrate the usefulness of the trajectories, a control approach is presented that allows general walking including transitions between points in the task-space.
The Symposium on "New Frontiers in Human-Robot Interaction (HRI)" is the fourth of a series of symposia held in conjunction with the AISB convention. Its topics cover cutting-edge interdisciplinary research ...
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The Symposium on "New Frontiers in Human-Robot Interaction (HRI)" is the fourth of a series of symposia held in conjunction with the AISB convention. Its topics cover cutting-edge interdisciplinary research on understanding, designing, and evaluating robotic systems for and with humans. Its main difference to other HRI-related conferences and workshops is its inclusiveness for exploratory research and the amount of time for open discussion. This year's symposium consists of six sessions covering topics such as verbal and non-verbal interaction, people's perception of robots, and ethical issues. Moreover, it includes keynote talks by Mark Coeckelbergh and Angelika Peer and a panel on the topic "Robot Perception and Acceptance".
The advantages of Variable Step Search algorithm - a simple local search-based method of MLP training is that it does not require differentiable error functions, has better convergence properties than backpropagation ...
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Under the conceptual framework of Cognitive Info communications, a recently published definition of Cognitive control draws twofold sense characterizing the goals of this branch of systems and control science. On the ...
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ISBN:
(纸本)9781479986989
Under the conceptual framework of Cognitive Info communications, a recently published definition of Cognitive control draws twofold sense characterizing the goals of this branch of systems and control science. On the one hand, Cognitive control aims to apply the results of control theory to regulate natural or artificial cognitive systems. While on the other hand it points toward the modeling of cognitive processes of different levels utilizing the apparatus of the modern systems theory. Focusing on that view, this paper discusses a systematic way of deriving the convex polytopic qLPV model of nonlinear dynamic processes of the human organism based on the Tensor Product (TP) Model Transformation. To support the idea, a concrete modeling example of Insulin-Glucose Dynamics in intensive insulin therapy is presented.
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