This article proposes a systematic disturbance observer (DOB) control scheme for open-loop non-minimum phase (NMP) plants with time delay. A novel optimal analytical result of the input disturbance rejection criterion...
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This article proposes a systematic disturbance observer (DOB) control scheme for open-loop non-minimum phase (NMP) plants with time delay. A novel optimal analytical result of the input disturbance rejection criterion is derived and optimal analytical solutions of both the set-point tracking controller and the DOB are provided in terms of H2 norm performance specification. Both the set-point tracking performance specification and input load disturbance specification can be quantitatively achieved by conveniently tuning the adjustable parameters. The typical first order NMP process with time delay is analyzed based on the proposed control structure, and a simulation example is given. The simulation results verify that the proposed scheme can eliminate the influence of input load disturbance and the ISE specification can be quantitatively tuned.
This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-in...
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In this paper, we deal with the problem of pursuing a mobile target by multiple robots in indoor environments embedded with robotic networks. The target is vigilant and its speed can be arbitrarily fast while the spee...
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In this paper, we deal with the problem of pursuing a mobile target by multiple robots in indoor environments embedded with robotic networks. The target is vigilant and its speed can be arbitrarily fast while the speeds of pursuers are limited. Our object in this paper is to design effective pursuit strategies for the robots to track and finally capture the target. By using concepts of tree decomposition from graph theory, we establish an upper bound of the pursuer number that can guarantee successful capture of the mobile target. We then propose a pursuit algorithm, namely, tree-width based graph searching (TWGS), based on the theoretical analysis. Furthermore, we demonstrate the performance of the algorithm for two indoor environments by numerical simulations, which show that TWGS is efficient and the pursuer number given by the theoretical analysis is rather tight.
This paper focuses on the admissibility condition for fractional-order singular system with order α∈(0, 1). The definitions of regularity, impulse-free and admissibility are given first, then a sufcient and necessar...
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This paper focuses on the admissibility condition for fractional-order singular system with order α∈(0, 1). The definitions of regularity, impulse-free and admissibility are given first, then a sufcient and necessary condition of admissibility for fractional-order singular system is established. A numerical example is included to illustrate the proposed condition.
As a family of dynamic description logics, DDL(X) is constructed by embracing actions into the description logic X, where X represents well-studied description logics ranging from the ALC to the SHOIQ. To efficiently ...
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作者：
Ya-Nan WangJian-Bo SuDepartment of Automation
Shanghai Jiaotong University Key Laboratory of System Control and Information Processing Ministry of Education of China 200240 China
Considering the face image is approximate symmetry, we proposed a measurement factor to quantify the symmetrical characteristic of face images. Firstly we transform the face image into even-odd face images using parit...
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Considering the face image is approximate symmetry, we proposed a measurement factor to quantify the symmetrical characteristic of face images. Firstly we transform the face image into even-odd face images using parity decomposition method. LBP features extracted in even images to construct training sets. Then we apply Adaboost training algorithm to structure a strong classifier. Experiment proved that this method can overcome environment disturbance, and effectively improve the recognition rate.
作者：
Y. ZhengS.Y. LiSchool of Electronic Information and Electrical Engineering
Shanghai Jiao Tong University Key Laboratory of Control of Power Transmission and Conversion Ministry of Education Road Shanghai 200240 China Department of Automation
Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China (Tel: 34204011 )
A stabilized Distributed MPC for large scale system is proposed and its designation is given in this paper for improving the global performance of closed-loop system. To make the performance of closed-loop system more...
A stabilized Distributed MPC for large scale system is proposed and its designation is given in this paper for improving the global performance of closed-loop system. To make the performance of closed-loop system more close to that using centralized MPC, each subsystem-based MPC added the cost of the entire system into its optimization cost function. In addition, a consistency constraint and dual mode strategy are designed and adopted. Provided an initially feasible solution can be found, subsequent feasibility of the algorithm is guaranteed at every update, and the asymptotic stabilization is established.
This paper investigates variation of infinite horizon (IH) performance of Model Predictive control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equat...
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作者：
Lei HouL. Hou is with the Department of Automation
Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China hou at ***
— The authors propose an original camera synchronization technique to generate temporally-aligned vision frames during image acquisition, based on phase-locked loop (PLL), and is applicable to low-cost wireless visio...
— The authors propose an original camera synchronization technique to generate temporally-aligned vision frames during image acquisition, based on phase-locked loop (PLL), and is applicable to low-cost wireless vision sensor networks. No dedicated receivers are required so that the algorithm is applicable to vision sensors with only data storage for image or image-feature sequences. A Manchester Encoding inspired illumination modulation method can carry sequential information owing to serial communication, as well as satisfactory robustness to disturbances, such as mobile targets, fluctuating illumination amplitude, and moving cameras, etc., approved by experiments that a 1,000-Hz vision sensor is locked to 500-Hz modulated LED illumination with only 24- μ s jitters.
The control and management problem for large-scale complex urban traffic network is not yet successfully addressed. There are still many difficulties in controlling such large systems, e.g. complexity, high dimension,...
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ISBN:
(纸本)9781479929153
The control and management problem for large-scale complex urban traffic network is not yet successfully addressed. There are still many difficulties in controlling such large systems, e.g. complexity, high dimension, multiple control objectives, and uncertainties. In the paper, a multi-level MPC hierarchy is proposed to address these difficulties for the control of large-scale urban traffic networks. Under the control hierarchy, a multi-level MPC algorithm is proposed, which includes three levels, the demand balance MPC, the subnetwork MPC, and the intersection controller from top to bottom. A case study is carried out to evaluate the proposed algorithm. The simulation results illustrate the effectiveness of the multi-level controller.
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