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.
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.
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...
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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.
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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Multi-cell multi-user downlink beamforming schemes considering transceiver impairments were developed, with the objective of minimizing the maximum mean square error (MSE) and the sum of MSE of all users. The optimiza...
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Multi-cell multi-user downlink beamforming schemes considering transceiver impairments were developed, with the objective of minimizing the maximum mean square error (MSE) and the sum of MSE of all users. The optimization problem was transformed into a second-order cone programming (SOCP) standard form, and a hierarchical iterative algorithm was developed to solve the original problem. Compared with the traditional beamforming methods developed for ideal transceivers, numerical results show that our proposed optimization algorithms greatly reduce the impact of impairments and improve the system performance.
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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A large amount of networks are found to divide naturally into modules or communities within which the network connections are tight but between which they are sparser. However, it is still not clear that whether spars...
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A large amount of networks are found to divide naturally into modules or communities within which the network connections are tight but between which they are sparser. However, it is still not clear that whether sparse modules in which the nodes are sparsely connected internally and densely connected with other sparse or cohesive modules possibly exist and have functional meaning in complex networks. In this study, we first test BinTree Seeking method that detects both cohesive and sparse modules in a network on 4 networks with known modular structure. And then, we further study modular structure of 23 complex networks of different types and scales, and promising results indeed reveal that the sparse modules composed by the cohesively isolated nodes widely co-exist with the cohesive modules. Furthermore, the two types of modules are found often spatially closely related with each other. Compared with the cohesive modules, sizes of sparse ones are generally smaller.
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.
In this paper, we study the global asymptotical synchronization problem of delayed complex dynamical networks with a pre-given collection of general connection topologies where synchronization cannot be achieved by us...
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In this paper, we study the global asymptotical synchronization problem of delayed complex dynamical networks with a pre-given collection of general connection topologies where synchronization cannot be achieved by using any topology alone in this collection. By using single Lyapunov and multiple Lyapunov function methods, two global asymptotical synchronization conditions with the design of switching within the pre-given collection of topologies are presented for synchronizing such complex dynamical networks. According to the topological structure of the connection matrices, we consider more general forms. Simultaneous triangularizability, diagonalizability or even symmetry of the connection matrices is no longer assumed. Finally, simulation results are used to demonstrate the effectiveness of the proposed results.
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