To govern perfectly the MIMO(Multi-Input Multi-Output) processes,a fully populated matrix controller has been proposed due to its *** non diagonal quantitative feedback theory approach is used with CRONE control struc...
详细信息
To govern perfectly the MIMO(Multi-Input Multi-Output) processes,a fully populated matrix controller has been proposed due to its *** non diagonal quantitative feedback theory approach is used with CRONE control structure taking into account the plant *** to the fractional derivation order,the control loop frequency
This paper presents two strategies of nonlinear predictive control based on a Takagi-Sugeno fuzzy model. The first one introduces a fuzzy logic-based modeling methodology, where a nonlinear system is divided into a nu...
详细信息
This paper presents two strategies of nonlinear predictive control based on a Takagi-Sugeno fuzzy model. The first one introduces a fuzzy logic-based modeling methodology, where a nonlinear system is divided into a number of linear subsystems. So the linear model based predictive control (MPC) technique is used for each subsystem. In the second one, the fuzzy model is considered as a nonlinear model of the system and the control signal is obtained by minimizing either the cumulative differences or the instant difference between set-point and fuzzy model output. The efficiency of these two fuzzy model predictive control (FMPC) approaches is demonstrated through two examples.
In this paper we investigate the leader follower motton coordination of multiple nonholonomic mobile robots. A combination of the virtual vehicle and trajectory tracking approach is used to derive the formation archit...
详细信息
This paper proposes a new approach which combines unsupervised and supervised learning for training recurrent neural networks (RNNs). In this approach, the weights between input and hidden layers were determined accor...
详细信息
This paper proposes a new approach which combines unsupervised and supervised learning for training recurrent neural networks (RNNs). In this approach, the weights between input and hidden layers were determined according to an unsupervised procedure relying on the Kohonen algorithm and the weights between hidden and output layers were updated according to a supervised procedure based on dynamic gradient descent method. The simulation results show that the proposed method performs well in comparison with the back propagation through time algorithm.
In this paper we present a design of a minimum phase noise current controlled oscillator in CMOS technology. Owing to their high degree of controllability, the second generation current conveyer is used as a basic blo...
详细信息
In this paper we present a design of a minimum phase noise current controlled oscillator in CMOS technology. Owing to their high degree of controllability, the second generation current conveyer is used as a basic block for our oscillator. Thus, the first step in our design was to improve static and dynamic behaviour of second generation current conveyers. We present therefore a design of CMOS class AB second generation current conveyors. The translinear implementation in CMOS technology was first studied and then a considerable improvement of the parasitic series resistance on port X is done by presenting a structure of CCII. With a control current of 300 mu;A, a reduction of RX by a factor of 10 is observed leading to a notable improvement of the frequency behaviour. This improved CCII version was used as a basic building block in the design of a new current controlled oscillator covering [100MHz-600MHz] frequency is presented. Phase noise characteristics of the presented oscillator are investigated. We present then a new methodology of modelling and optimisation of phase noise of current controlled oscillators for CMOS process. This optimization strategy leads to a minimum phase noise acting on device geometries and design sources. PSpice simulation results are performed using CMOS 0.35 mu;m process of AMS.
In this paper, we propose a design of a current controlled Quadrature Sinusoidal Oscillator. The proposed circuit employs three optimized Multi-output translinear second generation current conveyer (MCCII). The oscill...
详细信息
In this paper, we propose a design of a current controlled Quadrature Sinusoidal Oscillator. The proposed circuit employs three optimized Multi-output translinear second generation current conveyer (MCCII). The oscillation condition and the oscillation frequency are independently controllable. The proposed Quadrature Oscillator frequency can be tuned in the range of [198 MHz –261 MHz] by a simple variation of a DC current. PSpice simulation results are performed using CMOS 0.35 μm process of AMS.
This work describes a visual odometry by minimizing a quadrifocal constraint in order to calculate the position of an autonomous vehicle (Cycab). This method can also reject outliers corresponding to moving objects su...
详细信息
This work describes a visual odometry by minimizing a quadrifocal constraint in order to calculate the position of an autonomous vehicle (Cycab). This method can also reject outliers corresponding to moving objects such as occlusions and illumination changes. An iterative non-linear trajectory estimation approach is formulated and it is based on a quadrifocal relationship between the image intensities within adjacent views of the stereo pair. The technique is applied to recovering the trajectory of a moving vehicle in a video sequence.
Progress in low power Very Large Scale Integration (VLSI) design open up possibilities of powering wireless devises from scavenged ambient energy. An energy management system should be designed to manage the harvested...
详细信息
ISBN:
(纸本)9781457704130
Progress in low power Very Large Scale Integration (VLSI) design open up possibilities of powering wireless devises from scavenged ambient energy. An energy management system should be designed to manage the harvested energy. DC to DC converters represent the key element in energy management systems. Knowing the diversity of DC-DC converters generally designed for specific applications, basic converters are under scope in this paper. Operation principles and simulation patterns of basic DC to DC converters are first presented. Parameter simulation occurring the effect of duty cycle, inductance, capacity and switch polarisation is studied in depth. The gaol of this paper is to show main parameters effect on output voltage behaviour. Simulation results show that the main parameters in DC-DC converters design play a key role to avoid extra-lose of harvested energy.
For linear plants, IMC have been shown good robustness properties against disturbances and model mismatches. However, when uncertain processes are concerned, the original IMC structure cannot be directly used for cont...
详细信息
ISBN:
(纸本)9781457704130
For linear plants, IMC have been shown good robustness properties against disturbances and model mismatches. However, when uncertain processes are concerned, the original IMC structure cannot be directly used for control system implementation. In this paper, an internal multiple model control (IMMC) based on linear model's library is introduced. This approach supposes the definition of a set of local models developed within each cluster. Such decomposition is obtained using the fuzzy c-means (FCM) clustering algorithm. Then the gap metric concept has been designed as a criterion to analyze the relationships among candidate models to get a reduced model bank.
Shaping command input is used for reducing oscillation in motion *** system inputs are altered so that the system achieves the requested move without residual *** technique is developed by N.C. Singer and ***
Shaping command input is used for reducing oscillation in motion *** system inputs are altered so that the system achieves the requested move without residual *** technique is developed by N.C. Singer and ***
暂无评论