In this paper, we consider the design of static output feedback H∞ controller for Takagi-Sugeno fuzzy systems subject to sensor nonlinearities. The control problem is reduced to a feasibility problem of bilinear matr...
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The possibility of operating in remote environments by means of teleoperated systems has always been considered of relevant interest in robotics. For this reason, in this paper, the relationship between a slave robot ...
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ISBN:
(纸本)0780384636
The possibility of operating in remote environments by means of teleoperated systems has always been considered of relevant interest in robotics. For this reason, in this paper, the relationship between a slave robot and the uncertain remote environment is proposed as the impedance to generate the virtual force to feed back to the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master, which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a teleoperated mobile robot significantly.
This paper deals with H2 guaranteed cost (GC) fuzzy output feedback control problem for missile altitude control system. First, the Takagi-Sugeno fuzzy model is employed to represent the dynamics of the missile altitu...
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Technological development of copper interconnection in integrated circuit fabrication was tentatively reviewed with discussion centered on comparison of various copper film growth technologies: their strengths and lim...
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Technological development of copper interconnection in integrated circuit fabrication was tentatively reviewed with discussion centered on comparison of various copper film growth technologies: their strengths and limitations. Growth of diffusion barriers was also discussed. We think that the resistivity of the diffusion barrier materials should be considerably lowered to be compatible to copper interconnection fabrication.
This paper deals with H/sub 2/ guaranteed cost (GC) fuzzy output feedback control problem for missile altitude control system. First, the Takagi-Sugeno fuzzy model is employed to represent the dynamics of the missile ...
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ISBN:
(纸本)0780385675
This paper deals with H/sub 2/ guaranteed cost (GC) fuzzy output feedback control problem for missile altitude control system. First, the Takagi-Sugeno fuzzy model is employed to represent the dynamics of the missile altitude control system. Next, we present necessary and sufficient conditions for the existence of a quadratically stabilizing fuzzy output feedback controller which also assure H/sub 2/ guaranteed cost performance on a fuzzy dynamic system where the uncertainty is of the norm bounded type. The conditions are presented as a collection of linear matrix inequalities. A simulation on the missile altitude system is given to illustrate the effectiveness of the proposed design method.
The evolution of surface morphology of Cu-W thin films with deposition time on silicon wafers was studied by discrete wavelet transform (DWT). A strategy based on wavelet transform to describe surface morphology of th...
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The evolution of surface morphology of Cu-W thin films with deposition time on silicon wafers was studied by discrete wavelet transform (DWT). A strategy based on wavelet transform to describe surface morphology of thin films was presented. The results showed that the surface morphology of thin films was unstable until the sputtering time exceeds 10 min. The surface morphology variations of different thin films could be distinguished primarily by high frequency signals.
The context of a statement or assertion can be critical to a useful understanding of its meaning. In huge knowledge bases such as the CYC project, capturing context explicitly encounters significant problems. Research...
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Involving end users to make the requirements elicitation process less prone to errors is currently one of the common opinions. This paper is presenting such kind of approach. Two factors concerning involving end users...
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ISBN:
(纸本)0889863415
Involving end users to make the requirements elicitation process less prone to errors is currently one of the common opinions. This paper is presenting such kind of approach. Two factors concerning involving end users are considered. The first is how to steer end users describe their applications. The second is how to make end users understand the results of analysis so that they will be able to supply further information or revise the current application descriptions. An enterprise ontology has been designed for these two purposes, and an ontology-based approach of the requirements elicitation and analysis has also been presented.
Using optimization tools such as genetic algorithms to construct a fuzzy expert system (FES) focusing only on its accuracy without considering comprehensibility may result in a system that is not easy to understand or...
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Using optimization tools such as genetic algorithms to construct a fuzzy expert system (FES) focusing only on its accuracy without considering comprehensibility may result in a system that is not easy to understand or so called a black box model. To exploit the transparency features of FESs for explanation in higher-level knowledge representation, a FES should provide high comprehensibility while preserving its accuracy. The completeness of fuzzy sets and rule structures should also be considered to guarantee that every data point has a response output. This paper proposes some quantitative measures to determine the degree of the accuracy, the comprehensibility, and the completeness of FESs. These quantitative measures are then used as a fitness function for a genetic algorithm in optimally building a FES.
Takagi-Sugeno (TS) fuzzy models have been the popular choice for multi-model based nonlinear system identification for controller design. However, the interpretation of the model from a dynamical systems point of view...
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Takagi-Sugeno (TS) fuzzy models have been the popular choice for multi-model based nonlinear system identification for controller design. However, the interpretation of the model from a dynamical systems point of view is still unclear. In this paper, we investigate the interpretation of the TS fuzzy models in terms of local dynamics of nonlinear systems in state space. The investigation is based on the comparison between the constant-affine recursive i/o equation and constant-affine state space representations. We show that the true local dynamics is not identifiable by TS fuzzy models by analysis and example. For the identification of constant-affine state space models, a subspace identification algorithm is proposed to identify the true local dynamics with zero initial conditions.
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