This paper presents the design of a controller based on adaptive backstepping and high order sliding modes for output tracking of mobile robots. The proposed controller can greatly reduce chattering of sliding modes o...
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This paper presents the design of a controller based on adaptive backstepping and high order sliding modes for output tracking of mobile robots. The proposed controller can greatly reduce chattering of sliding modes of the system, and it has certain robustness with respect to the external random disturbances and good adaptability with respect to the parametric uncertainty.
In this paper, fault detection problems for linear uncertain systems are studied. Instead of designing fault detection systems from the viewpoint of increasing the system robustness against unknown inputs and the sens...
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In this paper, fault detection problems for linear uncertain systems are studied. Instead of designing fault detection systems from the viewpoint of increasing the system robustness against unknown inputs and the sensitivity to the faults, an approach is proposed, which allows us to design fault detection systems in such a way that the missed detection rate is minimized for a given false alarm rate.
Differential linear repetitive processes are a distinct class of 2D continuous-discrete linear systems of both applications and systems theoretic interest. In the latter area, they arise, for example, in the analysis ...
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Differential linear repetitive processes are a distinct class of 2D continuous-discrete linear systems of both applications and systems theoretic interest. In the latter area, they arise, for example, in the analysis of both iterative learning control schemes and iterative algorithms for computing the solutions of nonlinear dynamic optimal control algorithms based on the maximum principle. Repetitive processes cannot be analysed/controlled by direct application of existing systems theory and to date there are few results on the specification and design of control schemes for them. The paper uses an LMI setting to develop the first really significant results in this problem domain.
Many fundamental problems in the max-plus-algebraic system theory for discrete event systems - among which the minimal state space realization problem - can be solved using an Extended Linear Complementarity Problem (...
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This paper addresses the problem of implementing predictive controllers for supervisory level control systems. In this configuration the manipulated variables calculated by the Predictive controller are used as comman...
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This paper addresses the problem of implementing predictive controllers for supervisory level control systems. In this configuration the manipulated variables calculated by the Predictive controller are used as command signals for the Distributed control Systems, which provide references to the operator-tuned local PID controllers that act on the physical system. This structure introduces the problem of loosing of performance if the inner-loop controllers are re-tuned. The paper discusses the solution to this problem based on the use of a two-degrees-of-freedom structure in the inner loop, that separates open and closed-loop properties. Both design guidelines and robustness issues are discussed.
The paper discusses the usefulness of Gröbner bases methods in a variety of control problems for a class of polynomial systems. Polynomial systems are described by difference or differential equations in which th...
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The paper discusses the usefulness of Gröbner bases methods in a variety of control problems for a class of polynomial systems. Polynomial systems are described by difference or differential equations in which the transition map or vectorfield are polynomials. Gröbner bases methods are useful in both the analysis and the design of polynomial control systems.
Many fundamental problems in the max-plus-algebraic system theory for discrete event systems — among which the minimal state space realization problem — can be solved using an Extended Linear Complementarity Problem...
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Many fundamental problems in the max-plus-algebraic system theory for discrete event systems — among which the minimal state space realization problem — can be solved using an Extended Linear Complementarity Problem (ELCP). We present some new, more efficient methods to solve the ELCP. We show that an ELCP with a bounded feasible set can be recast as a standard Linear Complementarity Problem (LCP). Our proof results in three possible numerical solution methods for a given ELCP: regular ELCP algorithms, mixed integer linear programming algorithms, and regular LCP algorithms. We also apply these three methods to a basic max-plus-algebraic benchmark problem.
Presents the detailed algorithm established for determination of workspace for a 3-DOF coordinate measuring machine using parallel link mechanism by constructing the inverse kinematic model first and then reviewing th...
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Presents the detailed algorithm established for determination of workspace for a 3-DOF coordinate measuring machine using parallel link mechanism by constructing the inverse kinematic model first and then reviewing the physical and kinematical constraints from the structural characteristics of the parallel link mechanism, and discusses the actual geometries of workspace and the factors having effect on workspace through computer simulation thereby providing necessary theoretical basis for the research and development of coordinate measuring machines using parallel link mechanism.
In this paper, a sufficient condition of robust D-stability for discrete-delay perturbed singular systems is presented, and the robust stability sufficient condition is independent of the delay. Two classes of perturb...
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In this paper, a sufficient condition of robust D-stability for discrete-delay perturbed singular systems is presented, and the robust stability sufficient condition is independent of the delay. Two classes of perturbations for systems are discussed: (1) highly structured parametric perturbations; (2) unstructured parametric perturbations. An useful technique for robust pole-assignment in a specified circular region is also proposed, the criterion is tested easily, and convenient for the application in the engineering. Two examples have been given to validate the proposed method.
In this paper, the tabu search algorithm is employed to train Hidden Markov Model (HMM) to search out the optimal parameter structure of HMM for automatic speech recognition. The proposed TS-HMM training provided a me...
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