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...
详细信息
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.
In this paper, T-G-P model is built to find maximum power point according to light intensity and temperature, making it easier and more clearly for photovoltaic system to track the MPP. A predictive controller conside...
详细信息
作者：
Jianyu LinDepartment of Automation
Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China
The paper investigates the problem of the asymptotical stability and stabilization of uncertain large-scale fractional order interconnected *** the basis of the stability criterion of fractional order system,sufficien...
详细信息
ISBN:
(纸本)9781479900305
The paper investigates the problem of the asymptotical stability and stabilization of uncertain large-scale fractional order interconnected *** the basis of the stability criterion of fractional order system,sufficient conditions are firstly derived for the asymptotical stability of fractional order large-scale interconnected system with norm-bounded uncertainties. Then,sufficient conditions on robust stabilization of large-scale fractional order interconnected system with norm-bounded uncertainties are established based on a complex Lyapunov inequality described in the form of ***,decentralized stabilization state feedback controllers are *** example is used to illustrate the effectiveness of the proposed method.
We study an opinion formation model with the coevolution of network structures and opinions. The links formed among the agents are based on the popularity of the nodes and the similarity of their opinions, and in retu...
详细信息
ISBN:
(纸本)9789881563835
We study an opinion formation model with the coevolution of network structures and opinions. The links formed among the agents are based on the popularity of the nodes and the similarity of their opinions, and in return, opinions change in response to the network structure. We find that the pursuit of popularity accelerates the convergence, while the pursuit of similarity slows down the convergence. In addition, the whole group convergence more quickly with a larger number of neighbors. We also investigate neighbor-preserving strategies, and find that maintaining a nonzero number of neighbors could lead to faster convergence.
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...
详细信息
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.
作者：
Xin-Wu LIANGXin-Han HUANGMin WANGDepartment of Automation
Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering
Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China
Image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control...
详细信息
Image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.
Subspace learning is most traditional and important in multimedia analysis. Numerous researches have focused on how to introduce machine learning and statistical methods to multimedia subspace learning for semantic un...
详细信息
Quadrotor is a type of rotor craft that consists of four rotors and two pairs of counter-rotating, fixed-pitch blades located at the four corners of the body. The flight control parameters optimization is one of the k...
详细信息
With the rapid development of embedded technology, mobile devices have been widely used than before. Face recognition has also been taken as a key application with PCA as the basic algorithm. Though PCA can provide ba...
详细信息
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...
详细信息
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.
暂无评论