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In the paper a hierarchical optimization method for complex systems, including control systems , characterized with replacement of the nonlinear global criterion function F(x,y) with a simpler and faster for calculation one - Psi (x,y) (unidirectional with F(x,y) ) for a subset of variable parameters in the second hierarchical level is suggested. A definition of unidirectional functions is proposed...
The problem of reverse-engineering the topology of interaction networks from time-course experimental data has been the subject of a considerable research effort in the last years, due to the potential applications in the most diverse fields, comprising engineering, biology, economics and social sciences. An important insight into such topic was brought by the introduction of the concept of scale-free...
This communication revisits the algebra-based results for derivative estimation presented by Fliess and coauthors in 2005. It is proposed, here, to consider multidimensional functions, namely scalar or vector fields of several variables. Such fields are locally represented by a vector Taylor series expansion, and a computation technique is presented so to express successive partial derivatives (for...
LQG/Loop Transfer Recovery (LQG/LTR) technique based on Kalman filter as observer, has some difficulties in facing with non-minimum phase systems. The main problem is that the observer becomes unstable when the compensator recovers the target loop asymptotically. In this paper, we propose an optimal robust recoverable target loops for a boiler system. Using asymptotic time-scale eigenstructure assignment...
Robust output-feedback simplified adaptive control model following with uncertainties and disturbances is considered. Sufficient conditions for closed-loop stability, model following performance and prescribed Hinfin disturbance attenuation level are introduced, under an almost-strictly-positive-realness requirement on the plant. A numerical example, taken from the field of flight control, demonstrates...
This article concerns road safety and driving assistance. To solve this problem, we propose a data fusion architecture based on the Dempster-Shafer theory. This multi-level approach allows the management of complementary and redundant data which come from two perception systems: an omnidirectional vision sensor and a laser telemeter. The originality of this architecture is its ability to manage and...
This paper presents a direct adaptive fuzzy control scheme for a class of uncertain single-input single-output nonlinear systems subject to input amplitude and rate saturation constraints. The fuzzy controller is designed to mimic an ideal controller which is assumed guarantying the control objective. The free parameters of the fuzzy controller are adjusted by an adaptive law which prevents the presence...
A robust asymptotic output command tracking controller is proposed to control the longitudinal motion of an aircraft model involving atmospheric gusts. The controller covers various flight conditions. The stability derivatives of the aircraft and the velocity of the aircraft are considered to be uncertain parameters. The output of the closed loop system tracks step and ramp type reference signals...
In this note, we examine network factorization in the context of observability and system identification problems embedded in the agreement protocol. Our observations in this venue further strengthen the intrinsic properties of the agreement protocol in relation to the structural features and decomposability of the underlying network.
In this paper, a systematic framework for optimised sensor configurations is implemented via Hinfin loop shaping procedure. The optimisation framework, gives the sensor sets that satisfy predefined user criteria and the preset constraints required for the MAGnetic LEVitated suspension performance via evolutionary algorithms. The scheme is assessed via appropriate simulations for its efficacy.
This paper focuses on the fragility analysis of PI-controllers for single-input-single-output (SISO) systems subject to input (or output) delays. Using a geometric approach, we present a simple and user-friendly approach not only to analyze the fragility of PI controllers, but also to provide practical guidelines for the design of non-fragile PI controllers. The proposed methodology is illustrated...
In this paper an identification method to estimate the parameters of a first order plus time delay model is proposed. Such a method directly obtains these parameters using a filtered equation and an optimization procedure without iterative calculations. A simple true/false criterion to establish if the hypothesis on the process type is correct can be easily derived. The proposed method shows an acceptable...
In this paper we propose modified Banker's algorithm for routing and scheduling in multi-AGV systems. A mission path, determined by string algebra is executed in a way that some unsafe states are allowed in order to achieve better utilization of vehicles. Moreover, a method for splitting a mission path is proposed so that number of resources (arcs) needed for mission execution is gradually reduced...
It is generally accepted that harmonicity requirements for wind instruments lead either to cones or cylinders for continuous bores. It has been shown previously by the author that optimal control theory can be an valuable framework for theoretical studies about the shape that a wind instrument should have in order to satisfy some optimization criterion, inside a fairly general class, related to interesting...
This contribution deals with design of controllers for integrating processes with time delay. In contrast to many other methods, the proposed method is not based on the time delay approximation. A control structure combining standard 1DOF and 2DOF control structures is considered. The control design is performed in the RMS ring of retarded quasipolynomial (RQ) meromorphic functions - an algebraic...
A method for the trajectory planning of coordinated groups of UUVs, developed in authors' previous work is extended. The key points within the design patterns that must be used to implement the method in code are stressed. Rotors, vectorized quantities which introduce directionality, and thereby cause divergence from local minima, are introduced into the virtual potential algorithm. This development...
A geometric approach to the disturbance decoupling problem for linear neutral systems with a finite number of commensurable point delays is investigated and necessary and sufficient conditions for its solution are given. Using as models neutral linear systems with coefficients in a ring, new invariant submodules are defined together with algorithmic procedures for their computation. Examples are worked...
In this paper, we propose a methodology for marine archeological survey, which aims at enhancing productivity and safety during on-field missions. A primary interest of the archaeological investigation is to extract, in a non invasive way, as much information as possible from a site with minimal expenditure of time and of expensive resources. In general, this is done by taking photos and measurements...
This paper describes a method to control the arrival time, xy plane speed, and orientation of an unmanned aerial vehicles to specified static targets. To reach the mission objectives, a virtual target is created and associated to each real target. Each virtual target moves along a straight line at a constant speed corresponding to the one at which the UAV must reach the real target. The starting point...
This paper deals with the position and attitude control of a Vega-type space launcher. The first part of the paper develops a general model of the launcher that takes into account the gravity, air density and mass variation. It also derives a linear model with uncertainty for the dominant dynamics, taking the nonlinear characteristics of the system as parametric uncertainty. The second part introduces...
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