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This paper considers the case of a feedback controlled nonlinear propagation system modeled by hyperbolic partial differential equations with nonlinear boundary conditions and the control described by integral equations and synthesized on one boundary — an engineering application which occurs in a control system for heat-energy co-generation. The numerical model is deduced by using a convergent Method...
This paper overviews the literature pertaining to the stability analysis of systems with delay-dependent coefficients, which can arise from various scientific and engineering applications. Research on Stability analysis for systems with a single delay is first reviewed, followed by a discussion of some techniques also applicable to the multiple-delay case. We attempt to provide the main ideas of various...
Continuous-review inventory control problem in goods distribution networks is addressed from a control-theoretic perspective. In contrast to the earlier works concentrating on the fundamental serial and parallel-path configurations, a multi-echelon mesh topology network of suppliers, distribution centers, and retailers is considered. The external, uncertain demand may be imposed on any node in the...
Modern control theory has been applied successfully in a wide variety of engineering disciplines for decades. In sharp contrast to this situation, however, there are fields like ecology where control methodologies have not been so successful in practice. This largely due to the poor quality of models that are available and the limited amount of reliable data that can be gathered. An emerging set of...
This paper aims at presenting a Sliding Mode Control with constraints for urban transportation network. Firstly, by applying the store-and-forward approach, the transportation network is modeled into a linear model. Then, the controllability analysis has shown that the system is not totally controllable. Hence, it is split into controllable subsystem and uncontrollable one. Furthermore, the Sliding...
It is undeniable that the satellite attitude is random just after the orbit injection from the launcher. In a phase, it is difficult to extract the full attitude knowledge of the satellite, however, it can be possible to determine the coarse attitude angular rate of the satellite using the difference of two successive magnetometer measurements. It is required to put the satellite attitude from the...
Spiking neural networks are designed for better modeling the natural neural tissue physiology in order to increase the biological plausibility of the artificial neural structures. In this paper we will present a simple structure of electronic spiking neurons that is able to model the classical conditioning starting from the Pavlov observations of the dog's central nervous system. For modeling the...
We present an Adaptive Cruise Control (ACC) architecture which is focused on solving repetitive switching issues between two modes of ACC, speed control and distance control. A cascaded controller structure has been used. First controller (upper) includes two modes: a speed controller (PI) and a distance controller (time-gap). Outputs of these controllers are acceleration reference signals. The second...
Control theory can establish properties of systems which hold with all signals within the system and hence cannot be proven by simulation. The most basic of such property is the stability of a control subsystem or the overall system. Other examples are statements on robust control performance in the face of dynamical uncertainties and disturbances in sensing and actuation. Until now these theories...
This paper presents a solution with reduced computational complexity for path planning of a team of robots that should satisfy a mission expressed as a Boolean formula. It is assumed that the robots move in a partitioned environment containing some regions of interest. The robots should reach some final regions such that a Boolean formula expressed using the regions of interest is satisfied. Moreover,...
This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance...
This paper deals with a design problem of variable gain robust model following/tracking control for a class of uncertain linear systems. The new proposed variable gain robust control system is composed of fixed gain controllers and variable ones. In this paper, LMI-based sufficient conditions for the existence of the proposed variable gain robust controller are given. Finally, a simple numerical example...
The paper describes a new holonic solution for the design of generic Facility Environment Conditioning and Control Systems (HFES) based on modelling processes as environment services (EServices) and implementation in multi-agent framework. This approach allows for the customization of: data acquisition, correlation between cleanroom parameters, HVAC channel control and influencing the radiopharmaceuticals...
Decentralized control is linked to sensitivity reduction in unity feedback systems [1, 2]. It is proposed in this paper to extend this result to unstable invertible plants in order to also achieve ultrafast and robust control through a new control method. The present result is a multivariable extension of the single-input single-output case [3] which has been recently tested successfully at McGill...
An inertial-aided visual servo control approach for fully-actuated Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography obtained from corresponding images of a locally planar scene is directly exploited as feedback information. A cascade inner-outer loop control architecture is adopted that facilitates both control implementation and gain...
Heavy lift crane vessels play an important role in offshore installations. Previous studies have shown that position control systems for these vessels can cause unstable positioning behavior during offshore construction assignments under specific conditions, e.g., change of environmental loads. Some control methods, such as crane force feedforward to the controller or the estimator, have been developed...
This paper begins with a useful presentation of known theoretical mechanics concepts for obtaining the equations of motion for systems of rigid bodies with and without non-holonomic constraints, using D'Alembert's principle. Then the equations of motion of a two-wheeled inverted pendulum on a flat surface with non-sliding wheels are obtained, by using the presented theory. Finally the nonlinear dynamical...
The basis of this study is to create an insight for target vehicle path following or improving situational awareness by using path accumulation and ego-motion compensation. Possible application variants of the strategy, for highways and urban roads are also described. The study is also extended for enhancing path accumulation in noisy environment or sensing by making use of spline based curve approximation...
Virality is a term which reflects the popularity of a certain topic or message in a social environment. Taking into account the network topology, i.e. the relational hierarchy of individuals, we propose an analysis of networks with different connectivity degrees between nodes. We model the behavior of the social network in terms of information diffusion, starting with an initially chosen source node...
We perform a local sensitivity study taking into account the variation of the parameters and initial conditions applied to a model governing the chronic myelogenous leukemia (CML) evolution, a cancer of the white blood cells. The interaction mechanism between naïve T cells, effector T cells, and CML cancer cells in the body is modeled by a system of ordinary differential equations which defines rates...
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