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Ladder circuits can be considered as two-dimensional (2D) systems where information is propagated in two separate directions, i.e. along the time axis and along a space variable represented by a node number. Further, lifting along nodes is applied to obtain an equivalent 1D dynamical system model. Finally, the Linear Matrix Inequality (LMI) approach is used to develop robust stability conditions for...
A sufficient rank condition that guarantees uniform asymptotic stability at the origin for a class of underdamded dissipative nonautonomous Hamiltonian system is derived. To this end, first it is shown that this kind of systems require an observability condition to hold true for asymptotic stability. However, since observability cannot be easily checked for nonautonomous systems, this condition is...
The study of properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. This paper aim to briefly survey recent results on stability and controllability of switched linear systems. First, the stability analysis for switched systems is reviewed. We focus on the stability analysis for switched linear systems under arbitrary switching, and we...
We consider Kuramoto model of phase oscillators with attractive-repulsive interconnections, that is, part of interconnection gains can be negative. We generalize results on existence of phase locked solutions of input-output weighted sign-symmetric interconnections and present corresponding necessary and sufficient conditions for phase locking. We give an expression for synchronization frequency,...
Liveness detection (often referred to as presentation attack detection) is the ability to detect artificial objects presented to a biometric device with an intention to subvert the recognition system. This paper presents the database of iris printout images with a controlled quality, and its fundamental application, namely development of liveness detection method for iris recognition. The database...
In this paper a digital FIR notch filter used for removing power-line interference from biomedical recordings is presented. A concept of finite impulse response narrow bandstop time-varying filter with non-zero initial conditions, based on linear Kalman notch prototype filter, is proposed. In order to reduce the duration of the transient response of the proposed FIR notch filter, a parameter of the...
In this paper we consider a state-feedback discrete control of the continuous linear process, where the actuator is connected to the controller via data transmission network. The main complication of this control architecture is the presence of variable time delays. The idea is to reduce temporal dependency of the individual parts of this model by introducing buffer at the actuator. As long as variable...
The paper presents a stability analysis of linear time-varying IIR filter with equalized group delay characteristic. A problem of a non-linear phase response of an IIR filter is introduced. An allpass equalizer as a solution is proposed. The changes in the time domain that additional component introduces into the system is pointed out. The linear time-varying difference equation describing the IIR...
In this contribution we develop a physical model for a non contact, high-precision Lorentz force planar motion stage of linear DC brushless type. We derive physical models of the relevant components and investigate sources and influences of various parasitic effects and disturbances. For the latter, phenomenological models are developed that capture the behavior observed throughout experiments. The...
The contribution addresses the problem of robust trajectory tracking control and disturbance rejection for a non contact, high-precision Lorentz force planar motion stage of linear DC brushless type. The control problem is accomplished by using a composite control law including a simple computed torque type controller together with an extended Luenberger type of state and disturbance observer also...
In this work the risk-sensitive optimal filtering equations for systems of third grade with linear observations and mean square cost criterion to be minimized had been applied to the Fitz Hugh-Nagumo model. This special model represents a excitable system. The performance of the obtained risk-sensitive estimator for third degree stochastic systems with polynomial linear drift terms with polynomial...
This paper presents the concepts of the stereovision system equipped with only one camera with adaptation allowing to obtain full stereo picture for acquirement a digital model of the transport device workspace. Special author's care was focused on the system validation, having regard its specific architecture. The present stereovision system is part of Autonomous Navigation System solutions, dedicated...
The Fuzzy-neural development system is presented in two versions. The First version is the implementation in C, C++ with interface to Matlab or other programs using DLL calling. The second implementation is newer, conform to Referential transparency. For implementation we choose functional programing language Scheme. The Scheme version R5RS is adopted on different platforms like PC, microprocessors...
The swarm behaviors of multi agent is a popular topic and has significant interest and application in industrial engineering, such as multi-robot team and autonomous air vehicle. Many studies have been done on modeling and describing swarm aggregation as well as analyzing its stability properties. This study provides a novel contribution by using Fuzzy Logic and simple Mamdani rules for constructing...
This paper presents the design and real-time implementation of a Type-2 Fuzzy Logic Proportional-Integral Controller (T2FLPIC) to control the position of a DC servomotor, which controls a robotic arm. Numerous type-2 defuzzification methods were implemented and judged against each other. A comparative analysis with the conventional Type-1 Fuzzy Logic Proportional-Integral Controller (T1FLPIC) and...
The prototyping process of a fuzzy logic-based anti-sway control scheme for the laboratory scaled overhead crane is described. The software-hardware equipment of control system, as well as the contact and contactless techniques of sway angle of a payload sensing which have been implemented on the laboratory stand are presented. Proposed anti-sway control system is based on a set of the linear controllers...
Collision avoidance is a fundamental problem in navigation. In this paper, we present a novel method of cooperative movement planning to examine how two vehicles can orchestrate their movements so as to avoid collisions and subsequently return to their intended paths. Movement planning in this research is solved by regarding it as a decision process. When the vehicles are at risk of a collision, the...
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