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It is shown that the objective of optimally specifying redundant actuators under constraints is commonly referred to as a control allocation problem. The problem is often posed as quadratic program (QP) problem, moreover considering the complex constraints case in engineering, some other mathematic programs maybe used, which are not QP. The second order cone program (SOCP), which has the more generality...
As the systems to be controlled are becoming more and more complex, more difficulties arise when trying to get excellent performance. In the grand trend of multi-subjects amalgamation, intelligent computation is widely applied to optimize controller parameters. Intelligent computation being inspired from biology evolution, which has formed their own ingenious structures through a long period, is suitable...
A global motion estimation method based on robust statistics is presented in this paper. By using tracked feature points instead of whole image pixels to estimate parameters the process speeds up. To further speed up the process and avoid numerical instability, an alterative description of the problem is given, and three types of solution to the problem are compared. By using a two step process, the...
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