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In this paper, decentralized guaranteed cost control for uncertain large-scale singular systems are studied. The parametric uncertainty which is assumed be norm-bounded exists not only in system matrices, but also in a derivative matrix. For the stabilization of the given system, guaranteed cost proportionalplus-derivative state feedback is suggested. The linear matrix inequality (LMI) condition which...
In this paper, the H2 filtering of bilinear systems is considered using T-S fuzzy approach. For the bounded input, the bilinear system can be transformed to the Takagi-Sugeno (T-S) fuzzy dynamic system by putting the control input as the premise variable. Then the robust H2 filter for T-S fuzzy system is designed upon existing results using the linear matrix inequality(LMI). The feasibility and effectiveness...
Given massive heterogeneous online media, how can we summarize events, and discover causal relationships among them, in real time? Indeed we are living in a deluge of information, everyday hundreds of thousands of news articles are published, millions of postings from social media and internet forums are written, and billions of search queries are generated by Internet users. To convey user-interested...
This paper presents a design method of a disturbance observer for discrete-time linear systems. In order to estimate the unknown disturbance, an augmented model is constructed by supposing the estimated disturbance to be an auxiliary state variable. The sufficient condition for the existence and convergence of the robust observer is proposed in terms of linear matrix inequality (LMI). Numerical examples...
We propose vibration controller design using positive position feedback (PPF) control. The five pairs of electromagnetic actuators and sensors are used to control strip vibration. Strip was modeled using finite element modeling (FEM). To reduce the order of the large scale model, the Krylov subspace technique was used. To control the vibration, PPF control was applied. The stability condition for...
In this paper adaptive backstepping terminal sliding mode synchronization for a class of uncertain chaotic system is proposed. For finite-time convergence, terminal sliding mode scheme is adopted to backstepping design procedure. It is assumed that only output is measured. Error dynamics is calculated from the difference of output in drive-response system. Finite-time convergent observer is used to...
This paper proposes a fuzzy tracking control design for Takagi-Sugeno (T-S) fuzzy systems. T-S fuzzy model is used to represent the nonlinear systems subject to external disturbance. Based on Lyapunov's direct method, the model reference tracking control scheme based on the augmented system is proposed and a nonlinear control law is derived with robust H∞ performance. Sufficient condition is derived...
In this paper, a supervised feature selection approach is presented, which is based on support vector data description(SVDD). This method is suggested for multi-class classification case, and it utilizes a sequential backward selection algorithm using the accuracy of classifier to decide which feature to be eliminated. The proposed approach is applied to well-known real world datasets, and the obtained...
In this paper, features of steel defects data are selected using a wrapper algorithm to increase classification performance. The data are constructed using images of steel defects which are classified two classes as defects and pseudo defects. The suggested algorithm selects features which are relevant to class using the kappa statistic. This measure is suggested to improve accuracy of minor class...
This paper presents an approach for the surface inspection of steel product. The research aims to detect surface defect of a wire rod. Scratch defect is caused by many reasons such as poor quality of raw material or malfunction of rolling process. The defects are very difficult to detect accurately due to the scale-covered background and uneven illumination. The inspection system is based on vision...
This paper presents a fuzzy tracking control design method for nonlinear systems. Takagi-Sugeno fuzzy model is utilized to represent a nonlinear dynamic systems subject to external disturbance and measurement noise. Based on the fuzzy model, a fuzzy observer-based fuzzy controller is developed with guaranteed cost performance. The model reference tracking control scheme based on the augmented system...
This paper addresses the problem of robust tracking control for nonlinear systems with external disturbances. The nonlinear system is represented by the discrete-time Takagi-Sugeno (T-S) fuzzy model. The control scheme is based on Hinfin performance to attenuate the tracking error as small as possible for the external disturbances. The stability of the whole closed-loop model is investigated using...
In this paper, a delay dependent robust fuzzy output feedback control is considered for time-delay chaotic systems with disturbances. Observer based controller is constructed by the T-S fuzzy model. The control algorithm is proposed to guarantee the Hinfin performance of the time-delay chaotic systems. Linear matrix inequality (LMI) method is used to obtain controller and observer gains. To find the...
In order to reduce the number of search space in planning, many abstraction techniques are introduced. For example, several hierarchical planners already provide significant reduction in search space. Hierarchical planning in real world, however, requires not only planning knowledge such as plan operators but domain knowledge used for describing world model. One of most important issue for hierarchical...
Today, for enabling intelligent decision and high accuracy of recognition in service robots, many researchers supplement robot's knowledge model using the additional knowledge. However, the construction of the knowledge requiring much effort and domain experts fully depends on man power by few people. Thus, this paper proposes a fully automated process of acquiring domain knowledge and representing...
This paper presents a vision system technique for the real-time identification of billet characters in the steel production line. Normally, billets are mixed in the yard, thus, making the process for automatic identification of billet codes very difficult to conduct. In steelmaking industry, the environment around billets has a serious effect on the accuracy of character recognition. The qualities...
The main reason of current robotics research is the difficulties of coping with dynamic environment, uncertainty, operational limitation, etc. Human robot interaction (HRI) becomes important role in robotics research and especially humanpsilas roles in HRI is increasing. In this paper, we made robot task planning framework for MI HRI in home service environment. We suggest an structure of task network...
Emotion is one of human communication' channels; and in this paper -as part of mixed-initiative-emotion is used for triggering user interaction. Three interaction-planning modes which agglutinate seven interaction-types are introduced. This work shows how the existing framework changes by adding emotion to robot. For planning, scripts are used for the implementation of the ideas presented, where emotional...
Autoregressive with exogenous variable (ARX) model and least square support vector machine (LS-SVM) regression were used the field of linear and nonlinear system modeling. The structure of linear ARX model is concerned with the number of time lags of the model and coefficients. While the determination of the system order is very important in the performance of the estimated model, the automatic selection...
Identification of fuzzy models with multidimensional membership functions is considered. Many proposed fuzzy models use one-dimensional fuzzy sets and partition multidimensional input-spaces by Cartesian products of these univariate membership functions. The drawback of this approach is the complexity of the model in terms of the number of rules, which grows exponentially with the number of inputs...
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