The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Motivated by the fact that linear controllers can stabilize the rotational motion of a rigid body, we propose in this paper a control strategy that exploits graph theoretic tools for cooperative control of multiple rigid bodies. The control objective is to stabilize the system to a configuration where the rigid bodies will have a common orientation and common angular velocity. The control law respects...
Current vehicle control strategies aim at the integration of several actuator algorithms of the vehicle. This means a combination of the available actuators according to multiple optimization criteria due to several targets. One goal is the comfort of the driver for cruising, another objective of the optimization is the agility and stability of the vehicle during cornering. Both targets require different...
This paper considers the problem of designing a fault detection scheme for a distributed nonlinear dynamic system. A network of distributed estimators is constructed where an adaptive estimator based on an on-line neural approximation model is embedded into each estimation agent. The local detection decision is made on the basis of the knowledge of the local dynamic model and on an on-line-learned...
A control system can be designed either by applying a mathematical design method (the system theory approach) or by using a controller design tool (the CAD-approach). Graphical visually-interactive Computer Aided Design methods are nowadays quite attractive, especially for non-experts in control engineering. Matlab offers currently a controller design tool based on the root locus technique; time-delay...
This paper discusses the use of a parameter estimation approach for the calibration of electronic engine control software from an industrial perspective. Many functions in the software of automotive electronic engine control units are based on lookup tables. Calibrating, that is, tuning the entries of these lookup tables, is a crucial step in the process of automotive software engineering. At first...
This paper presents a dynamic routing method for supervisory control of multiple laser guided vehicles (LGVs) that are traveling within a layout of a given warehouse. In dynamic routing a calculated path particularly depends on the number of currently active LGVs' missions and their priorities. In order to solve the shortest path problem dynamically, the proposed routing method uses the string matrix...
This contribution addresses the control design for the three-spacecraft formation flying interferometry mission Pegase. The operational mode considered is the high-precision nulling phase. The control design has as major objective the minimization of the standard deviation of the controlled outputs, e.g. the optical path difference. The payload performance demands are shown to be fulfilled in spite...
This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results...
In a large number of applications fuzzy controllers have replaced existing linear controllers and brought new quality of control. The design of fuzzy controllers has a heuristic character and therefore, the setting of fuzzy controller parameters may become a tedious, time consuming job. The paper presents a method for initial setting of fuzzy controllers based on the use of state space trajectories...
This paper reviews a number of concepts and results relevant to the design of architectures to maintain the shape of a formation of autonomous agents. The paper begins with motivating examples from nature and the manmade world, and emphasises the task of providing satisfactory sensing, communication and control architectures within a formation of autonomous agents. Then some technical tools for characterising...
In many current fuzzy control papers, LMI stability conditions are devised in order to prove stability of Takagi-Sugeno fuzzy systems. Such laws are usually independent of the values of membership functions, and fulfil for multiple shapes of them. Knowledge of the shape of the membership functions may allow lifting some conservativeness. In particular, in this paper local quadratic stability results...
In (D. Cheng et. al, 2004),(D. Cheng et. al, 2005), it is proved that for a given controllable pair (A, B) with A isin Ropfn times n, B isin Ropfn times m, and any lambda > 0, a gain matrix K can be designed so that pare(A + BK)t par les MlambdaLe-lambdat where M and L are constants independent of A. Here we show that M and L can be chosen much smaller than that proposed in (D. Cheng et. al, 2004),(D...
Linear delay differential systems can be modeled as systems with coefficients in a suitable ring, so that several design problems can be solved using a geometric approach. To practically compute the solutions obtained for systems over a ring, Computational Algebra techniques must be used. The freely available software CoCoA is an efficient tool and easy to effectively implement the needed algorithms...
We construct a special type of first order representation of a linear time-varying system given by linear ordinary differential equations with rational or meromorphic coefficients. Under certain conditions, such a representation yields a classical state space model. We show that every system admits a partition of its variables into inputs and outputs such that a state representation can be obtained...
A new family of companion forms for polynomials and polynomial matrices has recently been developed in [4] and [1] respectively. The application of these new companion forms to polynomial matrices with symmetries has been examined in [2]. In this work we extend the results presented in [2] to the case of 2-D polynomial matrices and thus provide a new linearization of a 2-D polynomial matrix that preserves...
In this paper a two-step trajectory planning algorithm is applied to generate suitable trajectories for an autonomous parking maneuver of a car. It is shown how important requirements of the automotive industry can be met with the proposed approach. Furthermore, some details on the implementation of the algorithm are given, which are essential to obtain reasonable computation times
Recent advancement in wireless communications and electronics has enabled the development of low-cost sensor networks and these networks are finding increased application in the development of intelligent, distributed systems. Distributed deployment of sensor systems has to address issues in power management and efficiency. In this paper, these issues are addressed from the standpoint of optimal deployment...
In this study, we applied biorthogonal wavelets to extract essential features of the ballistocardiogram (BCG) signal and to classify them using a novel neural network so-called supervised fuzzy adaptive resonance theory (SF-ART). SF-ART has two stages. At first stage, pre-classification level, the input data is clustered roughly to arbitrary (M) classes using self-organized fuzzy ART tuned for fast...
This paper investigates the problem of reference tracking for systems defined by a Wiener model. The proposed algorithm is based on a dynamic inversion method in which it is assumed that the full state vector is unavailable. However it is assumed that the inverse of the nonlinear part is a known static function. The performance of the closed-loop system is tuned by an error feedback. As an example...
This paper presents sliding mode control (SMC) design for a class of nonlinear systems in which the sliding surface is designed to be linear with time varying slope(s). The sliding surface design is based on the frozen-time approach. The nonlinear system is frozen at each operation step resulting in linear time invariant (LTI) model and the sliding surface is designed for the LTI model. The surface...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.