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In this paper we consider a plant with parametric uncertainties and its trajectory sensitivity model. This simultaneous consideration allows us to propose algebraic conditions of output invariance of the closed-loop system which includes the plant. An example is given.
Digital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be tracked/rejected, its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling...
In this paper, an adaptive digital implementation of an inverse model based control scheme for a system with parametric uncertainty is proposed using generalized sampling and hold functions. The implementation of the control law using this kind of holds allows overcoming the difficulties related to the presence of unstable zeros in the continuous-time model and the usual appearance of unstable discretization...
New observation methodology is developed for inherently nonlinear systems satisfying the complete uniform observability condition. Under the assumption that the system nonlinearities are continuously differentiable, we show that the design of globally converging observers for triangular uniformly observable systems is always possible whatever the form of the nonlinearities. Illustrative example is...
This paper considers the problem of control-oriented errors quantification for a known linear discrete-time SISO model under coprime factor perturbations and measurement disturbance. Upper bounds on exogenous disturbance, measurement disturbance and perturbations in output and control are assumed to be unknown to the controller designer. The problem under consideration is to compute data-consistent...
Tests that validate the operation of handsets into carriers' networks are very important to ensure the quality of such devices. In this way, carriers require a rigid process of certification before the delivery of these handsets into the market. Note, however, that more thorough testing prior to deployment and a reduced time to market are competing objectives that handset manufacturers must try to...
In this article, a novel piezo - hydraulic actuator exploiting resonance effects is presented. The proposed actuator relies its operation on the significant pressure built up in a fluid pipe during resonance. The actuator's piston houses a valve which rectifies the wave's motion into direct mechanical motion. Since pressure waves are to be examined, a model capable of capturing the wave dynamics and...
A new approach for guaranteed state estimation of a linear system under parameter uncertainties in correlated disturbances and measurement errors is suggested. Conditions for adjustment of a Kalman-type filter with guaranteed estimation are derived for the case that the correlated disturbances and measurement errors are first-order Markov processes. The efficiency of the suggested method is illustrated...
In low-power electronics, achieving a high energy efficiency has great relevance. Nowadays, global asynchronous local synchronous systems enables to use a local dynamic voltage scaling architecture. This technique allows to reach a high energy efficiency. Moreover, local dynamic voltage scaling can be implemented using different approaches. One of them is the Vdd-hopping technique. In this paper,...
This paper presents the development of a land vehicle navigation system that provides accurate and uninterrupted positioning. Ground speed Doppler radar and one MEMS gyroscope are used to augment differential GPS (DGPS) and provide accurate navigation during DGPS outages. Using Doppler radar has advantages of easy assembling and lowcost maintenance compared to wheel encoders. The Doppler radar and...
This paper presents the mathematical model describing movement of vehicles through adjustable crossroads. The model is based on the theory of queuing. The stationary modes of the system are investigated, the problem of optimal duration of traffic light cycle is studied.
We present the 3D mathematical model of glycolysis reaction in an open reactor based on the Selkov equations. It has been shown that this relatively simple model adequately reproduce the main features of the experimentally observed glycolytic traveling waves. The analysis of the wave generation conditions shows that the emergence, direction of motion and shape of these reaction-diffusion waves can...
Minimizing the coverage task time is important for many sensor-based coverage applications. The completion time of a sensor-based coverage task is determined by the maximum time traveled by a robot in a mobile robot group. So the environment needs to be partitioned among robots considering their travel times. Most of the coverage algorithms results in sharp turns which require the robot to slow down,...
Recent works on adaptive optics (AO) systems have shown that the knowledge of static and dynamic characteristics of the atmospheric turbulence can be exploited to improve the performances of the AO control system. Then, motivated by the importance of an effective control for compensating the atmospheric turbulence effect and thus improving the real resolution of ground-based telescopes, in this paper...
This paper addresses the problem of obtain a one-dimensional discrete-time map for the duty-cycle of a boost converter under current-mode control. This converter is widely used in the power supply industry. In practice, period-one operation is of interest from the engineering design point of view; however, nonlinear phenomena such as bifurcations and chaos can occur in switch-mode DC-DC converters...
The present work develops a method to determine higher-order corrections to the pi criterion, derived from basic results of Center Manifold theory. The proposed method is based on solving the Center Manifold PDE via power series. The advantage of the proposed approach is the improvement of the accuracy of the pi criterion in predicting performance under larger amplitudes. The proposed method is applied...
In this paper Adams-Bashforth approximations were employed for sampled-data modeling of a large class of vehicle dynamics in many degrees of freedom. The problem of path tracking and regulation with geometric and kinematic specifications on the reference paths was focused afterwards. An approach to model-based controller design was presented based on a Lyapunov method over an incremental functional...
In this study, an adaptive control scheme is designed for vibration isolation of SDOF structural system using a semi-active MR (magnetorheological) damper. The main goal of using a MR damper system is for structural protection against earthquake excitation and wind loading. A structural system excited by an earthquake and controlled by using MR damper is modeled as a semi-active controlled, seismically...
This paper discusses results from real-life tests with intelligent road marking units (RMU), placed on the surface of a highway in northern Sweden, to monitor passing vehicles and road properties, as well as making the information available through a wireless sensor network. Wireless sensor networks are starting to gain interest in the area of cooperative safety and efficiency in transport as they...
The synchronization problem in network having line, star or combined linestar (tree) topology via communication links with limited capacity is considered. Limit possibilities of nonlinear controlled synchronization systems with first-order coders for multi-dimensional master-slave Lurie systems (linear part plus nonlinearity depending only on measurable outputs) are presented. It is shown that the...
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