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A kind of problems appearing under identification of stochastic systems and concerned with applying nonlinear measures of dependence of random values (processes) is analyzed. Approaches using such a consistent measure of dependence as the Shannon's mutual information are considered. A constructive procedure of deriving a linear input/output model which is statistically equivalent to a multi input...
New approach for modelling a physical hysteresis damping the flexible spacecraft structure oscillations, is developed. New results on spacecraft attitude guidance and digital robust control with precise pointing the large-scale flexible antennas, are presented.
The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding...
This paper presents a design of the fuzzy logic control for a permanent magnet DC motor. The main objective is to achieve a robust controller under disturbances and unmodeled dynamics acting, such as load torque, dead zone, measurement noise and nonlinearities. The whole system contains the DC motor, driver, tachogenerator, external load and microprocessor based system (dSPACE CLP1004). This system...
This paper explores the use of a discretization procedure based on multirate sampling called generalized sample-data hold function (GSHF) for modeling and control purposes. Within this framework, the designer is allowed to use the degrees of freedom provided by the GSHF to deliberately cause stable pole-zero cancellations and, thus, obtaining reduced-order discrete-time models from linear continuous-time...
Diabetes is a serious disease during which the body's production and use of insulin is impaired, causing glucose concentration level to increase in the bloodstream. Regulating blood glucose levels as close to normal as possible, leads to a substantial decrease in long term complications of diabetes. In this paper, an intelligent neural network online optimal feedback treatment strategy based on nonlinear...
In this note we derive an exact expression for the expected probability V of constraint violation in a sampled convex program (see [1], [2] for definitions and an introduction to this topic): V = expected number of support constraints/1 + number of constraints. This result (Theorem 1) is obtained using a simple technique based on cardinality count. In the note, we also use a Chernoff bounding technique...
A modern system theory based nonlinear control design is discussed in this paper for successful operation of an air-breathing engine operating at supersonic speed. The primary objective of the control design of such an air-breathing engine is to ensure that the engine dynamically produces the thrust that tracks a commanded value of thrust as closely as possible by regulating the fuel flow to the combustion...
This paper focuses on the robust stability of networked control systems (NCSs), considering time-delay and sampling period simultaneously. Particular stability problems involving constant and/or time-varying parameters are investigated, and the corresponding stability regions are derived. The methods are based on searching an appropriate Lyapunov matrix and parameter-sweeping. It is shown that the...
In this paper, an adaptive sliding mode control scheme capable of solving the problem of stabilizing a class of nonholonomic systems in chained form with unknown control direction affected by uncertain nonlinear drift term and parametric uncertainties is proposed. The crucial point is the necessity of reformulating the system model so as to make the uncertain terms appear in matched form. The system...
New chattering-free feedback design for a class of perturbed nonlinear systems is presented. The idea is basically founded on uniting rational-power feedbacks with rational-type feedbacks that approximate the sign function. We show that the degree of smoothness of the applied controller depends essentially upon the number of the rational-power terms used in the expansion of the whole feedback. A detailed...
An atomic force microscope (AFM) usually employs proportional-integral (PI) control strategy to sustain a constant cantilever deflection. However, it is well known that the tuning of PI parameters is a tedious and complicated procedure, especially for those unfamiliar with control theory. In this paper, we employ and implement relay controller to automate the tuning procedure for contact-mode AFM...
Digital control problems for dynamically positioned ships are considered by nonlinear sampled-data control theory based on Euler approximate models. State feedback laws that guarantee semeglobal practical asymptotic (SPA) stability of ships are designed. Then the reference signals for the position and the attitude of ships are introduced and state feedback tracking laws are also designed. The effectiveness...
Small reverse osmosis desalination plants without pH control normally use a feed water bypass to modify the permeate conductivity by mixing a little amount of feed water with the permeate. Plants with this characteristic have a different system configuration and the conductivity is usually not controlled. In this contribution, small plants with feed water bypass are studied from the dynamic point...
We discuss the role of random basis function approximators in modeling and control. We analyze the published work on random basis function approximators and demonstrate that their favorable error rate of convergence O(1/n) is guaranteed only with very substantial computational resources. We also discuss implications of our analysis for applications of neural networks in modeling and control.
This paper intends to study the stabilization of a satellite using the method of controlled Lagrangians. The stability analysis of Euler-Poincare mechanical systems is extended to systems with non-zero potential energies. The results are then utilized in the stabilization of a satellite in a gravitational field. The effectiveness of the stabilizing law has been verified through simulations. In a sequel...
In this paper, application of fuzzy interacting multiple model unscented Kalman filter (FUZZY-IMMUKF) approach to integrated navigation processing for maneuvering vehicle is presented. The unscented Kalman filter (UKF) employs a set of sigma points through deterministic sampling, such that the linearization process is not necessary, and therefore the error caused by linearization as in the traditional...
The selection of the structure of a controller in large scale industry processes requires extensive process knowledge. The aim of this paper is to present methods which help designers to comprehend a process by representing structural and functional relationships from actuators and process disturbances to measured or estimated variables. This paper describes similarities between brain connectivity...
This paper develops an algorithm that guides a multi-robot system in an unknown environment searching for targets. The targets can be either fixed or moving. In order to locate all fixed targets and intercept all moving targets, the algorithm covers the entire free space in a sweeping fashion. No cellular decomposition of the area is performed. Communication between the robots is restricted. Two robots...
Generally speaking transport processes are typically modeled as distributed parameter systems. Most existing approaches to the control of such systems demand a high computational effort or are based on an approximation of the model. In this contribution, by attaching the sensors to the moving goods, two new flatness-based tracking control strategies are developed, which are numerically efficient and...
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