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In this paper, a new on-line neural identification method is presented. The identified nonlinear systems are partial-state measurement. Their inner states, parameters and structures are unknown. The design is based on the combination of a sliding mode observer and a neuro identifier. First, a sliding mode observer, which does not need any information of the nonlinear system, is applied to get the...
The effect of roundoff noise in a state-space digital controller is investigated for a discrete-time control system. An analytical expression of the roundoff noise gain is obtained, with which the optimal realization problem is solved on the set of fully parametrized realizations. A sparse structure is derived and analyzed in terms of roundoff noise performance. The problem of finding optimized sparse...
This paper discusses the application of piezo-actuator in intra-cytoplasmic sperm injection (ICSI). Specifically, it presents a comparative study of two techniques in the penetration of oocyte (egg cell) : linear-reciprocating and partially-rotating techniques. The other conditions during penetration, including media preparation, installation, and controller, are maintained the same during the operation...
This paper presents a generalized Q-learning method termed dynamic fuzzy continuous-action Q-learning (DFCAQ) that works in continuous domains. It can be regarded as an extension of Millan's work in continuous-action Q-learning. In the DFCAQ approach, continuous states and actions are generated via a fuzzy structure. Instead of considering actions selected by the nearest unit only in the original...
This paper describes a novel fuzzy rule-based modeling approach for some industrial processes. Structure identification is realized by clustering and support vector machines. When the process is slow, fuzzy rules can be obtained automatically. Parameters identification uses the techniques of fuzzy neural networks. A time-varying learning rate assures stability of the modeling error.
Rotary kiln process is a strongly coupled multivariable nonlinear system with large lag. It has complex control target with less manipulate variables than controlled variables, and the boundary conditions vary frequently and severely during operation. Most rotary kilns are still under manual control such that the burning status cannot be maintained stable, the product quality is hard to be kept consistent...
We consider a networked control system that utilizes unreliable channels where packets may be lost. By modeling the losses as stochastic processes, we propose a mixed H2/H∞ control approach for synthesis of a controller that depends on the information regarding the losses. The approach is applied to a bilateral teleoperating system. Numerical results show that the proposed control achieves desired...
The problem of information transmitting using chaotic signals is considered. New method of information coding by means of frequency modulation of the chaotic signal is proposed. Chaotic generator is modulated by information signal by means of its time scaling. The receiver recovering algorithm, using ideas of Lion's and speed-gradient method, based on the adaptive identification procedure and augmented...
This paper is concerned with the design problem of robust H∞ control for linear networked control systems (NCSs) with network-induced delay and data packet dropout. By choosing a new Lyapunov-Krasovskii functional, a sufficient condition on the existence of robust H∞ controller is derived in the form of a matrix inequality. No model transformation is needed and no redundant matrix variable is introduced...
This paper describes a phase-plane method for providing an interpretation of various TCP flow control mechanisms. By using the phase-plane analysis, the stability and dynamical switching behaviors of TCP congestion control protocols are studied. By analyzing the mathematical models of the TCP congestion avoidance algorithms, the equilibrium condition and the dynamical behavior can be characterized...
This paper discusses the Hinfin control synthesis for discrete-time linear networked systems with time-varying delays in input and output channels. The time-varying delays are assumed to take their values in finite sets, and assumed to be measurable only on line. Our formulation allows the (worst) case of random delays with no stochastic assumption. Considering delays as parameters, we first reformulate...
This paper studies the problem of designing robust H∞ controller design of state feedback networked control systems with long delay and packet dropout controllers for state feedback networked control systems (NCSs) with long time delay and packet dropout. A switched delay-based method is proposed to model the NCSs with long time delay and packet dropout as switched systems, then the H∞ controllers...
In this paper, robust adaptive controls of multiple mobile manipulators carrying a common object in a cooperative manner have been investigated with unknown inertia parameters and disturbances. At first, a concise dynamics consisting of the dynamics of mobile manipulators and the geometrical constraints between the end-effectors and the object is developed for coordinated multiple mobile manipulators,...
Deficiencies of the optimal iterative learning control (ILC) for the non-regular systems are investigated in detail, then a faster control input updating and lifting technique is introduced in the design of optimal ILC for the partial non-regular systems. Besides, a novel optimal ILC based on new defined performance index in iteration domain is presented for the lifted systems. At last, simulation...
This paper studies the dynamic coverage control problem for underwater applications using a fleet of cooperative submarines with vision-based cameras. A sensor model for the vision-based camera is first presented. The coverage goal, which is to collect a desired amount of satisfactory quality samples at every point in a given domain, is stated in a precise mathematical statement. A coverage error...
A visual servo controller is developed for a monocular camera system mounted on a wheeled mobile robot (WMR), which simultaneously solves the tracking and regulation control problems. A prerecorded image sequence (e.g., a video) or single image of four target points is used to define a desired trajectory or desired fixed position and orientation for the WMR. By comparing the target points from a stationary...
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