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Using smartphones for indoor motion trajectory tracing has attracted a lot of attention in recent years, which offers great potential to support a broad spectrum of applications in indoor environment, including elder care, business analysis, and navigation. Yet most existing approaches only work for certain pedestrian’s motion modes or smartphone’s carrying patterns, which lack the robustness and...
This paper proposes an audio watermarking scheme based on singular-spectrum analysis (SSA) and differential evolution. In our framework, a watermark is embedded into an audio signal by modifying the amplitude of some oscillatory components which are decomposed by SSA, and a parameter set for the modification is determined by differential evolution. Test results showed that, although there is a trade-off...
In this paper, we develop a theory of computable types suitable for the study of control systems. The theory uses type-two effectivity as the underlying computational model, but we quickly develop a type system which can be manipulated abstractly, but for which all allowable operations are guaranteed to be computable. We apply the theory to the study of hybrid systems, reachability analysis, and control...
This work proposes a robust control framework to address the problem of practical tracking for a class of nonlinear systems described as hybrid automata. The framework reposes both on a suitable definition of the references to be tracked and on input-to-state stability properties of the feedback laws in order to guarantee a desired behavior of the hybrid automata in terms of robust transition between...
This paper proposes extensions to a recent control Liapunov function (CLF) based method for designing dynamical systems with trajectories that converge to the zeros of a nonlinear vector function f . Specifically, the CLF design method is extended to the case when the Jacobian of the vector function can be decomposed into a known part and a partially known part, for which certain norm bounds are known...
Many model predictive control (MPC) schemes suffer from high computational complexity. Especially robust MPC schemes, which explicitly account for the effects of disturbances, can result in computationally intractable problems. So-called move-blocking is an effective method of reducing the computational complexity of MPC problems. Unfortunately move-blocking precludes the use of terminal constraints...
This paper studies the global robust output regulation problem for a class of output feedback systems subject to an uncertain exosystem by using output feedback control. An adaptive control technique is used to handle the unknown parameter vector in the exosystem. It is shown that this unknown parameter vector can be exactly estimated asymptotically if the controller incorporates a minimal internal...
We propose an underactuated mechanical system named inverted pendulum on a cart beam system. The proposed system has three degrees-of-freedom and one control input. The mathematical model is derived using Lagrangian method and the stabilization is achieved with constraints using a linear controller designed based on linear matrix inequality approach. Simulation results are presented to validate the...
In this work, we focus on the problem of stabilization of two constrained linear systems coupled through the inputs by two different agents which communicate in order to take a decision assuming that each agent only has partial information of the model and the state of the system. We extend previous results on distributed model predictive control and provide sufficient conditions that guarantee practical...
A recursive procedure is proposed to reduce a set of inequality constraints of high relative order to single constraints of relative order one for a class of uncertain, multi-input nonlinear systems. A modification of a nominal control signal on the newly constructed constraints guarantees robust constraint satisfaction. The resulting robust invariant controller is applied to the constrained flight...
A framework is developed which enables a general class of linear iterative learning control (ILC) algorithms to be applied to tracking tasks which require the plant output to reach given points at predetermined time instants, without the need for intervening reference points to be stipulated. It is shown that superior convergence and robustness properties are obtained compared with those associated...
In this paper we extend the work of robust trajectory tracking by guaranteeing hard error bounds for nonlinear systems with matched disturbances. A recently developed algorithm is extended in order to prove in case of bounded matched uncertainties maximum error bounds and furthermore to calculate them a priori. Additionally we discuss the specific problem of actuator uncertainties. It will be shown...
In this paper, a new approach for the Generalized Proportional Integral Observer when only noisy measurements are available is proposed, based in a integral extention of the system and observer model. A comparison of the GPI observer to the new approach is given via an academic simulation example. With this approach, is possible to estimate completely unknown, but bounded, perturbations and the states...
The cellular neural/nonlinear network (CNN) is a powerful tool for image and video signal processing, robotic and biological visions. In this paper, the robust CNN template for extracting the selected objects in binary images is designed, and the parameter inequalities for determining parameter intervals for implementing the corresponding tasks are provided. The selected objects extraction CNN derived...
A robust model predictive controller is proposed for input constrained linear systems with discrete and distributed delay in the states, where uncertainty is described by an additive bounded disturbance. The method is an extension of recently developed, tube based model predictive control to time-delay systems. A robust local controller maintains the disturbed trajectory of the controlled system in...
This paper presents investigations into the development of input shaping with proportional-derivative (PD)-type fuzzy logic control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD-type fuzzy logic controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate...
The interpolative control structures, in fuzzy or other variants, don't achieve very good performances when the controlled plant contains dead times. In an interpolative adaptive controller is presented, named PSAIC, which for certain types of plants offers good performances regarding variations of the plant's parameters, and particulary for some small variations of the dead time. This paper enhances...
The phenomenon of long term instability of iterative learning control systems is examined. The concept of stability with respect to a specified trajectory is used to define a nonlinear biased gap metric. The resulting robust stability theorem, applied in a 2D setting, is used to prove the robust stability of a set of ILC algorithms engaged in trajectory tracking. The robust stability guarantee is...
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TC-PF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at pre-assigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival is not fixed a priori, and the vehicles...
This paper deals with the design of a robust adaptive fuzzy tracking control for a class of uncertain and disturbed nonlinear systems. In addition to the desired performances and the convergence of the tracking error, the proposed approach guarantees the uniformly ultimately boundedness of the resulting closed-loop system. Furthermore, it allows overcoming many problems related to adaptive fuzzy controllers...
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