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Tracking free form objects by fitting curve models to their boundaries in real-time is not feasible due to the computational burden of fitting algorithms. In this paper, we propose to do fitting only for certain frames in an image sequence and fill in the missing ones using Kalman filtering technique. An algorithm is presented to track a free-form shaped object, moving along an unknown trajectory,...
In this paper, we address the problem of adaptive sensor validation for flight control. The model-based approaches are developed, where the sensor system is modeled by a Markov switch dynamic state-space model. To handle the nonlinearity of the problem, two different particle filters: mixture Kalman filter (MKF) and stochastic M-algorithm (SMA) are proposed. Simulation results are presented to compare...
In this paper, we present an approach for automatic clustering of multi-dimensional dynamic trajectories corresponding to speech data that is based on Trajectory Clustering (TC). TC uses the Expectation Maximization algorithm (EM) for clustering with the mixtures of Multiple Linear Regression model. Since the initial values of the model parameters are critical to the clustering performance, a successive...
Control design methods for the control of the reaction wheel pendulum using a single actuator are presented in this paper. The control algorithms are based on the energy of the system and its passivity properties.
The new approach of robust control systems synthesis, both linear, and nonlinear and non-stationary is offered. The control is carried out, providing the given phase constrains varied in acceptable limits, in view of constrains on its value and incompleteness of the information about functioning disturbances. The approach is based on introduction of auxiliary integral surfaces, on which the initial...
This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop...
The concept of algebraic reachability refers to the property of a system that every state from a sufficiently big subset of a state-space can be reached from a given inital state by applying an admissible input to the system. In this paper we study algebraic reachability of rational systems. We provide necessary and sufficient conditions for a rational system to be algebraically reachable (from an...
A piecewise-linear hybrid system is a dynamic system which is the product of a finite-state automaton and a family of affine systems on polytopes. In full generality, determination of the controllability of such systems is undecidable. For control synthesis it is therefore of interest to determine subclasses of such systems for which the problem is decidable. In this paper an approach to controllability...
We study hybrid systems from a global geometric perspective as piecewise smooth dynamical systems. Based on an earlier work, we define the notion of the hybrifold as a single piece-wise smooth state space reflecting the dynamics of the original system. Structural stability for hybrid systems is introduced and analyzed in this framework. In particular, it is shown that a Zeno state is locally structurally...
Many path planning systems designed for the use in autonomous mobile robots are based on cell decomposition methods combined with a subseguent graph search due to their efficiency and ease of handling. Furthermore, even more sophisticated methods such as the guadtree decomposition method can be applied prosperously Spline interpolation is often used to attain a feasible trajectory by interpolating...
This work focuses on the nonlinear control of helicopters. Our global interest is a general model (7-DOF) to be used on the autonomous forward-flight of helicopters. However, in this paper we present a reduced-order model (3-DOF) representing a scale model helicopter mounted on an experimental platform. In this system the vertical flight of the helicopter can be studied. Although simplified, this...
We study the stability of the origin for the dynamical system x(t) = u(t)Ax(t) + (1 − u(t))Bx(t), where A and B are two 2×2 real matrices with eigenvalues having strictly negative real part, x ∊ R2 and u(.) : [0, ∞[→ [0,1] is a completely random measurable function. More precisely, we find a (coordinates invariant) necessary and sufficient condition on A and B for the origin to be asymptotically stable...
The aim of this work is to investigate the structure of time-optimal trajectories for a control system modelizing a satellite with two rotors attached along its two fixed axes. Our results extend to the general case those obtained by Sussmann and Tang in an unpublished paper where they treat a particular case described below. We end up finding a sufficient family of four parameters trajectory types...
In this paper the trajectory tracking control problem for a certain class of propagation processes modeled as Quasi-Linear Parameter Varying systems is considered. The propagation physical models are generally described by means of PDEs (partial differential equations). However in real world control problems the PDE models are usually converted into ODEs (ordinary differential equations) models adopting...
Nonlinear optimal control problems, in which state trajectories are permitted to be discontinuous at a finite number of times, and the jump times are choice variables, are analysed. Problems such as these arise in economics, lazer technique, and robototechnique. Necessary conditions for optimality, in the form of a Maximum Principle, for the impulse optimal control problems with general terminal and...
Robot soccer became a challenging area in computational intelligence and machine learning, including disciplines like real-time image processing, path planning, control and obstacle avoidance. In this uncertain and highly dynamic environment precise and fast actions are required. Defining dominance areas and implement primitives like kick, pass and dribble are crucial with the aspect of computational...
In this paper, an optimization-based iterative learning control approach is presented. Given a desired trajectory to be followed, the proposed learning algorithm improves the system performance from trial to trial by exploiting the experience gained from previous repetitions. Taking advantage of the a-priori knowledge about the systems dominating dynamics, a data-based update rule is derived which...
In this paper we consider several interconnected ISS systems supplied with ISS Lyapunov functions defined in the dissipative form. Our aim is to construct an ISS Lyapunov function for the interconnection. We provide a condition of a small gain type under which this construction is possible and describe a method of an explicit construction of such an ISS Lyapunov function.
This paper provides a necessary and sufficient condition for detectability, and an explicit construction of observers when this condition is satisfied, for chemical reaction networks of the Feinberg-Horn-Jackson zero deficiency type.
This paper reports a complete formulation of a model predictive control strategy having guaranteed nominal asymptotic stability. The formulation includes a successive linearisation procedure to obtain a linear model from a non-linear plant model. It gives a complete state-space derivation including long-range prediction, trajectory tracking and modelling of both measured feedforward disturbances and...
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