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This paper concerns with a problem of robust residuals generation on a system with structured uncertainty such that the designed signatures can be used to isolate sensor faults simultaneously. The proposed solution of this problem is executed by using a filter and a transformation matrix. The filter is used to generate the dynamic of system errors. Moreover the scheme consists of two stages. The first...
This paper describes an algorithm for robotic motion planning that is capable of optimising several cost functions simultaneously to provide optimised, feasible and collision-free paths. The algorithm is based on the best-first graph search algorithm using a Pareto frontier to evaluate costs at each node. Additionally, we include a calculation of the distribution of robot trajectories when the path...
In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented...
We introduce a novel probability distribution on the group of rigid motions SE(2) and we refer to this distribution as the partially wrapped normal distribution. Describing probabilities on SE(2) is of interest in a wide range of applications, for example, robotics, autonomous vehicles, or maritime navigation. We derive some important properties of this novel distribution and propose an estimation...
In this paper, we address the problem of developing computationally efficient recursive estimators on the periodic domain of orientations using the Bingham distribution. The Bingham distribution is defined directly on the unit hypersphere. As such, it is able to describe both large and small uncertainties in a unified framework. In order to tackle the challenging computation of the normalization constant,...
A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertainties, is presented. A linearization methodology is used to provide a scheme with which the controller robust...
A large body of work exists concerning uncertainty in ocean current measuring high-frequency radar (HFR) systems. This study investigates the magnitude of uncertainty present in a HFR system in the lower Chesapeake Bay region of Virginia. A method of assessing the fundamental performance of the HFR is comparing the radial velocities measured by two facing HF radars at the centre point of their baseline...
The recently developed extended belief rule-based inference methodology (RIMER+) recognizes the need of modeling different types of information and uncertainty that usually coexist in real environments. A home setting with sensors located in different rooms and on different appliances can be considered as a particularly relevant example of such an environment, which brings a range of challenges for...
In mobile slow fading scenarios, channel state information (CSI) is required at the transmitter to adapt the data transmission strategy to the current channel state. In this regard, precoding in multiuser-multiple-input-multiple-output (MU-MIMO) downlink systems is a prominent example. In frequency division duplex, channel observations are quantized and fed back via the uplink, protected by an error...
The system functions increasingly day by day which resulting in augmenting of complexity, and system reliability and complexity were closely related by the system functions. On the one hand, reliability is the ability of the system which was required to achieve multiple functions to maintain functionality. And there is uncertainty in the process of implementing multiple functions which will bring...
It is worthwhile to incorporate human knowledge with conventional machine learning approaches for big data analytics. Focusing on big video data understanding, this paper presents a formal scenario recognition framework where knowledge-based logic representation and reasoning is combined with data-based learning approach to enhance scenario recognition capabilities. This is achieved via multi-layered...
This paper presents a strategy to solve the fuzzy coalition formulation problem, which is a difficult topic in multi-agent system (MAS). Based on the grey relational theory, a grey relational grade sequence has been firstly established to describe the relationship between agent capability and task requirement. Then a strategy for fuzzy coalition formation, which combines a stimulation mechanism with...
Traceable calibration of high-speed communications test equipment face challenges. The propagation of uncertainty from primary waveform standards can be done by using a covariance matrix approach, which becomes impractical as the waveform data length increases. With the new compressed covariance matrix approach uncertainty can be propagated for long waveform records. A freely available software tool...
In this paper, an impulsive controller is designed to achieve exponentially lag synchronization for coupled uncertain unified chaotic systems with stochastic perturbation. Based on a comparison principle for stochastic impulsive systems, drive-response concept and linear matrix inequality (LMI) approach, several easily verified and realistic sufficient conditions in terms of linear matrix inequalities...
Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive...
The relative equations between interceptor and target are conducted in rotation coordinate of Line of Sight. An error propagate model of LOS rate is established which is based on CADET (Covariance Analysis Describing Function Technique). This model takes several factors into consideration, such as estimate error of LOS rate, acceleration saturation of interceptor, sampling rate. A set of analytical...
In view of the predictability and stochasticity of wind power generation, transmission system operators (TSOs) can benefit from predictive dispatch of slow and manual control reserves in order to maintain reactive reserve levels for unpredictable events. While scenario-based approaches for stochastic optimization are well suited for this problem, it appears that TSOs are hesitant in adopting this...
This paper describes the design of parameter dependent robust model predictive controller (PD-RMPC) for a class of flexible air-breathing hypersonic vehicles. The strong system uncertainties, high nonlinearity, strong coupling, input saturation and flight state constraints are challenging problems in the design of control system. Therefore, a control method that can handle model uncertainties and...
With the advent of Cloud computing and subsequent big data, online decision makers usually find it difficult to make informed decisions because of the great amount of irrelevant, uncertain, or inaccurate information. In this paper, we explore the application of multicriteria decision-making (MCDM) techniques in the area of Cloud computing and big data, to find an efficient way of dealing with criteria...
A method for stabilization of known equilibria in recurrent fuzzy systems is presented, which particularly accounts for model uncertainties. Since the dynamics of recurrent fuzzy systems are defined over a rectangular grid, it is first observed that for stability analysis, only gradient conditions at grid points have to be considered given that the inputs are piecewise constant. Therefore, a robust...
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