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The problem of robust matrix root-clustering against additive structured uncertainty is addressed. A bound on the size of the uncertainty domain preserving matrix D-stability is derived from an LMI approach. A recently proposed sufficient condition for robust matrix D-stability with respect to convex polytopic uncertainty is used. It is relevant to the framework dealing with parameter-dependent Lyapunov...
This paper considers formation control for multiagent systems (vehicles, robots, satellites, etc.) and is based on the work of Fax and Murray [1], which provides a link between graph theory and the formation control problem for a given communication topology. We propose a distributed controller H∞ and μ synthesis techniques that can guarantee the stability of the multi-agent system for any number...
A recent method for robust fixed-order H∞ controller design by convex optimization proposed in [1] is investigated in this paper for the tuning of multivariable controllers. Linear Time-Invariant Multi-Input Multi-Output (LTI-MIMO) systems represented by a finite set of complex values in the frequency domain are considered. It is shown that the Generalized Nyquist Stability criterion can be approximated...
In this paper we study certain infinite-dimensional Sylvester equations. The equations are closely related to robust output regulation of infinite-dimensional systems. If the signal generator is finite-dimensional or has discrete spectrum and a complete set of orthonormal eigenvectors, there are some known sufficient conditions for the decomposing of these Sylvester equations. In this paper we generalize...
The fact that the feedback interconnection of strictly positive real (spr) systems leads to an asymptotically stable closed loop can be used for the synthesis of robust observer-based state-space controllers. Since most control plants originally are not spr structural modifications must be done to establish this property even under parameter variations. Going that way one gets a modified spr plant...
In this paper, the regional pole placement is studied. An analysis of robustness with respect to unstructured uncertainty, being 2-norm bounded, for linear systems is discussed. A bound on the maximum allowable perturbation is proposed. Moreover, a useful parameterization of such bound, based on the structure of the gain matrix and on a novel formula for computing the eigenvectors of any real matrix,...
The problem of eigenvalue assignment with minimum sensitivity in multivariable descriptor linear systems via state feedback is considered. Based on the perturbation theory of generalized eigenvalues of matrix pairs, the sensitivity measures of the closed-loop finite eigenvalues are established in terms of the closed-loop normalized right and left eigenvectors. By combining these measures with a recently...
Digital watermarks are signals embedded in multimedia data to allow copyright enforcement. In most watermarking schemes the embedded signal must be known for watermark detection, which leads to severe security risks. Van Schyndel et al. proposed a public watermark detection principle that works without explicit reference to the embedded signal. In this paper, extensions of this scheme are considered,...
In some parametric domains, the problem of designing an exponentially stable interval observer for an exponentially stable two dimensional time-invariant linear system is an open problem. We show that, in some cases, no linear time-invariant change of coordinates can help to construct exponentially stable interval observers. Next, we exhibit a time-varying change of coordinates transforming the original...
A polynomial rooting Direction of Arrival (DOA) algorithm for multiple plane waves incident on an arbitrary array structure that combines the multipolynomial resultants and matrix computations is presented in this paper. Firstly, a new auxiliary-variable manifold separation technique (AV-MST) is proposed to modal the steering vector of arbitrary array structure as the product of a sampling matrix...
Many network models are too complex to readily identify which structural aspects of a network are most influential on robustness. To analyze the dynamics and robustness of a network, many of the protocol details can be reduced to a graph theory representation of nodes, links and link weights. Our method uses the spectral analysis of the Laplacian matrix to decouple the interactions between nodes to...
In this paper, the information flow topology is regulated under the precondition that each agent can only utilize the information restricted by the physical communication channels. The objective topology is investigated under the framework of double-layer structures and is finally described by an optimal problem involving the eigenvalues on each layer. By introducing the element distance of eigenvector...
In this paper, a simulation platform to design robust controllers for electrical power systems is presented. Low order controllers with output feedback, including performance and robustness requirements are considered. The design is carried out using mono and multiobjective functions. Classical and evolutionary optimization algorithms are used to solve the formulated problems. The simulation platform...
This paper proposes a framework based on harmonic mean normalized Laplace-Beltrami spectral descriptor for non-rigid 3D shape retrieval. A series of experiments show harmonic mean normalization is suited to classification of stretched shapes, and is robust to isometric transformation, holes, local scaling, noise, shot noise and sampling. To better distinguish among shapes with fine or rough details,...
Ill-structured road scenarios are complicated due to inhomogeneous road surface and the lack of clear boundaries. In this paper, we propose a novel road boundary detection approach which is based on the multi-scale detection scheme and the use of patch-wise boundary cues. A characteristic scale range of road boundaries is first defined and estimated as a priori knowledge. Then, the patches with high...
Another neurodynamic optimization approach to robust pole assignment is presented for synthesizing linear control systems. The original pseudoconvex optimization problem for robust pole assignment is reformulated as a convex optimization problem. Three coupled recurrent neural networks operating in three different time scales are developed for solving the reformulated problem in real time. It is shown...
The structural-parametrical design of discrete control systems with the Luenberger observer was carried out. To simplify the choice of Luenberger observer eigenvalues proposed to use the optimization procedure that minimizes the condition number.
In this paper we deal with robust synchronization problems for directed Lur'e networks subject to incrementally passive nonlinearities and incrementally sector bounded non-linearities, respectively. By making use of general algebraic connectivities of strongly connected graphs and subgraphs, sufficient synchronization conditions are obtained for diffusively interconnected identical Lur'e systems on...
A data fusion approach based on eigenvalues and eigenvectors of relation matrix of multi-sensor is proposed. Features of relation matrix are extracted and the information of relation matrix is fully utilized by eigenvalues and eigenvectors of relation matrix. This approach overcomes the problem of influenced by expert experience in threshold settings by the optimal sensor group selected through fusion...
Average consensus estimators enable robots in a communication network to calculate the mean of their local inputs in a distributed manner. Many distributed control methods for robot swarms rely on these estimators. The performance of such estimators depends on their design and the network topology. For mobile sensor networks, this topology may be unknown, making it difficult to design average consensus...
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