The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, a new optimization based design method for stabilization of polynomial systems with input constraints is presented. The method utilizes the sum of squares decomposition of polynomials and results in a nonpolynomial control law fulfilling amplitude constraints of the input. Consideration of input rate constraints can be included by extending the optimization problem. The resulting sum...
This paper addresses on design of an optimal proportional integral derivative (PID) controller by applying Lyapunov approach. The optimal PID controller is acquired through minimizing an augmented integral squared error (AISE) performance index that contains control error and at least first order error derivative, and even may contain n orders error derivative. The order of error derivative is determined...
This paper is devoted to the problem of robust design for a class of continuous-time control systems with bounded uncertainties. We study a family of nonlinearly affine dynamical system and apply a modified invariant ellipsoid technique. This makes it possible to obtain practically stable closed-loop controllable models. The design of the stabilizing feedback control strategy is based on the conventional...
In this paper we give a new sufficient condition for master-slave synchronization of piecewise affine (PWA) systems. Using a Lyapunov approach and the so-called S-procedure, we show that the synchronization problem can be solved as an optimization problem subject to a set of linear matrix inequalities (LMIs) for which the slave state-feedback controller is designed efficiently. A mechanical system...
In this paper, a simple method to design PID controllers in the frequency domain is proposed. The method is based on the use of a single tuning factor, defined as the quotient between the final cross over frequency and the zero of the controller. Classical methods described in the basic control books propose to fix the above parameter in a predetermined value (usually 10), independently of the process...
Cobots are passive robots that share their work space with a human. They are safe for whom manipulates them and facilitate the task execution which increase productivity. Also they take advantage of the human vision, intelligence and dexterity because their goal is to guide the operator who moves the robot. They can execute transport or precision tasks at low cost, reducing the operator training time...
This paper deals with an optimal design of linear networked control systems. We study a class of delayed dynamical systems in the continuous time-domain and propose an optimization approach based on the newly elaborated hybrid LQ-type techniques. Moreover, we develop an explicit connection between the given networked control processes and auxiliary hybrid models. The optimal feedback control strategy...
Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method...
This paper provides a condition to compute the gains of a controller that ensures robust tracking of sinusoidal reference signals with respect to disturbances affecting the plant. The proposed design conditions are written as a convex optimization problem, easily solved by specialized programs. An example of application of the proposed controller for a plant given by an LC filter and a load modeled...
This paper provides an overview on the Artificial Fish Swarm Algorithm (AFSA) for the automated design and optimization of fuzzy logic controller. A new optimization method for fuzzy logic controller design is proposed. The membership functions of input and output variables are defined by six parameters, which are adjusted to maximize the performance of the controller by using AFSA. This method can...
With the development of industrial automation, the technology of fuzzy PID control has been used widely. This paper presents a hierarchical fuzzy PID algorithm based on granular computing. With the optimization of algorithm and the changing of granularity, the system can achieve both favorable steady and transient performance. The test results of the control system based on LabVIEW and MATLAB show...
This paper deals with an improved design scheme for an amphibious robot inspired by various amphibian principles in animal kingdom. Considering the propulsive features of existing amphibian modes synthetically, a novel hybrid propulsive mechanism that integrates fish-like swimming with wheel-paddle-fin movements is proposed. The robot is able to implement speedy and efficient fish-like or dolphin-like...
Trajectory optimization is a technique for finding dynamically feasible trajectories of a mechanical system that approximates a desired trajectory. These tools provide an excellent abstraction from a system's dynamics, allowing a user to animate a robot without considering dynamic complexities, including coupling, instability, and uncontrollable subspaces. The animator focuses on the more relevant...
A technical scheme, which can properly arrange IDS and optimally apply the algorithms of detection and data mining to the Honeynet environment, is proposed in the building automation system completed by the author recently. In this specific environment, the position of IDS is deployed reasonably and the anomaly and misuse detection algorithm of IDS is designed and selected optimally. Meanwhile, the...
The delay-dependent H-infinity guaranteed cost control problem for linear systems with state delay is considered. A delay-dependent condition for the existence of H-infinity guaranteed cost state feedback controller is presented in terms of linear matrix inequality such that the resulting closed-loop system is asymptotically stable and guarantees H-infinity performance index. It can be proved that...
Grasp synthesis for multi-fingered robotic hand has drawn a lot of attention in the past a few years. How to find all feasible grasp candidates and how to evaluate those to find the best one are two mains topics in this field. In this paper, we proposed an optimized algorithm for searching grasp/hand configuration on planar objects and modified a set of quality measure criteria to rank all the grip...
This paper proposes a robust controller design method for an norm-bounded uncertain linear system with disturbance. At First, we derive the necessary and sufficient condition for regional pole assignment for uncertain linear system, then derive the criteria of H2/H?? performance of uncertain linear system with disturbance. Hence combining them, we get the mixed H2/H?? controller control with regional...
Control structure selection is an important part of control system design which has a strong influence on the resulting plant performance. This paper presents a systematic procedure for choosing control structure by extending previous work based on steady-state optimization to include the dynamic performance in a consistent manner. To address the problem that the dynamic performance depends on the...
This paper considers the design of decentralized controllers for large-scale linear systems subject to multi-layer nested saturation. The design of decentralized state feedback laws that result in large domains of attraction are formulated as optimization problems with LMI and BMI constraints. Numerical algorithms are developed to solve these problems.
This paper is concerned with the reliable nonlinear Hinfin filtering problem against sensor failures for a class of continuous-time systems with sector-bounded nonlinearities. The resulting design is such that the filtering error system is asymptotically stable and meets the prescribed Hinfin norm constraint in normal case as well as in sensor failure case. What's worth mentioning is that the paper...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.