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This paper, discuss the observability of the multicellular converter which is classified as a switching hybrid system. Several observers will be used for the capacitors voltage estimation despite the partial observability of the system.
The rapid evolution of technologies makes it possible to create remote laboratory for research and educational purposes. This paper presents a testbed that can conduct experiments following commands from a remote client. It is a small-scaled intelligent transportation system (ITS) testbed which can collect data, perform configuration and control the radio-controlled (RC) car. The remote client can...
Automatic train operation (ATO) system generally consists of the generation of recommended speed profile and the speed tracking strategy. It determines the tracked trajectory and the energy consumption of trains during the trip. Therefore, the optimization of recommended speed profile and the tracking strategy are regarded as two important means to achieve energy-efficient train operation between...
Elasticity is an important factor in enhancing the physical capabilities of robots. Pole vaulting is an interesting task because a large elastic pole changes the trajectory of the robot drastically. Moreover, the robot can change its behavior by manipulating the flexible pole during a long pole-support phase. In this study, we investigated how the reaching point of pole vaulting was changed by an...
This paper presents a distributed saturated formation control for a multiple quadrotors (UAVs) system with leader-follower structure. Each UAV has local and limited neighbors. Stability analysis for the multi-UAV system with fixed and switching topology is given, using the theories of convex hull and perturbed matrix. Simulation results show that the quadrotors with the proposed strategy can achieve...
Conventional interval observer-based sensor fault detection and isolation (FDI) approach mainly considers given magnitude fault. This paper proposes a novel robust detection and isolation approach of unknown sensor faults based on interval observers and invariant sets, which extends sensor faults with given magnitudes to sensor faults with unknown but bounded magnitudes. In addition, in order to reduce...
This paper presents a probabilistic audio-to-audio alignment method that focuses on the relationship among the note durations of different performances of a piece of music. A key issue in probabilistic audio alignment methods is in expressing how interrelated are the durations of notes in the underlying piece of music. Existing studies focus either on the duration of adjacent notes within a recording...
Shared control is a promising approach for designing an Advanced Driver Assistance System, since it unifies the advantages of both manual control and full automation. However, for a true cooperative shared control ADAS the automation has to understand the human and thus a suitable model which describes the driver in the control loop is essential. Our gray-box approach bases on the biological concept...
This paper presents the implementation of Differential Evolution (DE) algorithm to solve Harmonic Elimination Pulse-Width Modulation (HEPWM) problem. HEPWM is widely used in eliminating the low frequency harmonic of output voltage of the inverter. The DE is a simple and efficient evolutionary algorithm in solving the HEPWM transcendental equation. Operations of DE technique were elaborated and the...
Natural balancing of the flying capacitor converter is activated when the converter is operating with phase shifted carrier PWM and the carriers are exactly interleaved. The mechanism is stable and has many benefits but the dynamic response can be slow. In this paper a novel active balancing approach, based on the application of an off-line optimized phase shift of the individual carriers during the...
This paper extends the boundary control law for conventional boost converters based on natural switching surfaces, and improves both the steady state and transient response. Additional switching zones on the normalized state plane are defined to decide switching behavior. Operation with state limitations, capacitor equivalent series resistance, and parasitic losses is examined and verified in simulation...
Operating inverter-fed electrical drives with optimized pulse patterns allows to take influence on certain harmonics in the generated output voltage. The typical optimization process is as follows: A symmetrical pulse pattern shape is at first optimized offline to receive the required switching angles eliminating certain harmonics. These are then stored in look-up tables and downloaded to a microcontroller...
We study the directed evolution of random networks toward increasing local connectivity while conserving the degrees of nodes using computer simulations. We show that network evolution under ”quenched topological disorder” manifests itself as a cascade of transitions that result in the splitting of random network into a set of inherently connected subnets weakly coupled to one another. We interpret...
We consider control systems with switchings in dynamics and control objective in the form of fixed terminal state. Two types of parameter deviations are discussed. In the first case, infinitesimal changes of system parameters are assumed, and in the second one, small changes in switching time are considered. Conditions for reachability of the control objective are formulated.
We describe a simple switched-gain control technique for improving the settling time and peak overshoot of closed-loop amplifiers under power constraints. We consider the important particular case of two-pole amplifiers and show that the proposed compensation method out-performs standard linear compensation based on pole-splitting. Our results are supported by circuit simulations in a 0.18µm CMOS...
This paper introduces a novel prosthetic hand control architecture using inertial information for grasp prediction in order to reduce the cognitive burden of amputees. A pair of inertial measurement sensors (IMUs) are fitted on the wrist and bicep to record arm trajectory when reaching to grasp an object. Each object class can be associated with different methods for grasping and manipulation. An...
The application of variable structure system with sliding mode and saturation in a task of position control of second order dynamic object is considered in this paper. The features of system behaviour at different values of control law coefficients are analyzed. The new conditions of a sliding mode existence in the given areas of a phase plane are formulated and strictly proved. The control systems...
This paper addresses the design of a covert attack on a linear multivariable dynamical system with input hard constraints. The system evolves in the discrete-time domain and is subject to performance and alarm state constraints, both represented by convex and compact polyhedral sets. A contractive control law guarantees positive invariance of the performance set, while ensuring asymptotic stability...
For validating the polarimetric & polarimetric-interferometric SAR modelling of vegetation, involved in biomass or surface moisture estimation at large scale, very high resolution polarimetric SAR acquisition on representative vegetated area could be useful. At resolution close to the wavelength such as 4 cm at X-band, the different scattering mechanisms can be spatially resolved. Several recent...
In this paper, an algorithm for switching time optimization for switched systems that exhibit discontinuities in the state trajectory on a switching is proposed. A derivative of the cost function with respect to the switching time is derived using a dynamic programming argumentation. Based on this derivative, a two-stage algorithm is described that alternates between solving an optimal control problem...
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