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The paper presents a reconfigurability analysis of multirotor unmanned aerial vehicles (UAVs) with four and six rotors. A method for structural reconfigurability analysis is introduced, which is then applied to a structural model of the multirotors. The failures lead either to a blockage or to the complete loss of a rotor. The analysis shows that, independent of the systems' parameters, a quadrotor...
We present a stereo visual odometry algorithm with trajectorical information accumulated over time and consistency among multiple trajectories of different motions. The objective function considers transfer error of all previously observed points to reduce drifting, and can be efficiently approximated and optimized within a computational bound. Different from traditional residual-based consistency...
Our paper proposes a framework that allows the construction of several types of diagonal Lyapunov functions for discrete- and continuous-time interval systems. The Lyapunov function candidates are defined as weighted vector norms, where the weighting matrices are diagonal and positive definite. For the existence of such Lyapunov functions, we provide necessary and sufficient conditions in the case...
In this paper we study two-dimensional (2D) con-volutional codes which are obtained from series concatenation of two 2D convolutional codes. In this preliminary work we confine ourselves to dealing with finite-support 2D convolutional codes and make use of the so-called Fornasini-Marchesini input-state-output (ISO) model representations. In particular, we show that the series concatenation of two...
In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is proposed for solving the tracking control problem of the multiple-input multiple-output (MIMO) system. Different from the traditional ZG method, GD is used additionally twice more in this paper to get through the derivation procedure. Moreover, each GD parameter is tunable...
The problem of stabilization of a fractional order linear control system with the Grünwald-Letnikov h-difference operator is discussed. To this goal the Z-transform, which can be considered as an effective method for stability analysis of linear systems, is used. The main result gives the sufficient and necessary condition for the stabilization of the linear multiparameter fractional difference control...
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...
The routing problem with optimal stopping of linear system is investigated in this paper. The classical linear quadratic control problem was replaced by determining the optimal trajectory (way, track, path). The general aim of optimal stopping and route determining consists of minimization of composite cost function. To illustrate the optimal track a numerical example is included.
This paper focused on the design and implementation of guidance and gain-scheduling autopilot for modeled rocket. Autopilot implemented by using classical gain-scheduling method that designed to work within certain velocity and angle-of-attack (AOA). Input command for the autopilot is provided by guidance system which processed kinematic and dynamic of the rocket, so it could follow the desired trajectory...
This paper is concerned with the study of flat outputs for multiple-input-multiple-output (MIMO) controllable linear time-invariant discrete- and continuous-time systems in state-space representation. Leveraging the equivalence of flatness to an estimation-theoretic system property known as strong observability, a quick computational test is developed for ascertaining if an output candidate is flat...
Experimental results are presented to validate a recently developed adaptive output feedback controller for a class of unknown MIMO systems. The control approach relies on three components, i.e. a predictor, a reference model, and a controller. Specifically, since the predictor is designed to predict the system's output for any admissible control input, controlling the uncertain system is reduced...
This paper presents a numerically attractive approach to design reduced-order multi-objective ℋ2/ℋ∞ controllers for discrete-time linear parameter-varying (LPV) systems. The proposed controller synthesis approach relies on an a priori computed polynomially parameter-dependent full-order LPV controller that stabilizes the LPV system for all possible parameter trajectories. This full-order controller...
In executing state-to-state maneuvers, end states which are stabilizable states provide for robust maneuver control. In the normal circumstance that a maneuver only takes the system to a neighborhood of a stabilizable state, feedback control can be used to regulate to a neighborhood of the desired end state. In contrast, if the end state is not a stabilizable state, large try-again maneuvers which...
A family of linear time-varying systems with an input, an output and delays in the input is considered. It is shown that, under a stabilizability and a detectability assumption, systems of this family can be exponentially stabilized through a time-varying feedback depending on past values of the output and the input.
Determining the induced ℒ2 norm of a linear, parameter-varying (LPV) system is an integral part of many analysis and robust control design procedures. In general, this norm cannot be determined explicitly. Most prior work has focused on efficiently computing upper bounds for the induced ℒ2 norm. This paper presents a complementary algorithm to compute lower bounds for this norm. The proposed approach...
In this paper we study the stabilization of systems with decentralized controllers, when the stability criterion of interest is “non-overshooting stability”. This criterion is stronger than those which have typically been studied, particularly for decentralized control, and requires that the size of the state is always decreasing. We identify a key property which allows centralized results for this...
This paper introduces a novel control law that dynamically modifies the reference of a pre-compensated nonlinear system so as to ensure the satisfaction of convex constraints. This is done by translating the state space constraints into a constraint on the Lyapunov function which is then limited by modulating the velocity of the applied reference. The main advantage of this approach is that it systematically...
In this paper, a novel model predictive control (MPC) scheme is presented for linear stochastic systems with probabilistic constraints. Instead of the prediction of the behavior of the original linear stochastic system, the behavior of a corresponding nominal linear system is predicted. Thus, the optimization problem that is solved online has the same computational burden as the ones of standard deterministic...
A collection of double integrator agents is considered, where each agent has bounded input and a limited range for receiving information from other agents. One autonomous node (the Root) generates an unknown reference trajectory to which other agents are required to converge in minimum possible time, using only locally available information. A distributed algorithm is proposed to identify a directed...
In this paper we present a controller that achieves global input-to-state stabilty for a linear system of arbitrary relative degree, subjected to matched and unmatched disturbances. This controller combines the properties of a discontinous term, and a linear one, enforcing a conventional sliding mode using only partial state information. A direct and simple way of choosing the gains for this controller...
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