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Intelligent control is one of the development directions of control theory. The parameter space approach is used to solve robust stability problem of the system with uncertain parameters. This paper presents an intelligent parameter space approach that applied to design the missile autopilot. The method combines parameter space approach with intelligent PID. In order to research and prove the approach...
In this paper, we consider the model reference adaptive control (MRAC) problem of switched linear systems in which the parameters and switching time instants are all unknown. We apply the output feedback variable structure (VS) based adaptive controller to switched linear systems with general relative degrees and show error convergence and signal boundedness properties by multiple Lyapunov functions...
The problem of designing H?? dynamic output-feedback controllers for polytopic Delta operator systems is considered. Given a transfer function matrix of a system with polytopic uncertainty, an appropriate, not necessarily minimal, state-space model of the system is described which permits reconstruction of all its states. To this model, a new polynomial parameter-dependent approach to state-feedback...
In this paper, the rank stability radius problem is proposed for a real matrix under structured scalar perturbations and some interesting results are achieved based on polynomial analysis. In addition, a computable formula and a two-step procedure are obtained which nicely solves the problem in this simple setup. Finally, these results on rank stability radius are used to estimate the stability robustness...
Necessary and sufficient stability conditions are given for the existence of a continuous Lyapunov function for a semicontinuous, stochastic discrete-time system. The continuity of the Lyapunov function is linked to robustness of the stability property, which reduces to classical stability plus convergence for deterministic systems. The nature of the Lyapunov results are inspired by Lyapunov results...
This paper gives a new procedure for robustness analysis of linear time-invariant (LTI) systems whose state space coefficient matrices depend polynomially on multivariate uncertain parameters. By means of dual linear matrix inequalities (LMIs) that characterize performance of certain LTI systems, we firstly reduce these analysis problems into polynomial matrix inequality (PMI) problems. However, these...
This paper proposes a novel synthesis approach to dynamic output feedback robust model predictive control for systems with both polytopic description and bounded disturbance. The notion of quadratic boundedness is utilized to characterize the stability properties of the augmented closed-loop system. An error signal is defined, which is a linear combination of the true state, controller state and output...
Event-triggered and self-triggered control have recently been proposed as an alternative to periodic implementations of feedback control laws over sensor/actuator networks. In event-triggered control, each sensing node continuously monitors the plant in order to determine if fresh information should be transmitted and if the feedback control law should be recomputed. In general, event-triggered control...
We present a motion descriptor for human action recognition where appearance and shape information are unreliable. Unlike other motion-based approaches, we leverage image characteristics specific to human movement to achieve better robustness and lower computational cost. Drawing on recent work on motion recognition with ballistic dynamics, an action is modeled as a series of short correlated linear...
Stabilizability of linear time invariant networked systems of general structure is studied with an observer-based approach. In the assumption of piecewise constant controls an average consensus network distributes input information to all agents enabling them to build local observers on the basis of which stabilizing gains are computed with recourse to standard centralized methodology. Stabilizability...
This paper studies the global regulation problem for a class of nonlinear polynomial systems subject to both dynamic uncertainty and static uncertainty. The dynamic uncertainty does not vanish at the origin of the state space and thus is not input-to-state stable (ISS). As a result, the small gain theory based robust control technique alone cannot handle this problem. We manage to integrate both robust...
This note considers the popular anti-windup design problem for linear systems with saturating actuators. The main contribution of this paper is providing the synthesis LMIs to obtain the gains of the dynamic anti-windup compensator in a structure that delays the activation of the anti-windup. The basic idea is to apply Anti-Windup when the performance of saturated system faces substantial degradation...
We propose an underactuated mechanical system named inverted pendulum on a cart beam system. The proposed system has three degrees-of-freedom and one control input. The mathematical model is derived using Lagrangian method and the stabilization is achieved with constraints using a linear controller designed based on linear matrix inequality approach. Simulation results are presented to validate the...
In this work, we focus on the problem of stabilization of two constrained linear systems coupled through the inputs by two different agents which communicate in order to take a decision assuming that each agent only has partial information of the model and the state of the system. We extend previous results on distributed model predictive control and provide sufficient conditions that guarantee practical...
Given a nominal plant, together with a fixed neighborhood of this plant, the problem of robust stabilization is to find a controller that stabilizes all plants in that neighborhood (in an appropriate sense). If a controller achieves this design objective, we say that it robustly stabilizes the nominal plant. In this paper we formulate the robust stabilization problem in a behavioral framework, with...
Output-based feedback control of LPV systems is an important problem, as in practice it is rarely the case that the full state variable is available for feedback. In this paper we consider this problem in the case of discrete-time LPV systems for which the parameters are not exactly known, but only available with a finite accuracy or affected by noise during their measurement. The controllers are...
This paper is concerned with stability analysis of discrete-time networked control systems in the case where both input and output channels are characterized by a multiple-packet transmission policy. A necessary and sufficient condition for stability is obtained for known packet dropping probabilities. The issue of stability robustness of a system against packet dropping is discussed and addressed...
This paper investigates robust stability of discrete-time descriptor polytopic systems (DTDPSs for short). The concept of affine generalized quadratic stability, which has less conservatism than generalized quadratic stability, of DTDPSs is proposed. It not only investigates affine generalized quadratic stability of DTDPSs implies robust stability, but also presents criterions in terms of linear matrix...
In this paper we present an application of a recently developed strategy for robust distributed controller design for formations and show a way of including performance requirements in the design. The proposed synthesis method guarantees stability for all possible formations and arbitrary fast changes in the communication topology. The number of agents in the formation can also be chosen arbitrarily...
We present an implementation of the Speeded Up Robust Features (SURF) on a Field Programmable Gate Array (FPGA). The SURF algorithm extracts salient points from image and computes descriptors of their surroundings that are invariant to scale, rotation and illumination changes. The interest point detection and feature descriptor extraction algorithm is often used as the first stage in autonomous robot...
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