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 the paper an application of V.I. Zubov's optimal transient damping method for control-affine objects which dynamics is described in the state space by nonlinear ordinary differential equations is considered. The control problem is solved under the constraint for maximal value of the Euclidean norm of control vector. Lyapunov function of the control object is used as the damped scalar function....
Large debris created after natural disasters restrict access to inner parts of affected regions and slows down disaster relief operations. Power shovels are often used to clear wreckage but the process can take a lot of time. Moreover, it is dangerous to involve human workers in such conditions due to loose debris collapsing and causing severe damage. To speedup access to inner areas, instead of removing...
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...
This paper proposes a method for human activity classification in home based monitoring. The proposed approach is based on minimum jerk (MinJerk), a primary model for smooth path planning employed by human motor control in upper-extremity motion. Based on new evidences that show common control strategies in lower and upper extremity, MinJerk is adapted in our study to estimate the foot motion with...
Analysis of human gait helps to find an intrinsic gait signature through which ubiquitous human identification and medical disorder problems can be investigated in a broad spectrum. The gait biometric provides an unobtrusive feature by which video gait data can be captured at a larger distance without prior awareness of the subject. In this paper, a new technique has been addressed to study the human...
We describe a new algorithm for trajectory optimization of mechanical systems. Our method combines pseudo-spectral methods for function approximation with variational discretization schemes that exactly preserve conserved mechanical quantities such as momentum. We thus obtain a global discretization of the Lagrange-d'Alembert variational principle using pseudo-spectral methods. Our proposed scheme...
We study the problem of optimal leader selection in consensus networks with noisy relative information. The objective is to identify the set of k leaders that minimizes the formation's deviation from the desired trajectory established by the leaders. An optimal leader set can be found by an exhaustive search over all possible leader sets; however, this approach is not scalable to large networks. In...
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...
An environment is defined as a set of constraint functions that vary arbitrarily over time. An agent wants to select feasible actions that keep all the constraints negative, but must do so causally. I.e., the dynamical system that determines actions is such that only their time derivatives can depend on the current constraints. An environment is said viable if there exists an action that can satisfy...
This research deals with the computation of optimal trajectories considering state and input constraints for linear and nonlinear systems that admit a polynomial representation through differential flatness. Based on a polynomial spline parameterization of the flat output an optimization problem in terms of the B-spline coefficients is derived that guarantees constraint satisfaction over the entire...
This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requires that the trajectory planning is done adaptively by depending on the situation changes. For that, designated waypoints for future motion are given sequentially from the environment...
As the number of synthetic genetic modules grows, the issue of reliably predicting their behavior upon interconnection becomes more pressing. The trajectory of an upstream module changes once connected to a downstream module due to retroactivity. Here, we employ dissipativity analysis to provide an upper bound on the L2 measure of this difference. To obtain this upper bound we formulate a Sum of Squares...
The paper proposes a predictive control law for orbital rendezvous hovering phases. The proposed algorithm provides an impulsive control that steer the vehicle to a set of the periodic relative orbits enclosed in a hovering zone. The control law is computed by determining a point lying in the intersection between a semi-algebraic set and a hyperplane using an alternating projections algorithm. The...
This paper deals with the problem of interpolation of generated end-effector trajectories for application in robotics. For complex shaped trajectories there are often many high resolution coincident points generated from CAD/CAM systems or trajectory generators. The preprocessing (refining) is necessary for proceeding these points to the manipulator control system. Two interpolation methods are discussed:...
This contribution presents a new method for the prevention of problems caused by saturating sensors in an otherwise linear loop. Different from the known anti-windup schemes for input constraints the compensator is not stabilized during saturation, as this can lead to a deadlock situation in case of persistent disturbances. The new approach also does not use the modification of the linear part of...
Similarity-based approach is a popular data-driven prognostic method for Residual Useful Life (RUL) Prediction. The principle of this approach is based on the “similarity” between the monitored part, i.e., the sample whose the RUL has to be predicted and degradation reference trajectory patterns (or known library of a priori degradation functions). The challenge addressed in this paper concerns the...
In this work, we propose a method to compute the poles of the linear approximation to a nonlinear system, locally around a stable equilibrium point. The method uses periodic inputs, just like hermonic identification of linear systems. We show in passing that the class of Wiener-Hammerstein systems is but a small subset of the collection of all nonlinear control systems, locally around a hyperbolic...
The RRT* algorithm has efficiently extended Rapidly-exploring Random Trees (RRTs) to endow it with asymptotic optimality. We propose Goal-Rooted Feedback Motion Trees (GR-FMTs) that honor state/input constraints and generate collision-free feedback policies. Given analytic solutions for optimal local steering, GR-FMTs obtain and realize safe, dynamically feasible, and asymptotically optimal trajectories...
In this paper we investigate the bifurcation and chaos in a fractional-order simplest electrical circuit composed of only three circuit element: a linear passive capacitor, a linear passive inductor and a nonlinear active memristor with two degree polynomial memristance and a second order exponent internal state. It is shown that this fractional circuit can exhibit rich nonlinear dynamics such as...
In this paper, a data-driven update or design method of desirable state feedback gains is presented. By utilizing the “canonical controller” developed in the behavioral framework, we derive a fundamental kernel representation of the canonical controller which yields a desirable state feedback gain and is also compatible with the trajectory of the system. We also show that such a kernel representation...
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.