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An instrumental variable method for robot identification based on time variable parameter estimation

Mathieu Brunot, Alexandre Janot, Peter Young, Francisco Carrillo (2018)

Kybernetika

This paper considers the data-based identification of industrial robots using an instrumental variable method that uses off-line estimation of the joint velocities and acceleration signals based only on the measurement of the joint positions. The usual approach to this problem relies on a ‘tailor-made’ prefiltering procedure for estimating the derivatives that depends on good prior knowledge of the system's bandwidth. The paper describes an alternative Integrated Random Walk SMoothing (IRWSM) method...

An integrodifferential approach to modeling, control, state estimation and optimization for heat transfer systems

Andreas Rauh, Luise Senkel, Harald Aschemann, Vasily V. Saurin, Georgy V. Kostin (2016)

International Journal of Applied Mathematics and Computer Science

In this paper, control-oriented modeling approaches are presented for distributed parameter systems. These systems, which are in the focus of this contribution, are assumed to be described by suitable partial differential equations. They arise naturally during the modeling of dynamic heat transfer processes. The presented approaches aim at developing finitedimensional system descriptions for the design of various open-loop, closed-loop, and optimal control strategies as well as state, disturbance,...

An Invariance Problem for Control Systems with Deterministic Uncertainty

Lech Górniewicz, Paolo Nistri (1996)

Banach Center Publications

This paper deals with a class of nonlinear control systems in R n in presence of deterministic uncertainty. The uncertainty is modelled by a multivalued map F with nonempty, closed, convex values. Given a nonempty closed set K ⊂ R n from a suitable class, which includes the convex sets, we solve the problem of finding a state feedback ū(t,x) in such a way that K is invariant under any system dynamics f. As a system dynamics we consider any continuous selection of the uncertain controlled dynamics F.

An LPV pole-placement approach to friction compensation as an FTC problem

Ron J. Patton, Lejun Chen, Supat Klinkhieo (2012)

International Journal of Applied Mathematics and Computer Science

The concept of combining robust fault estimation within a controller system to achieve active Fault Tolerant Control (FTC) has been the subject of considerable interest in the recent literature. The current study is motivated by the need to develop model-based FTC schemes for systems that have no unique equilibria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are well suited to model-based control and fault estimation for such systems. This contribution involves...

An object-oriented approach to simulating human gait motion based on motion tracking

Martin Tändl, Tobias Stark, Nihat Ercümet Erol, Franz Löer, Andrés Kecskeméthy (2009)

International Journal of Applied Mathematics and Computer Science

Accurate bone motion reconstruction from marker tracking is still an open and challenging issue in biomechanics. Presented in this paper is a novel approach to gait motion reconstruction based on kinematical loops and functional skeleton features extracted from segmented Magnetic Resonance Imaging (MRI) data. The method uses an alternative path for concatenating relative motion starting at the feet and closing at the hip joints. From the evaluation of discrepancies between predicted and geometrically...

An observability estimate for parabolic equations from a measurable set in time and its applications

Kim Dang Phung, Gengsheng Wang (2013)

Journal of the European Mathematical Society

This paper presents a new observability estimate for parabolic equations in Ω × ( 0 , T ) , where Ω is a convex domain. The observation region is restricted over a product set of an open nonempty subset of Ω and a subset of positive measure in ( 0 , T ) . This estimate is derived with the aid of a quantitative unique continuation at one point in time. Applications to the bang-bang property for norm and time optimal control problems are provided.

An observability problem for a class of uncertain-parameter linear dynamic systems

Krzysztof Oprzędkiewicz (2005)

International Journal of Applied Mathematics and Computer Science

An observability problem for a class of linear, uncertain-parameter, time-invariant dynamic SISO systems is discussed. The class of systems under consideration is described by a finite dimensional state-space equation with an interval diagonal state matrix, known control and output matrices and a two-dimensional uncertain parameter space. For the system considered a simple geometric interpretation of the system spectrum can be given. The geometric interpretation of the system spectrum is the base...

An optimal control approach to cancer treatment under immunological activity

Urszula Ledzewicz, Mohammad Naghnaeian, Heinz Schättler (2011)

Applicationes Mathematicae

Mathematical models for cancer treatment that include immunological activity are considered as an optimal control problem with an objective that is motivated by a separatrix of the uncontrolled system. For various growth models on the cancer cells the existence and optimality of singular controls is investigated. For a Gompertzian growth function a synthesis of controls that move the state into the region of attraction of a benign equilibrium point is developed.

An Optimal Control Problem for a Predator-Prey Reaction-Diffusion System

N. C. Apreutesei (2010)

Mathematical Modelling of Natural Phenomena

An optimal control problem is studied for a predator-prey system of PDE, with a logistic growth rate of the prey and a general functional response of the predator. The control function has two components. The purpose is to maximize a mean density of the two species in their habitat. The existence of the optimal solution is analyzed and some necessary optimality conditions are established. The form of the optimal control is found in some particular...

An optimal sliding mode congestion controller for connection-oriented communication networks with lossy links

Andrzej Bartoszewicz, Piotr Leśniewski (2014)

International Journal of Applied Mathematics and Computer Science

A new discrete-time sliding-mode congestion controller for connection-oriented networks is proposed. Packet losses which may occur during the transmission process are explicitly taken into account. Two control laws are presented, each obtained by minimizing a different cost functional. The first one concentrates on the output variable, whereas in the second one the whole state vector is considered. Weighting factors for adjusting the influence of the control signal and appropriate (state or output)...

An optimal strong equilibrium solution for cooperative multi-leader-follower Stackelberg Markov chains games

Kristal K. Trejo, Julio B. Clempner, Alexander S. Poznyak (2016)

Kybernetika

This paper presents a novel approach for computing the strong Stackelberg/Nash equilibrium for Markov chains games. For solving the cooperative n -leaders and m -followers Markov game we consider the minimization of the L p - norm that reduces the distance to the utopian point in the Euclidian space. Then, we reduce the optimization problem to find a Pareto optimal solution. We employ a bi-level programming method implemented by the extraproximal optimization approach for computing the strong L p - Stackelberg/Nash...

An optimality system for finite average Markov decision chains under risk-aversion

Alfredo Alanís-Durán, Rolando Cavazos-Cadena (2012)

Kybernetika

This work concerns controlled Markov chains with finite state space and compact action sets. The decision maker is risk-averse with constant risk-sensitivity, and the performance of a control policy is measured by the long-run average cost criterion. Under standard continuity-compactness conditions, it is shown that the (possibly non-constant) optimal value function is characterized by a system of optimality equations which allows to obtain an optimal stationary policy. Also, it is shown that the...

An output controllability problem for semilinear distributed hyperbolic systems

E. Zerrik, R. Larhrissi, H. Bourray (2007)

International Journal of Applied Mathematics and Computer Science

The paper aims at extending the notion of regional controllability developed for linear systems cite to the semilinear hyperbolic case. We begin with an asymptotically linear system and the approach is based on an extension of the Hilbert uniqueness method and Schauder's fixed point theorem. The analytical case is then tackled using generalized inverse techniques and converted to a fixed point problem leading to an algorithm which is successfully implemented numerically and illustrated with examples....

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