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A family of model predictive control algorithms with artificial neural networks

Maciej Ławryńczuk (2007)

International Journal of Applied Mathematics and Computer Science

This paper details nonlinear Model-based Predictive Control (MPC) algorithms for MIMO processes modelled by means of neural networks of a feedforward structure. Two general MPC techniques are considered: the one with Nonlinear Optimisation (MPC-NO) and the one with Nonlinear Prediction and Linearisation (MPC-NPL). In the first case a nonlinear optimisation problem is solved in real time on-line. In order to reduce the computational burden, in the second case a neural model of the process is used...

A fault tolerant direct control allocation scheme with integral sliding modes

Mirza Tariq Hamayun, Christopher Edwards, Halim Alwi, Abdulrahman Bajodah (2015)

International Journal of Applied Mathematics and Computer Science

In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed-loop performance can be retained. This...

A federated approach to parallel and distributed simulation of complex systems

Andrzej Sikora, Ewa Niewiadomska-Szynkiewicz (2007)

International Journal of Applied Mathematics and Computer Science

The paper describes a Java-based framework called ASimJava that can be used to develop parallel and distributed simulators of complex real-life systems. Some important issues associated with the implementation of parallel and distributed simulations are discussed. Two principal paradigms for constructing simulations today are considered. Particular attention is paid to an approach for federating parallel and distributed simulators. We describe the design, performance and applications of the ASimJava...

A feedforward compensation scheme for perfect decoupling of measurable input functions

Giovanni Marro, Lorenzo Ntogramatzidis (2005)

Kybernetika

In this paper the exact decoupling problem of signals that are accessible for measurement is investigated. Exploiting the tools and the procedures of the geometric approach, the structure of a feedforward compensator is derived that, cascaded to a linear dynamical system and taking the measurable signal as input, provides the control law that solves the decoupling problem and ensures the internal stability of the overall system.

A functorial approach to the behaviour of multidimensional control systems

Jean-François Pommaret, Alban Quadrat (2003)

International Journal of Applied Mathematics and Computer Science

We show how to use the extension and torsion functors in order to compute the torsion submodule of a differential module associated with a multidimensional control system. In particular, we show that the concept of the weak primeness of matrices corresponds to the torsion-freeness of a certain module.

A further investigation for Egoroff's theorem with respect to monotone set functions

Jun Li (2003)

Kybernetika

In this paper, we investigate Egoroff’s theorem with respect to monotone set function, and show that a necessary and sufficient condition that Egoroff’s theorem remain valid for monotone set function is that the monotone set function fulfill condition (E). Therefore Egoroff’s theorem for non-additive measure is formulated in full generality.

A general on-the-fly algorithm for modifying the kinematic tree hierarchy

Jakub Stępień, Andrzej Polański, Konrad Wojciechowski (2012)

International Journal of Applied Mathematics and Computer Science

When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing...

A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms

Paolo Mercorelli (2012)

Kybernetika

In this paper the control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the (functional) control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid-body object motions. A geometric control procedure is outlined...

A geometric procedure for robust decoupling control of contact forces in robotic manipulation

Paolo Mercorelli, Domenico Prattichizzo (2003)

Kybernetika

This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters...

A geometric solution to the dynamic disturbance decoupling for discrete-time nonlinear systems

Eduardo Aranda-Bricaire, Ülle Kotta (2004)

Kybernetika

The notion of controlled invariance under quasi-static state feedback for discrete-time nonlinear systems has been recently introduced and shown to provide a geometric solution to the dynamic disturbance decoupling problem (DDDP). However, the proof relies heavily on the inversion (structure) algorithm. This paper presents an intrinsic, algorithm-independent, proof of the solvability conditions to the DDDP.

A hierarchical decomposition of decision process Petri nets for modeling complex systems

Julio Clempner (2010)

International Journal of Applied Mathematics and Computer Science

We provide a framework for hierarchical specification called Hierarchical Decision Process Petri Nets (HDPPNs). It is an extension of Decision Process Petri Nets (DPPNs) including a hierarchical decomposition process that generates less complex nets with equivalent behavior. As a result, the complexity of the analysis for a sophisticated system is drastically reduced. In the HDPPN, we represent the mark-dynamic and trajectory-dynamic properties of a DPPN. Within the framework of the mark-dynamic...

A homotopy approach to rational covariance extension with degree constraint

Per Enqvist (2001)

International Journal of Applied Mathematics and Computer Science

The solutions to the Rational Covariance Extension Problem (RCEP) are parameterized by the spectral zeros. The rational filter with a specified numerator solving the RCEP can be determined from a known convex optimization problem. However, this optimization problem may become ill-conditioned for some parameter values. A modification of the optimization problem to avoid the ill-conditioning is proposed and the modified problem is solved efficiently by a continuation method.

A hybrid procedure to identify the optimal stiffness coefficients of elastically restrained beams

Tiago Silva, Maria Loja, Nuno Maia, Joaquim Barbosa (2015)

International Journal of Applied Mathematics and Computer Science

The formulation of a bending vibration problem of an elastically restrained Bernoulli-Euler beam carrying a finite number of concentrated elements along its length is presented. In this study, the authors exploit the application of the differential evolution optimization technique to identify the torsional stiffness properties of the elastic supports of a Bernoulli-Euler beam. This hybrid strategy allows the determination of the natural frequencies and mode shapes of continuous beams, taking into...

A lower bound on local energy of partial sum of eigenfunctions for Laplace-Beltrami operators

Qi Lü (2013)

ESAIM: Control, Optimisation and Calculus of Variations

In this paper, a lower bound is established for the local energy of partial sum of eigenfunctions for Laplace-Beltrami operators (in Riemannian manifolds with low regularity data) with general boundary condition. This result is a consequence of a new pointwise and weighted estimate for Laplace-Beltrami operators, a construction of some nonnegative function with arbitrary given critical point location in the manifold, and also two interpolation results for solutions of elliptic equations with lateral...

A mathematical model for file fragment diffusion and a neural predictor to manage priority queues over BitTorrent

Christian Napoli, Giuseppe Pappalardo, Emiliano Tramontana (2016)

International Journal of Applied Mathematics and Computer Science

BitTorrent splits the files that are shared on a P2P network into fragments and then spreads these by giving the highest priority to the rarest fragment. We propose a mathematical model that takes into account several factors such as the peer distance, communication delays, and file fragment availability in a future period also by using a neural network module designed to model the behaviour of the peers. The ensemble comprising the proposed mathematical model and a neural network provides a solution...

Currently displaying 21 – 40 of 1693