Simple conditions for robust stability of positive discrete-time linear systems with delays
Simple environment for developing methods of controlling chaos in spatially distributed systems
The paper presents a simple mathematical model called a coupled map lattice (CML). For some range of its parameters, this model generates complex, spatiotemporal behavior which seems to be chaotic. The main purpose of the paper is to provide results of stability analysis and compare them with those obtained from numerical simulation. The indirect Lyapunov method and Lyapunov exponents are used to examine the dependence on initial conditions. The net direction phase is introduced to measure the symmetry...
Simplification of the generalized state equations
The paper studies the problem of lowering the orders of input derivatives in nonlinear generalized state equations via generalized coordinate transformation. An alternative, computation-oriented proof is presented for the theorem, originally proved by Delaleau and Respondek, giving necessary and sufficient conditions for existence of such a transformation, in terms of commutativity of certain vector fields. Moreover, the dual conditions in terms of 1-forms have been derived, allowing to calculate...
Simplified multitime maximum principle.
Simultaneous controllability in sharp time for two elastic strings
We study the simultaneously reachable subspace for two strings controlled from a common endpoint. We give necessary and sufficient conditions for simultaneous spectral and approximate controllability. Moreover we prove the lack of simultaneous exact controllability and we study the space of simultaneously reachable states as a function of the position of the joint. For each type of controllability result we give the sharp controllability time.
Simultaneous controllability in sharp time for two elastic strings
We study the simultaneously reachable subspace for two strings controlled from a common endpoint. We give necessary and sufficient conditions for simultaneous spectral and approximate controllability. Moreover we prove the lack of simultaneous exact controllability and we study the space of simultaneously reachable states as a function of the position of the joint. For each type of controllability result we give the sharp controllability time.
Simultaneous Localization And Mapping: A feature-based probabilistic approach
This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major extensions...
Simultaneous piezoelectric actuator and sensor placement optimization and control design of manipulators with flexible links using SDRE method.
Simultaneous state and parameter estimation based actuator fault detection and diagnosis for an unmanned helicopter
Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state containing both the flight state and AHCs. Then the actuator fault detection and diagnosis problem is transformed...
Single stage algorithms for pole placement using static output feedback
Singular bilateral boundary value problems for discrete generalized Lyapunov matrix equations.
Existence and uniqueness conditions for solving singular initial and two-point boundary value problems for discrete generalized Lyapunov matrix equations and explicit expressions of solutions are given.
Singular estimates and uniform stability of coupled systems of hyperbolic/parabolic PDEs.
Singular fractional linear systems and electrical circuits
A new class of singular fractional linear systems and electrical circuits is introduced. Using the Caputo definition of the fractional derivative, the Weierstrass regular pencil decomposition and the Laplace transformation, the solution to the state equation of singular fractional linear systems is derived. It is shown that every electrical circuit is a singular fractional system if it contains at least one mesh consisting of branches only with an ideal supercapacitor and voltage sources or at least...
Singular Generalised Autunomous Linear Differential Systems
Singular perturbations for systems of differential inclusions
We study a system of two differential inclusions such that there is a singular perturbation in the second one. We state new convergence results of solutions under assumptions concerning contingent derivative of the perturbed inclusion. These results state that there exists at least one family of solutions which converges to some solution of the reduced system. We extend this result to perturbed systems with state constraints.
Singularities of optimal averaged profit for stationary strategies.
Singularities of stabilizing feedbacks.
Singularities of the stationary domain for polydynamical systems
Sixty years of cybernetics: a comparison of approaches to solving the control problem
The H2 control problem consists of stabilizing a control system while minimizing the H2 norm of its transfer function. Several solutions to this problem are available. For systems in state space form, an optimal regulator can be obtained by solving two algebraic Riccati equations. For systems described by transfer functions, either Wiener-Hopf optimization or projection results can be applied. The optimal regulator is then obtained using operations with proper stable rational matrices: inner-outer...
Sliding mode control in the presence of delay
This paper provides an overview of recent results for relay-delay systems. In a first section, simple examples illustrate the problems induced by delays in the synthesis of sliding mode controllers. Then, a brief overview of the existing results shows the present advances and limits in this domain. The last parts of the paper are devoted to new results: first, for systems with state delay, then for systems with input delay.