Parameter identification and synchronization of dynamical system by introducing an auxiliary subsystem.
Parameter influence on passive dynamic walking of a robot with flat feet
The biped robot with flat feet and fixed ankles walking down a slope is a typical impulsive dynamic system. Steady passive gaits for such mechanism can be induced on certain shallow slopes without actuation. The steady gaits can be described by using stable non-smooth limit cycles in phase plane. In this paper, it is shown that the robot gaits are affected by three parameters, namely the ground slope, the length of the foot, and the mass ratio of the robot. As the ground slope is gradually increased,...
Parametric control of solutions to an evolution problem in a neighborhood of an unstable stationary regime.
Parametrization and geometric analysis of coordination controllers for multi-agent systems
In this paper, we address distributed control structures for multi-agent systems with linear controlled agent dynamics. We consider the parametrization and related geometric structures of the coordination controllers for multi-agent systems with fixed topologies. Necessary and sufficient conditions to characterize stabilizing consensus controllers are obtained. Then we consider the consensus for the multi-agent systems with switching interaction topologies based on control parametrization.
Parametrization and reliable extraction of proper compensators
The polynomial matrix equation is solved for those and that give proper transfer functions characterizing a subclass of compensators, contained in the class whose arbitrary element can be cascaded to a plant with the given strictly...
Parametrization of multi-output autoregressive-regressive models for self-tuning control
Parametrization of observer based compensators in the frequency domain
Partial decoupling of non-minimum phase systems by constant state feedback
Partial derivatives of the Vandermonde determinant and their application to the synthesis of linear control systems
Partial disturbance decoupling problem for structured transfer matrix systems by measurement feedback
Partial disturbance decoupling problems are equivalent to zeroing the first, say Markov parameters of the closed-loop system between the disturbance and controlled output. One might consider this problem when it is not possible to zero all the Markov parameters which is known as exact disturbance decoupling. Structured transfer matrix systems are linear systems given by transfer matrices of which the infinite zero order of each nonzero entry is known, while the associated infinite gains are unknown...
Partial exact controllability and exponential stability in higher-dimensional linear thermoelasticity
Partial exact controllability and exponential stability in higher-dimensional linear thermoelasticity
The problem of partial exact boundary controllability and exponential stability for the higher-dimensional linear system of thermoelasticity is considered. By introducing a velocity feedback on part of the boundary of the thermoelastic body, which is clamped along the rest of its boundary, to increase the loss of energy, we prove that the energy in the system of thermoelasticity decays to zero exponentially. We also give a positive answer to a related open question raised by Alabau and Komornik...
Partial exact controllability for the linear thermo-viscoelastic model.
Particle filter with adaptive sample size
The paper deals with the particle filter in state estimation of a discrete-time nonlinear non-Gaussian system. The goal of the paper is to design a sample size adaptation technique to guarantee a quality of a filtering estimate produced by the particle filter which is an approximation of the true filtering estimate. The quality is given by a difference between the approximate filtering estimate and the true filtering estimate. The estimate may be a point estimate or a probability density function...
Passivity analysis and synthesis for uncertain time-delay systems.
Passivity based stabilization of non-minimum phase nonlinear systems
A cascade scheme for passivity-based stabilization of a wide class of nonlinear systems is proposed in this paper. Starting from the definitions and basic concepts of passivity-based stabilization via feedback (which are applicable to minimum phase nonlinear systems expressed in their normal forms) a cascade stabilization scheme is proposed for minimum and non-minimum phase nonlinear systems where the constraint of stable zero dynamics imposed by previous stabilization approaches is abandoned. Simulation...
Peak solutions for an elliptic system of FitzHugh-Nagumo type
The aim of this paper is to study the existence of various types of peak solutions for an elliptic system of FitzHugh-Nagumo type. We prove that the system has a single peak solution, which concentrates near the boundary of the domain. Under some extra assumptions, we also construct multi-peak solutions with all the peaks near the boundary, and a single peak solution with its peak near an interior point of the domain.
Perfect observers for fractional discrete-time linear systems
A perfect (exact) fractional observer of discrete-time singular linear control system of fractional order is studied. Conditions for its existence are given. The obtained results are applied to the detectability problem of the class of systems under consideration.
Periodic and chaotic motions of a two-bar linkage with OPCL controller.
Periodic coordination in hierarchical air defence systems
The subject of this work is the defence planning of a point target against an air attack. The defence system is decomposed into a number of sectors. A direct method of coordination is used at the upper level, while the sectors use a discrete-time event-based model and the description of uncertainty by multiple scenarios of an attack. The resulting problems are solved using linear programming. A comparison of two coordination strategies for realistic attack scenarios and an analysis of effectiveness...