Rivista e Edizione

Volume 32 (2022): Edizione 3 (September 2022)
Recent Advances in Modelling, Analysis and Implementation of Cyber-Physical Systems (Special section, pp. 345-413), Remigiusz Wiśniewski, Luis Gomes and Shaohua Wan (Eds.)

Volume 32 (2022): Edizione 2 (June 2022)
Towards Self-Healing Systems through Diagnostics, Fault-Tolerance and Design (Special section, pp. 171-269), Marcin Witczak and Ralf Stetter (Eds.)

Volume 32 (2022): Edizione 1 (March 2022)

Volume 31 (2021): Edizione 4 (December 2021)
Advanced Machine Learning Techniques in Data Analysis (special section, pp. 549-611), Maciej Kusy, Rafał Scherer, and Adam Krzyżak (Eds.)

Volume 31 (2021): Edizione 3 (September 2021)

Volume 31 (2021): Edizione 2 (June 2021)

Volume 31 (2021): Edizione 1 (March 2021)

Volume 30 (2020): Edizione 4 (December 2020)

Volume 30 (2020): Edizione 3 (September 2020)
Big Data and Signal Processing (Special section, pp. 399-473), Joanna Kołodziej, Sabri Pllana, Salvatore Vitabile (Eds.)

Volume 30 (2020): Edizione 2 (June 2020)

Volume 30 (2020): Edizione 1 (March 2020)

Volume 29 (2019): Edizione 4 (December 2019)
New Perspectives in Nonlinear and Intelligent Control (In Honor of Alexander P. Kurdyukov) (special section, pp. 629-712), Julio B. Clempner, Enso Ikonen, Alexander P. Kurdyukov (Eds.)

Volume 29 (2019): Edizione 3 (September 2019)
Information Technology for Systems Research (special section, pp. 427-515), Piotr Kulczycki, Janusz Kacprzyk, László T. Kóczy, Radko Mesiar (Eds.)

Volume 29 (2019): Edizione 2 (June 2019)
Advances in Complex Cloud and Service Oriented Computing (special section, pp. 213-274), Anna Kobusińska, Ching-Hsien Hsu, Kwei-Jay Lin (Eds.)

Volume 29 (2019): Edizione 1 (March 2019)
Exploring Complex and Big Data (special section, pp. 7-91), Johann Gamper, Robert Wrembel (Eds.)

Volume 28 (2018): Edizione 4 (December 2018)

Volume 28 (2018): Edizione 3 (September 2018)

Volume 28 (2018): Edizione 2 (June 2018)
Advanced Diagnosis and Fault-Tolerant Control Methods (special section, pp. 233-333), Vicenç Puig, Dominique Sauter, Christophe Aubrun, Horst Schulte (Eds.)

Volume 28 (2018): Edizione 1 (March 2018)
Ediziones in Parameter Identification and Control (special section, pp. 9-122), Abdel Aitouche (Ed.)

Volume 27 (2017): Edizione 4 (December 2017)

Volume 27 (2017): Edizione 3 (September 2017)
Systems Analysis: Modeling and Control (special section, pp. 457-499), Vyacheslav Maksimov and Boris Mordukhovich (Eds.)

Volume 27 (2017): Edizione 2 (June 2017)

Volume 27 (2017): Edizione 1 (March 2017)

Volume 26 (2016): Edizione 4 (December 2016)

Volume 26 (2016): Edizione 3 (September 2016)

Volume 26 (2016): Edizione 2 (June 2016)

Volume 26 (2016): Edizione 1 (March 2016)

Volume 25 (2015): Edizione 4 (December 2015)
Special issue: Complex Problems in High-Performance Computing Systems, Editors: Mauro Iacono, Joanna Kołodziej

Volume 25 (2015): Edizione 3 (September 2015)

Volume 25 (2015): Edizione 2 (June 2015)

Volume 25 (2015): Edizione 1 (March 2015)
Safety, Fault Diagnosis and Fault Tolerant Control in Aerospace Systems, Silvio Simani, Paolo Castaldi (Eds.)

Volume 24 (2014): Edizione 4 (December 2014)

Volume 24 (2014): Edizione 3 (September 2014)
Modelling and Simulation of High Performance Information Systems (special section, pp. 453-566), Pavel Abaev, Rostislav Razumchik, Joanna Kołodziej (Eds.)

Volume 24 (2014): Edizione 2 (June 2014)
Signals and Systems (special section, pp. 233-312), Ryszard Makowski and Jan Zarzycki (Eds.)

Volume 24 (2014): Edizione 1 (March 2014)
Selected Problems of Biomedical Engineering (special section, pp. 7 - 63), Marek Kowal and Józef Korbicz (Eds.)

Volume 23 (2013): Edizione 4 (December 2013)

Volume 23 (2013): Edizione 3 (September 2013)

Volume 23 (2013): Edizione 2 (June 2013)

Volume 23 (2013): Edizione 1 (March 2013)

Volume 22 (2012): Edizione 4 (December 2012)
Hybrid and Ensemble Methods in Machine Learning (special section, pp. 787 - 881), Oscar Cordón and Przemysław Kazienko (Eds.)

Volume 22 (2012): Edizione 3 (September 2012)

Volume 22 (2012): Edizione 2 (June 2012)
Analysis and Control of Spatiotemporal Dynamic Systems (special section, pp. 245 - 326), Dariusz Uciński and Józef Korbicz (Eds.)

Volume 22 (2012): Edizione 1 (March 2012)
Advances in Control and Fault-Tolerant Systems (special issue), Józef Korbicz, Didier Maquin and Didier Theilliol (Eds.)

Volume 21 (2011): Edizione 4 (December 2011)

Volume 21 (2011): Edizione 3 (September 2011)
Ediziones in Advanced Control and Diagnosis (special section, pp. 423 - 486), Vicenç Puig and Marcin Witczak (Eds.)

Volume 21 (2011): Edizione 2 (June 2011)
Efficient Resource Management for Grid-Enabled Applications (special section, pp. 219 - 306), Joanna Kołodziej and Fatos Xhafa (Eds.)

Volume 21 (2011): Edizione 1 (March 2011)
Semantic Knowledge Engineering (special section, pp. 9 - 95), Grzegorz J. Nalepa and Antoni Ligęza (Eds.)

Volume 20 (2010): Edizione 4 (December 2010)

Volume 20 (2010): Edizione 3 (September 2010)

Volume 20 (2010): Edizione 2 (June 2010)

Volume 20 (2010): Edizione 1 (March 2010)
Computational Intelligence in Modern Control Systems (special section, pp. 7 - 84), Józef Korbicz and Dariusz Uciński (Eds.)

Volume 19 (2009): Edizione 4 (December 2009)
Robot Control Theory (special section, pp. 519 - 588), Cezary Zieliński (Ed.)

Volume 19 (2009): Edizione 3 (September 2009)
Verified Methods: Applications in Medicine and Engineering (special issue), Andreas Rauh, Ekaterina Auer, Eberhard P. Hofer and Wolfram Luther (Eds.)

Volume 19 (2009): Edizione 2 (June 2009)

Volume 19 (2009): Edizione 1 (March 2009)

Volume 18 (2008): Edizione 4 (December 2008)
Ediziones in Fault Diagnosis and Fault Tolerant Control (special issue), Józef Korbicz and Dominique Sauter (Eds.)

Volume 18 (2008): Edizione 3 (September 2008)
Selected Problems of Computer Science and Control (special issue), Krzysztof Gałkowski, Eric Rogers and Jan Willems (Eds.)

Volume 18 (2008): Edizione 2 (June 2008)
Selected Topics in Biological Cybernetics (special section, pp. 117 - 170), Andrzej Kasiński and Filip Ponulak (Eds.)

Volume 18 (2008): Edizione 1 (March 2008)
Applied Image Processing (special issue), Anton Kummert and Ewaryst Rafajłowicz (Eds.)

Volume 17 (2007): Edizione 4 (December 2007)

Volume 17 (2007): Edizione 3 (September 2007)
Scientific Computation for Fluid Mechanics and Hyperbolic Systems (special issue), Jan Sokołowski and Eric Sonnendrücker (Eds.)

Volume 17 (2007): Edizione 2 (June 2007)

Volume 17 (2007): Edizione 1 (March 2007)

Dettagli della rivista
Formato
Rivista
eISSN
2083-8492
Pubblicato per la prima volta
05 Apr 2007
Periodo di pubblicazione
4 volte all'anno
Lingue
Inglese

Cerca

Volume 28 (2018): Edizione 3 (September 2018)

Dettagli della rivista
Formato
Rivista
eISSN
2083-8492
Pubblicato per la prima volta
05 Apr 2007
Periodo di pubblicazione
4 volte all'anno
Lingue
Inglese

Cerca

15 Articoli
Accesso libero

Quadratic Performance Analysis of Switched Affine Time–Varying Systems

Pubblicato online: 03 Oct 2018
Pagine: 429 - 440

Astratto

Abstract

We analyze quadratic performance for switched systems which are composed of a finite set of affine time-varying subsystems, where both subsystem matrices and affine vectors are switched, and no single subsystem has desired quadratic performance. The quadratic performance indexes we deal with include stability, tracking and L2 gain. We show that if a linear convex combination of subsystem matrices is uniformly Hurwitz and another convex combination of affine vectors is zero, then we can design a state-dependent switching law (state feedback) and an output-dependent switching law (output feedback) such that the entire switched affine system is quadratically stable at the origin. In the case where the convex combination of affine vectors is nonzero, we show that the tracking control problem can be posed and solved using a similar switching strategy. Finally, we consider the L2gain analysis problem for the switched affine time-varying systems under state feedback.

Parole chiave

  • switched affine systems
  • time-varying systems
  • quadratic stabilization
  • tracking
  • L2 gain
  • switching law
  • differential LMIs
  • observers
Accesso libero

Robust Controlled Positive Delayed Systems with Interval Parameter Uncertainties: A Delay Uniform Decomposition Approach

Pubblicato online: 03 Oct 2018
Pagine: 441 - 450

Astratto

Abstract

This paper is concerned with robust stabilization of continuous linear positive time-delay systems with parametric uncertainties. The delay considered in this work is a bounded time-varying function. Previously, we have demonstrated that the equidistant delay-decomposition technique is less conservative when it is applied to linear positive time-delay systems. Thus, we use simply a delay bi-decomposition in an appropriate Lyapunov-Krasovskii functional. By using classical and partitioned control gains, the state-feedback controllers developed in our work are formulated in terms of linear matrix inequalities. The efficiency of the proposed robust control laws is illustrated with via an example.

Parole chiave

  • delay systems
  • robust stabilization
  • positive systems
  • parametric constraints
  • delay decomposition
  • LMIs
Accesso libero

Stability of Interval Positive Fractional Discrete–Time Linear Systems

Pubblicato online: 03 Oct 2018
Pagine: 451 - 456

Astratto

Abstract

The aim of this work is to show that interval positive fractional discrete-time linear systems are asymptotically stable if and only if the respective lower and upper bound systems are asymptotically stable. The classical Kharitonov theorem is extended to interval positive fractional linear systems.

Parole chiave

  • interval system
  • positive system
  • fractional system
  • linear discrete-time system
  • stability
Accesso libero

Bibo Stabilisation of Continuous–Time Takagi–Sugeno Systems under Persistent Perturbations and Input Saturation

Pubblicato online: 03 Oct 2018
Pagine: 457 - 472

Astratto

Abstract

This paper presents a novel approach to the design of fuzzy state feedback controllers for continuous-time non-linear systems with input saturation under persistent perturbations. It is assumed that all the states of the Takagi-Sugeno (TS) fuzzy model representing a non-linear system are measurable. Such controllers achieve bounded input bounded output (BIBO) stabilisation in closed loop based on the computation of inescapable ellipsoids. These ellipsoids are computed with linear matrix inequalities (LMIs) that guarantee stabilisation with input saturation and persistent perturbations. In particular, two kinds of inescapable ellipsoids are computed when solving a multiobjective optimization problem: the maximum volume inescapable ellipsoids contained inside the validity domain of the TS fuzzy model and the smallest inescapable ellipsoids which guarantee a minimum *-norm (upper bound of the 1-norm) of the perturbed system. For every initial point contained in the maximum volume ellipsoid, the closed loop will enter the minimum *-norm ellipsoid after a finite time, and it will remain inside afterwards. Consequently, the designed controllers have a large domain of validity and ensure a small value for the 1-norm of closed loop.

Parole chiave

  • LMIs
  • fuzzy systems
  • non-linear systems
  • input saturation
  • disturbances
Accesso libero

State Filtering for Networked Control Systems Subject to Switching Disturbances

Pubblicato online: 03 Oct 2018
Pagine: 473 - 482

Astratto

Abstract

State estimation of stochastic discrete-time linear systems subject to unknown inputs has been widely studied, but few works take into account disturbances switching between unknown inputs and constant biases. We show that such disturbances affect a networked control system subject to deception attacks on the control signals transmitted by the controller to the plant via unreliable networks. This paper proposes to estimate the switching disturbance from an augmented state version of the intermittent unknown input Kalman filter. The sufficient stochastic stability conditions of the obtained filter are established when the arrival binary sequence of data losses follows a Bernoulli random process.

Parole chiave

  • Kalman filter
  • unknown inputs
  • constant bias
  • switching disturbances
  • linear system
  • covariance matrix
Accesso libero

A Fast Evaluation of Initial Configurations in Repeatable Inverse Kinematics for Redundant Manipulators

Pubblicato online: 03 Oct 2018
Pagine: 483 - 492

Astratto

Abstract

A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.

Parole chiave

  • manipulator
  • repeatable inverse kinematics
  • initial configuration
  • optimization
Accesso libero

An Exact Geometry–Based Algorithm for Path Planning

Pubblicato online: 03 Oct 2018
Pagine: 493 - 504

Astratto

Abstract

A novel, exact algorithm is presented to solve the path planning problem that involves finding the shortest collision-free path from a start to a goal point in a two-dimensional environment containing convex and non-convex obstacles. The proposed algorithm, which is called the shortest possible path (SPP) algorithm, constructs a network of lines connecting the vertices of the obstacles and the locations of the start and goal points which is smaller than the network generated by the visibility graph. Then it finds the shortest path from start to goal point within this network. The SPP algorithm generates a safe, smooth and obstacle-free path that has a desired distance from each obstacle. This algorithm is designed for environments that are populated sparsely with convex and nonconvex polygonal obstacles. It has the capability of eliminating some of the polygons that do not play any role in constructing the optimal path. It is proven that the SPP algorithm can find the optimal path in O(nnr2) time, where n is the number of vertices of all polygons and n ̓ is the number of vertices that are considered in constructing the path network (n ̓ ≤ n). The performance of the algorithm is evaluated relative to three major classes of algorithms: heuristic, probabilistic, and classic. Different benchmark scenarios are used to evaluate the performance of the algorithm relative to the first two classes of algorithms: GAMOPP (genetic algorithm for multi-objective path planning), a representative heuristic algorithm, as well as RRT (rapidly-exploring random tree) and PRM (probabilistic road map), two well-known probabilistic algorithms. Time complexity is known for classic algorithms, so the presented algorithm is compared analytically.

Parole chiave

  • shortest possible path (SPP) algorithm
  • path planning
  • collision-free path
Accesso libero

An Ant–Based Filtering Random–Finite–Set Approach to Simultaneous Localization and Mapping

Pubblicato online: 03 Oct 2018
Pagine: 505 - 519

Astratto

Abstract

Inspired by ant foraging, as well as modeling of the feature map and measurements as random finite sets, a novel formulation in an ant colony framework is proposed to jointly estimate the map and the vehicle trajectory so as to solve a feature-based simultaneous localization and mapping (SLAM) problem. This so-called ant-PHD-SLAM algorithm allows decomposing the recursion for the joint map-trajectory posterior density into a jointly propagated posterior density of the vehicle trajectory and the posterior density of the feature map conditioned on the vehicle trajectory. More specifically, an ant-PHD filter is proposed to jointly estimate the number of map features and their locations, namely, using the powerful search ability and collective cooperation of ants to complete the PHD-SLAM filter time prediction and data update process. Meanwhile, a novel fast moving ant estimator (F-MAE) is utilized to estimate the maneuvering vehicle trajectory. Evaluation and comparison using several numerical examples show a performance improvement over recently reported approaches. Moreover, the experimental results based on the robot operation system (ROS) platform validate the consistency with the results obtained from numerical simulations.

Parole chiave

  • simultaneous localization and mapping (SLAM)
  • random finite sets
  • probability hypothesis density
  • ant colony
Accesso libero

Fusion of Multiple Estimates by Covariance Intersection: Why and Howit Is Suboptimal

Pubblicato online: 03 Oct 2018
Pagine: 521 - 530

Astratto

Abstract

The fusion under unknown correlations tunes a combination of local estimates in such a way that upper bounds of the admissible mean square error matrices are optimised. Based on the recently discovered relation between the admissible matrices and Minkowski sums of ellipsoids, the optimality of existing algorithms is analysed. Simple examples are used to indicate the reasons for the suboptimality of the covariance intersection fusion of multiple estimates. Further, an extension of the existing family of upper bounds is proposed, which makes it possible to get closer to the optimum, and a general case is discussed. All results are obtained analytically and illustrated graphically.

Parole chiave

  • decentralised estimation
  • fusion under unknown correlations
  • covariance intersection
  • Minkowski sum
Accesso libero

Slime Mould Games Based on Rough Set Theory

Pubblicato online: 03 Oct 2018
Pagine: 531 - 544

Astratto

Abstract

We define games on the medium of plasmodia of slime mould, unicellular organisms that look like giant amoebae. The plasmodia try to occupy all the food pieces they can detect. Thus, two different plasmodia can compete with each other. In particular, we consider game-theoretically how plasmodia of Physarum polycephalum and Badhamia utricularis fight for food. Placing food pieces at different locations determines the behavior of plasmodia. In this way, we can program the plasmodia of Physarum polycephalum and Badhamia utricularis by placing food, and we can examine their motion as a Physarum machine-an abstract machine where states are represented as food pieces and transitions among states are represented as movements of plasmodia from one piece to another. Hence, this machine is treated as a natural transition system. The behavior of the Physarum machine in the form of a transition system can be interpreted in terms of rough set theory that enables modeling some ambiguities in motions of plasmodia. The problem is that there is always an ambiguity which direction of plasmodium propagation is currently chosen: one or several concurrent ones, i.e., whether we deal with a sequential, concurrent or massively parallel motion. We propose to manage this ambiguity using rough set theory. Firstly, we define the region of plasmodium interest as a rough set; secondly, we consider concurrent transitions determined by these regions as a context-based game; thirdly, we define strategies in this game as a rough set; fourthly, we show how these results can be interpreted as a Go game.

Parole chiave

  • slime mould games
  • Physarum machines
  • transition systems
  • rough set theory
  • simulation software
Accesso libero

Linguistically Defined Clustering of Data

Pubblicato online: 03 Oct 2018
Pagine: 545 - 557

Astratto

Abstract

This paper introduces a method of data clustering that is based on linguistically specified rules, similar to those applied by a human visually fulfilling a task. The method endeavors to follow these remarkable capabilities of intelligent beings. Even for most complicated data patterns a human is capable of accomplishing the clustering process using relatively simple rules. His/her way of clustering is a sequential search for new structures in the data and new prototypes with the use of the following linguistic rule: search for prototypes in regions of extremely high data densities and immensely far from the previously found ones. Then, after this search has been completed, the respective data have to be assigned to any of the clusters whose nuclei (prototypes) have been found. A human again uses a simple linguistic rule: data from regions with similar densities, which are located exceedingly close to each other, should belong to the same cluster. The goal of this work is to prove experimentally that such simple linguistic rules can result in a clustering method that is competitive with the most effective methods known from the literature on the subject. A linguistic formulation of a validity index for determination of the number of clusters is also presented. Finally, an extensive experimental analysis of benchmark datasets is performed to demonstrate the validity of the clustering approach introduced. Its competitiveness with the state-of-the-art solutions is also shown.

Parole chiave

  • clustering
  • possibility theory
  • linguistic rules
  • data analysis
Accesso libero

Regression Function and Noise Variance Tracking Methods for Data Streams with Concept Drift

Pubblicato online: 03 Oct 2018
Pagine: 559 - 567

Astratto

Abstract

Two types of heuristic estimators based on Parzen kernels are presented. They are able to estimate the regression function in an incremental manner. The estimators apply two techniques commonly used in concept-drifting data streams, i.e., the forgetting factor and the sliding window. The methods are applicable for models in which both the function and the noise variance change over time. Although nonparametric methods based on Parzen kernels were previously successfully applied in the literature to online regression function estimation, the problem of estimating the variance of noise was generally neglected. It is sometimes of profound interest to know the variance of the signal considered, e.g., in economics, but it can also be used for determining confidence intervals in the estimation of the regression function, as well as while evaluating the goodness of fit and in controlling the amount of smoothing. The present paper addresses this issue. Specifically, variance estimators are proposed which are able to deal with concept drifting data by applying a sliding window and a forgetting factor, respectively. A number of conducted numerical experiments proved that the proposed methods perform satisfactorily well in estimating both the regression function and the variance of the noise.

Parole chiave

  • data streams
  • concept drift
  • Parzen kernels
  • regression
  • variance estimation
Accesso libero

Applications of A Hyper–Graph Grammar System in Adaptive Finite–Element Computations

Pubblicato online: 03 Oct 2018
Pagine: 569 - 582

Astratto

Abstract

This paper describes application of a hyper-graph grammar system for modeling a three-dimensional adaptive finite element method. The hyper-graph grammar approach allows obtaining a linear computational cost of adaptive mesh transformations and computations performed over refined meshes. The computations are done by a hyper-graph grammar driven algorithm applicable to three-dimensional problems. For the case of typical refinements performed towards a point or an edge, the algorithm yields linear computational cost with respect to the mesh nodes for its sequential execution and logarithmic cost for its parallel execution. Such hyper-graph grammar productions are the mathematical formalism used to describe the computational algorithm implementing the finite element method. Each production indicates the smallest atomic task that can be executed concurrently. The mesh transformations and computations by using the hyper-graph grammar-based approach have been tested in the GALOIS environment. We conclude the paper with some numerical results performed on a shared-memory Linux cluster node, for the case of three-dimensional computational meshes refined towards a point, an edge and a face.

Parole chiave

  • adaptive finite element method
  • hyper-graph grammars
  • mesh-based computations
Accesso libero

On Hyper–Regularity and Unimodularity of Ore Polynomial Matrices

Pubblicato online: 03 Oct 2018
Pagine: 583 - 594

Astratto

Abstract

We investigate Ore polynomial matrices, i. e., matrices with polynomial entries in d/dt whose coefficients are meromorphic functions in t and as such constitute a non-commutative ring. In particular, we study the properties of hyper-regularity and unimodularity of such matrices and derive conditions which make it possible to efficiently check for these characteristics. In addition, this approach enables computation of hyper-regular left and right and unimodular inverses.

Parole chiave

  • Ore polynomial matrices
  • hyper-regularity
  • unimodularity
  • meromorphic functions
  • differential operator
  • noncommutativity
  • algorithm
  • hyper-regular inverse
Accesso libero

Hardware Reduction for Lut–Based Mealy FSMs

Pubblicato online: 03 Oct 2018
Pagine: 595 - 607

Astratto

Abstract

A method is proposed targeting a decrease in the number of LUTs in circuits of FPGA-based Mealy FSMs. The method improves hardware consumption for Mealy FSMs with the encoding of collections of output variables. The approach is based on constructing a partition for the set of internal states. Each state has two codes. It diminishes the number of arguments in input memory functions. An example of synthesis is given, along with results of investigations. The method targets rather complex FSMs, having more than 15 states.

Parole chiave

  • Mealy FSM
  • synthesis
  • FPGA
  • LUT
  • partition
  • encoding collections of output variables
15 Articoli
Accesso libero

Quadratic Performance Analysis of Switched Affine Time–Varying Systems

Pubblicato online: 03 Oct 2018
Pagine: 429 - 440

Astratto

Abstract

We analyze quadratic performance for switched systems which are composed of a finite set of affine time-varying subsystems, where both subsystem matrices and affine vectors are switched, and no single subsystem has desired quadratic performance. The quadratic performance indexes we deal with include stability, tracking and L2 gain. We show that if a linear convex combination of subsystem matrices is uniformly Hurwitz and another convex combination of affine vectors is zero, then we can design a state-dependent switching law (state feedback) and an output-dependent switching law (output feedback) such that the entire switched affine system is quadratically stable at the origin. In the case where the convex combination of affine vectors is nonzero, we show that the tracking control problem can be posed and solved using a similar switching strategy. Finally, we consider the L2gain analysis problem for the switched affine time-varying systems under state feedback.

Parole chiave

  • switched affine systems
  • time-varying systems
  • quadratic stabilization
  • tracking
  • L2 gain
  • switching law
  • differential LMIs
  • observers
Accesso libero

Robust Controlled Positive Delayed Systems with Interval Parameter Uncertainties: A Delay Uniform Decomposition Approach

Pubblicato online: 03 Oct 2018
Pagine: 441 - 450

Astratto

Abstract

This paper is concerned with robust stabilization of continuous linear positive time-delay systems with parametric uncertainties. The delay considered in this work is a bounded time-varying function. Previously, we have demonstrated that the equidistant delay-decomposition technique is less conservative when it is applied to linear positive time-delay systems. Thus, we use simply a delay bi-decomposition in an appropriate Lyapunov-Krasovskii functional. By using classical and partitioned control gains, the state-feedback controllers developed in our work are formulated in terms of linear matrix inequalities. The efficiency of the proposed robust control laws is illustrated with via an example.

Parole chiave

  • delay systems
  • robust stabilization
  • positive systems
  • parametric constraints
  • delay decomposition
  • LMIs
Accesso libero

Stability of Interval Positive Fractional Discrete–Time Linear Systems

Pubblicato online: 03 Oct 2018
Pagine: 451 - 456

Astratto

Abstract

The aim of this work is to show that interval positive fractional discrete-time linear systems are asymptotically stable if and only if the respective lower and upper bound systems are asymptotically stable. The classical Kharitonov theorem is extended to interval positive fractional linear systems.

Parole chiave

  • interval system
  • positive system
  • fractional system
  • linear discrete-time system
  • stability
Accesso libero

Bibo Stabilisation of Continuous–Time Takagi–Sugeno Systems under Persistent Perturbations and Input Saturation

Pubblicato online: 03 Oct 2018
Pagine: 457 - 472

Astratto

Abstract

This paper presents a novel approach to the design of fuzzy state feedback controllers for continuous-time non-linear systems with input saturation under persistent perturbations. It is assumed that all the states of the Takagi-Sugeno (TS) fuzzy model representing a non-linear system are measurable. Such controllers achieve bounded input bounded output (BIBO) stabilisation in closed loop based on the computation of inescapable ellipsoids. These ellipsoids are computed with linear matrix inequalities (LMIs) that guarantee stabilisation with input saturation and persistent perturbations. In particular, two kinds of inescapable ellipsoids are computed when solving a multiobjective optimization problem: the maximum volume inescapable ellipsoids contained inside the validity domain of the TS fuzzy model and the smallest inescapable ellipsoids which guarantee a minimum *-norm (upper bound of the 1-norm) of the perturbed system. For every initial point contained in the maximum volume ellipsoid, the closed loop will enter the minimum *-norm ellipsoid after a finite time, and it will remain inside afterwards. Consequently, the designed controllers have a large domain of validity and ensure a small value for the 1-norm of closed loop.

Parole chiave

  • LMIs
  • fuzzy systems
  • non-linear systems
  • input saturation
  • disturbances
Accesso libero

State Filtering for Networked Control Systems Subject to Switching Disturbances

Pubblicato online: 03 Oct 2018
Pagine: 473 - 482

Astratto

Abstract

State estimation of stochastic discrete-time linear systems subject to unknown inputs has been widely studied, but few works take into account disturbances switching between unknown inputs and constant biases. We show that such disturbances affect a networked control system subject to deception attacks on the control signals transmitted by the controller to the plant via unreliable networks. This paper proposes to estimate the switching disturbance from an augmented state version of the intermittent unknown input Kalman filter. The sufficient stochastic stability conditions of the obtained filter are established when the arrival binary sequence of data losses follows a Bernoulli random process.

Parole chiave

  • Kalman filter
  • unknown inputs
  • constant bias
  • switching disturbances
  • linear system
  • covariance matrix
Accesso libero

A Fast Evaluation of Initial Configurations in Repeatable Inverse Kinematics for Redundant Manipulators

Pubblicato online: 03 Oct 2018
Pagine: 483 - 492

Astratto

Abstract

A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.

Parole chiave

  • manipulator
  • repeatable inverse kinematics
  • initial configuration
  • optimization
Accesso libero

An Exact Geometry–Based Algorithm for Path Planning

Pubblicato online: 03 Oct 2018
Pagine: 493 - 504

Astratto

Abstract

A novel, exact algorithm is presented to solve the path planning problem that involves finding the shortest collision-free path from a start to a goal point in a two-dimensional environment containing convex and non-convex obstacles. The proposed algorithm, which is called the shortest possible path (SPP) algorithm, constructs a network of lines connecting the vertices of the obstacles and the locations of the start and goal points which is smaller than the network generated by the visibility graph. Then it finds the shortest path from start to goal point within this network. The SPP algorithm generates a safe, smooth and obstacle-free path that has a desired distance from each obstacle. This algorithm is designed for environments that are populated sparsely with convex and nonconvex polygonal obstacles. It has the capability of eliminating some of the polygons that do not play any role in constructing the optimal path. It is proven that the SPP algorithm can find the optimal path in O(nnr2) time, where n is the number of vertices of all polygons and n ̓ is the number of vertices that are considered in constructing the path network (n ̓ ≤ n). The performance of the algorithm is evaluated relative to three major classes of algorithms: heuristic, probabilistic, and classic. Different benchmark scenarios are used to evaluate the performance of the algorithm relative to the first two classes of algorithms: GAMOPP (genetic algorithm for multi-objective path planning), a representative heuristic algorithm, as well as RRT (rapidly-exploring random tree) and PRM (probabilistic road map), two well-known probabilistic algorithms. Time complexity is known for classic algorithms, so the presented algorithm is compared analytically.

Parole chiave

  • shortest possible path (SPP) algorithm
  • path planning
  • collision-free path
Accesso libero

An Ant–Based Filtering Random–Finite–Set Approach to Simultaneous Localization and Mapping

Pubblicato online: 03 Oct 2018
Pagine: 505 - 519

Astratto

Abstract

Inspired by ant foraging, as well as modeling of the feature map and measurements as random finite sets, a novel formulation in an ant colony framework is proposed to jointly estimate the map and the vehicle trajectory so as to solve a feature-based simultaneous localization and mapping (SLAM) problem. This so-called ant-PHD-SLAM algorithm allows decomposing the recursion for the joint map-trajectory posterior density into a jointly propagated posterior density of the vehicle trajectory and the posterior density of the feature map conditioned on the vehicle trajectory. More specifically, an ant-PHD filter is proposed to jointly estimate the number of map features and their locations, namely, using the powerful search ability and collective cooperation of ants to complete the PHD-SLAM filter time prediction and data update process. Meanwhile, a novel fast moving ant estimator (F-MAE) is utilized to estimate the maneuvering vehicle trajectory. Evaluation and comparison using several numerical examples show a performance improvement over recently reported approaches. Moreover, the experimental results based on the robot operation system (ROS) platform validate the consistency with the results obtained from numerical simulations.

Parole chiave

  • simultaneous localization and mapping (SLAM)
  • random finite sets
  • probability hypothesis density
  • ant colony
Accesso libero

Fusion of Multiple Estimates by Covariance Intersection: Why and Howit Is Suboptimal

Pubblicato online: 03 Oct 2018
Pagine: 521 - 530

Astratto

Abstract

The fusion under unknown correlations tunes a combination of local estimates in such a way that upper bounds of the admissible mean square error matrices are optimised. Based on the recently discovered relation between the admissible matrices and Minkowski sums of ellipsoids, the optimality of existing algorithms is analysed. Simple examples are used to indicate the reasons for the suboptimality of the covariance intersection fusion of multiple estimates. Further, an extension of the existing family of upper bounds is proposed, which makes it possible to get closer to the optimum, and a general case is discussed. All results are obtained analytically and illustrated graphically.

Parole chiave

  • decentralised estimation
  • fusion under unknown correlations
  • covariance intersection
  • Minkowski sum
Accesso libero

Slime Mould Games Based on Rough Set Theory

Pubblicato online: 03 Oct 2018
Pagine: 531 - 544

Astratto

Abstract

We define games on the medium of plasmodia of slime mould, unicellular organisms that look like giant amoebae. The plasmodia try to occupy all the food pieces they can detect. Thus, two different plasmodia can compete with each other. In particular, we consider game-theoretically how plasmodia of Physarum polycephalum and Badhamia utricularis fight for food. Placing food pieces at different locations determines the behavior of plasmodia. In this way, we can program the plasmodia of Physarum polycephalum and Badhamia utricularis by placing food, and we can examine their motion as a Physarum machine-an abstract machine where states are represented as food pieces and transitions among states are represented as movements of plasmodia from one piece to another. Hence, this machine is treated as a natural transition system. The behavior of the Physarum machine in the form of a transition system can be interpreted in terms of rough set theory that enables modeling some ambiguities in motions of plasmodia. The problem is that there is always an ambiguity which direction of plasmodium propagation is currently chosen: one or several concurrent ones, i.e., whether we deal with a sequential, concurrent or massively parallel motion. We propose to manage this ambiguity using rough set theory. Firstly, we define the region of plasmodium interest as a rough set; secondly, we consider concurrent transitions determined by these regions as a context-based game; thirdly, we define strategies in this game as a rough set; fourthly, we show how these results can be interpreted as a Go game.

Parole chiave

  • slime mould games
  • Physarum machines
  • transition systems
  • rough set theory
  • simulation software
Accesso libero

Linguistically Defined Clustering of Data

Pubblicato online: 03 Oct 2018
Pagine: 545 - 557

Astratto

Abstract

This paper introduces a method of data clustering that is based on linguistically specified rules, similar to those applied by a human visually fulfilling a task. The method endeavors to follow these remarkable capabilities of intelligent beings. Even for most complicated data patterns a human is capable of accomplishing the clustering process using relatively simple rules. His/her way of clustering is a sequential search for new structures in the data and new prototypes with the use of the following linguistic rule: search for prototypes in regions of extremely high data densities and immensely far from the previously found ones. Then, after this search has been completed, the respective data have to be assigned to any of the clusters whose nuclei (prototypes) have been found. A human again uses a simple linguistic rule: data from regions with similar densities, which are located exceedingly close to each other, should belong to the same cluster. The goal of this work is to prove experimentally that such simple linguistic rules can result in a clustering method that is competitive with the most effective methods known from the literature on the subject. A linguistic formulation of a validity index for determination of the number of clusters is also presented. Finally, an extensive experimental analysis of benchmark datasets is performed to demonstrate the validity of the clustering approach introduced. Its competitiveness with the state-of-the-art solutions is also shown.

Parole chiave

  • clustering
  • possibility theory
  • linguistic rules
  • data analysis
Accesso libero

Regression Function and Noise Variance Tracking Methods for Data Streams with Concept Drift

Pubblicato online: 03 Oct 2018
Pagine: 559 - 567

Astratto

Abstract

Two types of heuristic estimators based on Parzen kernels are presented. They are able to estimate the regression function in an incremental manner. The estimators apply two techniques commonly used in concept-drifting data streams, i.e., the forgetting factor and the sliding window. The methods are applicable for models in which both the function and the noise variance change over time. Although nonparametric methods based on Parzen kernels were previously successfully applied in the literature to online regression function estimation, the problem of estimating the variance of noise was generally neglected. It is sometimes of profound interest to know the variance of the signal considered, e.g., in economics, but it can also be used for determining confidence intervals in the estimation of the regression function, as well as while evaluating the goodness of fit and in controlling the amount of smoothing. The present paper addresses this issue. Specifically, variance estimators are proposed which are able to deal with concept drifting data by applying a sliding window and a forgetting factor, respectively. A number of conducted numerical experiments proved that the proposed methods perform satisfactorily well in estimating both the regression function and the variance of the noise.

Parole chiave

  • data streams
  • concept drift
  • Parzen kernels
  • regression
  • variance estimation
Accesso libero

Applications of A Hyper–Graph Grammar System in Adaptive Finite–Element Computations

Pubblicato online: 03 Oct 2018
Pagine: 569 - 582

Astratto

Abstract

This paper describes application of a hyper-graph grammar system for modeling a three-dimensional adaptive finite element method. The hyper-graph grammar approach allows obtaining a linear computational cost of adaptive mesh transformations and computations performed over refined meshes. The computations are done by a hyper-graph grammar driven algorithm applicable to three-dimensional problems. For the case of typical refinements performed towards a point or an edge, the algorithm yields linear computational cost with respect to the mesh nodes for its sequential execution and logarithmic cost for its parallel execution. Such hyper-graph grammar productions are the mathematical formalism used to describe the computational algorithm implementing the finite element method. Each production indicates the smallest atomic task that can be executed concurrently. The mesh transformations and computations by using the hyper-graph grammar-based approach have been tested in the GALOIS environment. We conclude the paper with some numerical results performed on a shared-memory Linux cluster node, for the case of three-dimensional computational meshes refined towards a point, an edge and a face.

Parole chiave

  • adaptive finite element method
  • hyper-graph grammars
  • mesh-based computations
Accesso libero

On Hyper–Regularity and Unimodularity of Ore Polynomial Matrices

Pubblicato online: 03 Oct 2018
Pagine: 583 - 594

Astratto

Abstract

We investigate Ore polynomial matrices, i. e., matrices with polynomial entries in d/dt whose coefficients are meromorphic functions in t and as such constitute a non-commutative ring. In particular, we study the properties of hyper-regularity and unimodularity of such matrices and derive conditions which make it possible to efficiently check for these characteristics. In addition, this approach enables computation of hyper-regular left and right and unimodular inverses.

Parole chiave

  • Ore polynomial matrices
  • hyper-regularity
  • unimodularity
  • meromorphic functions
  • differential operator
  • noncommutativity
  • algorithm
  • hyper-regular inverse
Accesso libero

Hardware Reduction for Lut–Based Mealy FSMs

Pubblicato online: 03 Oct 2018
Pagine: 595 - 607

Astratto

Abstract

A method is proposed targeting a decrease in the number of LUTs in circuits of FPGA-based Mealy FSMs. The method improves hardware consumption for Mealy FSMs with the encoding of collections of output variables. The approach is based on constructing a partition for the set of internal states. Each state has two codes. It diminishes the number of arguments in input memory functions. An example of synthesis is given, along with results of investigations. The method targets rather complex FSMs, having more than 15 states.

Parole chiave

  • Mealy FSM
  • synthesis
  • FPGA
  • LUT
  • partition
  • encoding collections of output variables

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