A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

Adaptive switching supervisory control of nonlinear systems with no prior knowledge of noise bounds

The problem of controlling nonlinear noisy systems affected by parametric uncertainties is approached via the introduction of a supervisor which, whenever needed, switches on, in feedback to the plant, a controller selected from a finite set of predesigned controllers. A Lyapunov-based falsification criterion allows one to ensure robust stability in the presence of uncertain constant parameters and exogenous bounded disturbances. Simulations are discussed in order to illustrate the merits of the proposed algorithms.     

面向WLAN的MPC852T嵌入式系统设计

MPC852T是Motorola新近推出的MPC866/MPC859T家族中面向低端的一款通信处理器.嵌入式Linux由于其费用低廉及开放源码而具有广阔的发展前景.文中在分析了MPC852T通信处理器和嵌入式Linux操作系统的基础上,将二者结合给出了一种嵌入式硬件系统的设计与实现,以及该硬件系统在无线局域网WLAN中的一种应用.实践证明,该硬件系统具有性能稳定、廉价、可扩展性强、适用面广等优点.     

Image denoising based on wavelets and multifractals for singularity detection.

This paper presents a very efficient algorithm for image denoising based on wavelets and multifractals for singularity detection. A challenge of image denoising is how to preserve the edges of an image when reducing noise. By modeling the intensity surface of a noisy image as statistically self-similar multifractal processes and taking advantage of the multiresolution analysis with wavelet transform to exploit the local statistical self-similarity at different scales, the pointwise singularity strength value characterizing the local singularity at each scale was calculated. By thresholding the singularity strength, wavelet coefficients at each scale were classified into two categories: the edge-related and regular wavelet coefficients and the irregular coefficients. The irregular coefficients were denoised using an approximate minimum mean-squared error (MMSE) estimation method, while the edge-related and regular wavelet coefficients were smoothed using the fuzzy weighted mean (FWM) filter aiming at preserving the edges and details when reducing noise. Furthermore, to make the FWM-based filtering more efficient for noise reduction at the lowest decomposition level, the MMSE-based filtering was performed as the first pass of denoising followed by performing the FWM-based filtering. Experimental results demonstrated that this algorithm could achieve both good visual quality and high PSNR for the denoised images.     

Frequency domain identification of Wiener models

This paper proposes a frequency domain algorithm for Wiener model identifications based on exploring the fundamental frequency and harmonics generated by the unknown nonlinearity. The convergence of the algorithm is established in the presence of white noise. No a priori knowledge of the structure of the nonlinearity is required and the linear part can be nonparametric.     

Position synchronization of multiple motion axes with adaptive coupling control

A new control approach to position synchronization of multiple motion axes is developed, by incorporating cross-coupling technology into adaptive control architecture. The control strategy is to stabilize position tracking of each axis while synchronizing its motion with other axes’ motions so that differential position errors amongst axes converge to zero. The proposed adaptive controller and parameter estimator employ coupling control by feeding back position errors and differential position errors, and have been realized to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a multi-axis motion control system demonstrate the effectiveness of the method.     

Nonlinear model predictive control with polytopic invariant sets

Ellipsoidal invariant sets have been widely used as target sets in model predictive control (MPC). These sets can be computed by constructing appropriate linear difference inclusions together with additional constraints to ensure that the ellipsoid lies within a given inclusion polytope. The choice of inclusion polytope has a significant effect on the size of the target ellipsoid, but the optimal inclusion polytope cannot in general be computed systematically. This paper shows that use of polytopic invariant sets overcomes this difficulty, allowing larger stabilizable sets without loss of performance. In the interests of online efficiency, consideration is focused on interpolation-based MPC.