Optimal H∞ general distance problem with degree constraint

In this paper the optimal H_∞, general distance problem, for continuous-time systems, with a prescribed degree on the solution is studied. The approach is based on designing the Hankel singular values using an imbedding idea. The problem is first imbedded into another problem with desirable characteristics on the Hankel singular values, then the solution to the original problem is retracted via a compression. The result is applicable to both the one-block and the four-block problems. A special case is given for illustration.     

Stabilization of Fractional‐Order Linear Systems with State and Input Delay

This paper describes a variable structure control for fractional‐order systems with delay in both the input and state variables. The proposed method includes a fractional‐order state predictor to eliminate the input delay. The resulting state‐delay system is controlled through a sliding mode approach where the controller uses a sliding surface defined by fractional order integral. Then, the proposed control law ensures that the state trajectories reach the sliding surface in finite time. Based on recent results of Lyapunov stability theory for fractional‐order systems, the stability of the closed loop is studied. Finally, an illustrative example is given to show the interest of the proposed approach.     

A Navigation Aid for Blind People

This paper presents a navigation aid for the blind based on a microcontroller with synthetic speech output. The system consists of two vibrators, two ultrasonic sensors mounted on the user??s shoulders and another one integrated into the cane. It is able to give information to the blind about urban walking routes and to provide real-time information on the distance of over-hanging obstacles within 6 m along the travel path ahead of the user. The suggested system can then sense the surrounding environment via sonar sensors and sending vibro-tactile feedback to the user of the position of the closest obstacles in range. For the ultrasonic cane, it is used to detect any obstacle on the ground. Experimental results show the effectiveness of the proposed system for blind navigation.     

Rotary flexible joint control by fractional order controllers

In this paper, a fractional order control law is proposed and implemented for the evaluation of trajectory tracking performance of a rotary flexible-joint system. A state feedback based fractional integral control scheme is used in this proposed method. In this scheme, state feedback is responsible for stabilizing the system. The compensator, in series with the fractional integrator leads to obtain a similar closed-loop transient response like Bode’s ideal transfer function. The effectiveness of the proposed controller in tracking and being robust against parameter uncertainties is demonstrated through simulation. In addition, to show the usefulness of the proposed control scheme, the fractional controller is compared to an integer state feedback control by simulation and through experimentation on the Quanser’s rotary flexible-joint system.     

Multilayer perceptron-based DFE with lattice structure

The severely distorting channels limit the use of linear equalizers and the use of the nonlinear equalizers then becomes justifiable. Neural-network-based equalizers, especially the multilayer perceptron (MLP)-based equalizers, are computationally efficient alternative to currently used nonlinear filter realizations, e.g., the Volterra type. The drawback of the MLP-based equalizers is, however, their slow rate of convergence, which limit their use in practical systems. In this work, the effect of whitening the input data in a multilayer perceptron-based decision feedback equalizer (DFE) is evaluated. It is shown from computer simulations that whitening the received data employing adaptive lattice channel equalization algorithms improves the convergence rate and bit error rate performances of multilayer perceptron-based DFE. The adaptive lattice algorithm is a modification to the one developed by Ling and Proakis (1985). The consistency in performance is observed in both time-invariant and time-varying channels. Finally, it is found in this work that, for time-invariant channels, the MLP DFE outperforms the least mean squares (LMS)-based DFE. However, for time-varying channels comparable performance is obtained for the two configurations.