An approach of reduced-order H∞ controller for a class of linear continuous dynamic systems is presented based on Genetic Algorithm. Necessary and sufficient conditions are given, in terms of linear matrix inequality, for the existence of controller. A rank condition is changed to object function of genetic algorithm(GA). The minimum order nk of the controller and a corresponding parameter pair...

In this paper, the effect of roundoff noise in a digital controller is analyzed for a digital feedback control system. An analytical expression for the roundoff noise gain, defined as the ratio between the variances of the output error and the rounding error, is obtained. The problem of identifying the minimum roundoff noise realizations can be solved using an existing procedure. Noting that th...

This paper describes a system that semi-automatically builds a virtual world for remote operations by constructing 3-D models of a robot’s work environment. With a minimum of human interaction, planar and quadric surface representations of objects typically found in manmade facilities are generated from laser rangefinder data. The surface representations are used to recognize complex models of ...

Let D be a bounded symmetric domain in C and let ψ be a complex-valued holomorphic function on D. In this work, we determine the operator norm of the bounded multiplication operator with symbol ψ from the space of bounded holomorphic functions on D to the Bloch space of D when ψ fixes the origin. If no restriction is imposed on the symbol ψ, we have a formula for the operator norm when D is the...

This paper discusses key implementation details required for computing the solution of a continuous-time optimal control problem on a Lie group using the projection operator approach. In particular, we provide the explicit formulas to compute the time-varying linear quadratic problem which defines the search direction step of the algorithm. We also show that the projection operator approach on ...

The problem of teleoperating a mobile robot using shared autonomy is addressed: an onboard controller performs close range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle range information. A strategy to convert such range information into forces is described, which a...

Morphological image processing filters preserve shapes related to the structuring element shape of the operator. The basic morphological operators are minimum (erosion) and maximum (dilation) operations performed on the pixels within a structuring element. Although these operators (and the compound operators formed from them) are able to smooth noise, they also introduce a statistical and deter...

This paper sets out to study the spectral minimum for operator belonging to the family of random Schrödinger operators of the form Hλ,ω = −∆+Wper + λVω, where we suppose that Vω is of Anderson type and the single site is assumed to be with an indefinite sign. Under some assumptions we prove that there exists λ0 > 0 such that for any λ ∈ [0, λ0], the minimum of the spectrum of Hλ,ω is obtained b...

In this paper, we propose an adaptive algorithm for merging n (n≥2) prioritized knowledge bases which takes into account the degrees of conflict and agreement among these knowledge bases. The algorithm first selects largely partially maximal consistent subsets (LPMCS) of sources by assessing how (partially) consistent the information in the subset is. Then within each of these created subsets, ...