Collision avoidance for nonrigid objects

Summary The path existence problem and the collision detection problem for time-varying objects in a geometric scene are discussed. For a large class of spherical nonrigid objects, exact solutions of the path existence problem are developed based on decomposition techniques and graph traversal. For the collision detection problem of a single moving circle in the plane, efficient data structures are presented for linear/circular and polynomial paths.Work was partially supported by DFG (Mu744/1-1).     

Multivariable RBF-ARX model-based robust MPC approach and application to thermal power plant

For a class of smooth nonlinear multivariable systems whose working-points vary with time and the future working-points knowledge are unknown, a combination of a local linearization and a polytopic uncertain linear parameter-varying (LPV) state-space model is built to approximate the present and the future system’s nonlinear behavior, respectively. The combination models are constructed on the basis of a matrix polynomial multi-input multi-output (MIMO) RBF-ARX model identified offline for representing the underlying nonlinear system. A min–max robust MPC strategy is designed to achieve the systems’ output-tracking control based on the approximate models proposed. The closed loop stability of the MPC algorithm is guaranteed by the use of time-varying parameter-dependent Lyapunov function and the feasibility of the linear matrix inequalities (LMIs). The effectiveness of the modeling and control methods proposed in this paper is illustrated by a case study of a thermal power plant simulator.     

线性时不变系统两种描述的等价性

自从Kalman提出了用状态空间方法描述系统后,Rosenbrock与Wolovich等又提出了用微分算子描述系统的方法。这两种描述方法,利用各自表示方法的特点,在多变量系统理论的研究上,都取得了很大的进展。 本文利用Yokoyama标准形与多项式矩阵之间的关系,把上述两种描述联系起来,给出了它们之间等价的转换形式。这样就可以把在一种描述方法上得到的结果,等价地搬到另一种描述方法的系统上去。     

RELIABILITY ANALYSIS FOR A REPAIRABLE PARALLEL SYSTEM WITH TIME-VARYING FAILURE RATES

To solve a real problem :how to calculate the reliability of a system with time-varying failure rates in industry systems,this paper studies a model for the load-sharing parallel system with time-varying failure rates,and obtains calculating formulas of reliability and availability of the system by solving differential equations. In this paper, the failure rates are expressed in polynomial configuration. The constant,linear and Weibull failure rate are in their special form. The polynomial failure rates provide flexibility in modeling the practical time-varying failure rates.     

最小多项式矩阵与线性多变量系统(Ⅱ)

本文之(Ⅰ)[8]是关于最小多项式矩阵的理论;其(Ⅱ)是关于这一理论在线性多变量系统中的应用.在本部分的第一节中,我们利用(Ⅰ)中的理论,详细地讨论线性多变量系统输入问题的一些结果.在第二节中,利用对偶性,我们给出行n.p.m.及行生成组等概念,并讨论线性多变量系统输出问题的某些结果.在第三节中.我们讨论化状态空间型为多项式矩阵型的方法.在第四节中,我们讨论这一问题的反问题,即化多项式矩阵型为状态空间型的问题.为说明这些理论和方法,我们给出一些有趣的例子.     

Extension du filtre de Chandrasekhar au cas des modèles espace d'état périodiques

This Note extends the Chandrasekhar-type recursions due to Morf, Sidhu, and Kailath (1974) to the case of periodic time-varying state-space models. We show that the S-lagged increments of the one-step prediction error covariance satisfy certain recursions from which we derive some algorithms for linear least squares estimation for periodic state-space models. The proposed recursions have potential computational advantages over the Kalman Filter and, in particular, the periodic Riccati difference equation. To cite this article: A. Aknouche, F. Hamdi, C. R. Acad. Sci. Paris, Ser. I 346 (2008).     

Dynamics of stochastic partly dissipative systems on time-varying domain

This article is devoted to stochastic partly dissipative systems (SPDS) defined on time-varying domain expending in time. The definition of a space–time trace class Wiener process on time-varying domain is presented by combining a time trace class Wiener process with a spatial intensity defined on time-varying domain. Some nice properties for Wiener process on time-varying domain are also presented. We develop a new penalty method to establish the existence and uniqueness of variational solution of SPDS with additive noise on time-varying domain. The existence of global attractor for the process generated by variational solution is also obtained.     

Exponential stability of discrete-time systems with slowly time-varying delays

Slowly time-varying delays are seldom, but do need to be, considered in the context of discrete-time systems. This paper addresses the exponential stability issue of discrete-time systems with slowly time-varying delays. The basic idea is to transform, by utilizing the switching transformation approach, the original system with slowly time-varying delays into an equivalent switched system with special switching signal. Different types of delays correspond to different types of switching signals, and the stability issue of the original system is converted into that of a switched system. It is the first time that the method of switched homogeneous polynomial Lyapunov function is applied to general delayed systems. Some sufficient exponential stability conditions for the original system are proposed in several situations. It is numerically shown that the conservativeness of the proposed conditions reduces as the degree of the switched homogeneous polynomial Lyapunov function increases.     

Least-squares Polynomial Estimation from Observations Featuring Correlated Random Delays

The least-squares polynomial filtering and fixed-point smoothing problems of discrete-time signals from randomly delayed observations is addressed, when the Bernoulli random variables modelling the delay are correlated at consecutive sampling times. Recursive estimation algorithms are deduced without requiring full knowledge of the state-space model generating the signal process, but only information about the delay probabilities and the moments of the processes involved. Defining a suitable augmented observation vector, the polynomial estimation problem is reduced to the linear estimation problem of the signal based on the augmented observations, which is solved by using an innovation approach.     

Analysis of global exponential stability and periodic solutions of FCNNs with constant delays and time-varying delays

In this paper, we investigate a class of fuzzy cellular neural networks with constant delays and time-varying delays. By constructing suitable Lyapunov functional and employing Young inequality, we find sufficient conditions for the existence, uniqueness, global exponential stability of equilibrium, and the existence of periodic solutions of fuzzy cellular neural networks with time-varying delays. The results of this paper are new and they extend previously known results.     

Necessary and sufficient conditions for the existence of stabilizing feedback for control systems

We prove that the existence of a non-smooth control Lyapunovfunction is a necessary and sufficient condition for the existenceof an ordinary smooth time-varying feedback that stabilizesan affine time-varying control system. Results concerning thenon-affine case are also provided.     

Attractors of Ordinary Differential Equations

We obtain sufficient conditions for the existence of polynomial attractors and polynomial equilibrium.     

Second-order nonlinear impulsive evolution equations with time-varying generating operators and optimal controls

In this article, the second-order nonlinear impulsive evolution differential equations with time-varying generating operators is considered. Constructing evolution systems generated by time-varying operator matrix, we introduce suitable mild solution of the second-order nonlinear impulsive evolution differential equations. The existence and uniqueness of the mild solutions and the continuous dependence on initial value are proved. The existence of the optimal controls for a Lagrange problem of the systems governed by the second-order nonlinear impulsive evolution equations is also presented. An example is given for demonstration.     

Periodic solutions for neutral coupled oscillators network with feedback and time-varying delay

This paper is considered to be about the existence of periodic solutions for neutral coupled oscillators network with feedback control and time-varying delay (NCONFT). Based on the systematic method which is firstly applied for NCONFT and consisting of coincidence degree theory, graph theory, and Lyapunov method, some sufficient criteria are obtained to verify the existence of periodic solutions for NCONFT. What’s more, how coupling topology, feedback control, and time-varying delay affect the existence of periodic solutions for NCONFT can be shown by these sufficient criteria. Finally, a numerical simulation is offered to illustrate the effectiveness of our results.     

Eigenstructure assignment for linear parameter-varying systems with applications

The aim of this paper is to show that a recently proposed technique for eigenstructure assignment of linear time-invariant systems can be extended to solve the corresponding eigenstructure assignment problem for linear parameter-varying systems, whose state-space matrices depend on a set of time-varying parameters that are bounded and available online. In particular, the design of eigenstructure assignment is performed without requiring any conditions on the closed-loop eigenvalues, and provides a simple, complete and analytical parametric approach as well as the most degrees of design freedom for the eigenstructure assignment problem of linear parameter-varying systems. A parameter-varying attitude control system of refueling spacecraft in-orbit is used to demonstrate the usefulness and practicality of the proposed approach.     

Slow and Fast Variables in Non-autonomous Difference Equations

In this paper we present an existence and smoothness result for center-like invariant manifolds of non-autonomous difference equations with slow and fast state-space variables. This result can be seen as a first step to obtain Fenichel's geometric theory for difference equations. Hereby, our basic tool is an abstract integral manifold theorem.     

Existence of closed solutions for a polynomial first order differential equation

We find new criteria for the existence of closed solutions in a first order polynomial differential equation which contains the Abel equation as a particular case. Such results are applied to the problem of the existence of limit cycles in planar polynomial vector fields.