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Articles 1 - 10 of 10
Full-Text Articles in Controls and Control Theory
A Method For Ultrasound Servo Tracking For Puncture Needle, Shitong Ye, Bo Yang, Hao Quan, Shan Liu, Minyu Tang, Jiawei Tian
A Method For Ultrasound Servo Tracking For Puncture Needle, Shitong Ye, Bo Yang, Hao Quan, Shan Liu, Minyu Tang, Jiawei Tian
Electrical & Computer Engineering Faculty Publications
Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly, which simulates the whole surgical environment with computer technology, and then visualizes the whole operation link in three dimensions. At present, common image-guided surgical techniques such as computed tomography (CT) and X-ray imaging (X-ray) will cause radiation damage to the human body during the imaging process. To address this, we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe. To address the limitations of Kalman filtering methods based on position and velocity, our method of Kalman filtering uses the position …
A Formal Power Series Approach To Multiplicative Dynamic And Static Output Feedback, Venkatesh Subbarao Guggilam
A Formal Power Series Approach To Multiplicative Dynamic And Static Output Feedback, Venkatesh Subbarao Guggilam
Electrical & Computer Engineering Faculty Publications
The goal of the paper is two-fold. The first of which is to derive an explicit formula to compute the generating series of a closed-loop system when a plant, given in a Chen-Fliess series description is in multiplicative output feedback connection with another system given in Chen-Fliess series description. In addition, the multiplicative dynamic output feedback connection has a natural interpretation as a transformation group acting on the plant. The second of the two-part goal of this paper is same as the first part albeit when the Chen-Fliess series in the feedback is replaced by a memoryless map, so called …
Dynamic Output Feedback Invariants Of Full Relative Degree Nonlinear Siso Systems, W. Steven Gray, Luis A. Duffaut Espinosa
Dynamic Output Feedback Invariants Of Full Relative Degree Nonlinear Siso Systems, W. Steven Gray, Luis A. Duffaut Espinosa
Electrical & Computer Engineering Faculty Publications
The goal of this paper is to explicitly describe invariants of a plant described by a Chen--Fliess series under a class of dynamic output feedback laws using earlier work by the authors on feedback transformation groups. The main result requires the rather strong assumption that the plant has a generating series with both finite Lie rank and full relative degree. In which case, there is no loss of generality in working with state space realizations of the plant. An additional genericness assumption regarding the normal form of the plant is also required, but as shown by the examples, this condition …
Expanding The Class Of Globally Convergent Fliess Operators, Irina M. Winter-Arboleda, W. Steven Gray, Luis A. Duffaut Espinosa
Expanding The Class Of Globally Convergent Fliess Operators, Irina M. Winter-Arboleda, W. Steven Gray, Luis A. Duffaut Espinosa
Electrical & Computer Engineering Faculty Publications
A common representation of an input-output system in nonlinear control theory is the Chen-Fliess functional series or fliess operator. Such a functional series is said to be globally convergent when there is no a priori upper bound on both the L₁-norm of an admissible input and the length of time over which the corresponding output is well defined. It is known that every Fliess operator having a generating series with Gevrey order 0 ≤ s < 1 is globally convergent. In this paper it is shown that there exists a subset of series with Gevrey order s = 1 which also exhibit global convergence. In particular, the example of Ferfera, which arises in the context of system interconnections, is shown to be one such example.
Nonrecursively Interconnected Fliess Operators Preserve Global Convergence: An Expanded View, Irina M. Winter-Arboleda, Luis A. Duffaut Espinosa, W. Steven Gray
Nonrecursively Interconnected Fliess Operators Preserve Global Convergence: An Expanded View, Irina M. Winter-Arboleda, Luis A. Duffaut Espinosa, W. Steven Gray
Electrical & Computer Engineering Faculty Publications
A common representation of an input-output system in nonlinear control theory is the Chen-Fliess functional series or Fliess operator. Such a functional series is said to be globally convergent when there is a no a priori upper bound on both the L₁-norm of an admissible input and the length of time over which the corresponding output is well defined. Recent developments have expanded the class of globally convergent Fliess operators. The goal of this paper is to show that the global convergence property is preserved for nonrecursive inter-connections (i.e., the parallel, product and cascade connections) involving this largest known class …
Identifiability Of Additive Actuator And Sensor Faults By State Augmentation, Suresh M. Joshi, Oscar R. Gonzalez, Jason M. Upchurch
Identifiability Of Additive Actuator And Sensor Faults By State Augmentation, Suresh M. Joshi, Oscar R. Gonzalez, Jason M. Upchurch
Electrical & Computer Engineering Faculty Publications
A class of FDI (fault detection and identification) methods for bias-type actuator and sensor faults was explored from the point of view of fault identifiability. The methods use banks of Kalman-Bucy filters (KBFs) to detect faults, determine the fault pattern, and estimate the fault values. A complete characterization of conditions for identifiability of bias-type actuator faults, sensor faults, and simultaneous actuator and sensor faults was presented. It was shown that FDI of simultaneous actuator and sensor faults is not possible using these methods when all sensors have unknown biases. The fault identifiability conditions were demonstrated via numerical examples. The analytical …
Towards A Metric For The Assessment Of Safety Critical Control Systems, Oscar R. Gonzalez, Jorge R. Chavez-Fuentes, W. Steven Gray
Towards A Metric For The Assessment Of Safety Critical Control Systems, Oscar R. Gonzalez, Jorge R. Chavez-Fuentes, W. Steven Gray
Electrical & Computer Engineering Faculty Publications
There is a need for better integration of the fault tolerant and the control designs for safety critical systems such as aircraft. The dependability of current designs is assessed primarily with measures of the interconnection of fault tolerant components: the reliability function and the mean time to failure. These measures do not directly take into account the interaction of the fault tolerant components with the dynamics of the aircraft. In this paper, a first step to better integrate these designs is made. It is based on the observation that unstable systems are intrinsically unreliable and that a necessary condition for …
Performance Analysis And Validation Of A Recoverable Flight Control System In A Simulated Neutron Environment, Hong Zhang, W. Steven Gray, Oscar R. Gonzalez
Performance Analysis And Validation Of A Recoverable Flight Control System In A Simulated Neutron Environment, Hong Zhang, W. Steven Gray, Oscar R. Gonzalez
Electrical & Computer Engineering Faculty Publications
This paper introduces a class of stochastic hybrid models for the analysis of closed-loop control systems implemented with NASA's Recoverable Computer System. Such Recoverable Computer Systems have been proposed to insure reliable control performance in harsh environments. The stochastic hybrid models consist of either a stochastic finite-state automaton or a finite-state machine driven by a Markov input, which in turn drives a switched linear discrete-time dynamical system. Their stability and output tracking performance are analyzed using an extension of the existing theory for Markov jump-linear systems. For illustration, a stochastic hybrid model is used to calculate the tracking error performance …
Modeling Electromagnetic Disturbances In Closed-Loop Computer Controlled Flight Systems, W. Steven Gray, Oscar R. Gonzalez
Modeling Electromagnetic Disturbances In Closed-Loop Computer Controlled Flight Systems, W. Steven Gray, Oscar R. Gonzalez
Electrical & Computer Engineering Faculty Publications
High intensity electromagnetic radiation has been demonstrated to be a source of computer upsets in commercially available digital flight control systems. In this paper we introduce an electromagnetic disturbance model which can be used for stability analysis and augmentation of any such digitally implemented control law. The model is composed of a Markovian exosystem supplying radiation events to a discrete-time jump linear system which models how the radiation interferes with the nominal operation of the closed-loop system. We discuss how this model can be used to characterize stability and how it can be parametrized and validated in an experimental setting.
Design And Implementation Of Fuzzy Logic Controllers. Thesis Final Report, 27 July 1992 - 1 January 1993, Osama A. Abihana, Oscar R. Gonzalez
Design And Implementation Of Fuzzy Logic Controllers. Thesis Final Report, 27 July 1992 - 1 January 1993, Osama A. Abihana, Oscar R. Gonzalez
Electrical & Computer Engineering Faculty Publications
The main objectives of our research are to present a self-contained overview of fuzzy sets and fuzzy logic, develop a methodology for control system design using fuzzy logic controllers, and to design and implement a fuzzy logic controller for a real system. We first present the fundamental concepts of fuzzy sets and fuzzy logic. Fuzzy sets and basic fuzzy operations are defined. In addition, for control systems, it is important to understand the concepts of linguistic values, term sets, fuzzy rule base, inference methods, and defuzzification methods. Second, we introduce a four-step fuzzy logic control system design procedure. The design …