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Multiobjective control of a four-link flexible manipulator: A robust H∞ approach
Copyright [2002] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This paper presents an approach to robust H∞ control of a real multilink flexible manipulator via regional pole assignment. We first show that the manipulator system can be approximated by a linear continuous uncertain model with exogenous disturbance input. The uncertainty occurring in an operating space is assumed to be norm-bounded and enter into both the system and control matrices. Then, a multiobjective simultaneous realization problem is studied. The purpose of this problem is to design a state feedback controller such that, for all admissible parameter uncertainties, the closed-loop system simultaneously satisfies both the prespecified H∞ norm constraint on the transfer function from the disturbance input to the system output and the prespecified circular pole constraint on the closed-loop system matrix. An algebraic parameterized approach is developed to characterize the existence conditions as well as the analytical expression of the desired controllers. Third, by comparing with the traditional linear quadratic regulator control method in the sense of robustness and tracking precision, we provide both the simulation and experimental results to demonstrate the effectiveness and advantages of the proposed approach
Improving information filtering via network manipulation
Recommender system is a very promising way to address the problem of
overabundant information for online users. Though the information filtering for
the online commercial systems received much attention recently, almost all of
the previous works are dedicated to design new algorithms and consider the
user-item bipartite networks as given and constant information. However, many
problems for recommender systems such as the cold-start problem (i.e. low
recommendation accuracy for the small degree items) are actually due to the
limitation of the underlying user-item bipartite networks. In this letter, we
propose a strategy to enhance the performance of the already existing
recommendation algorithms by directly manipulating the user-item bipartite
networks, namely adding some virtual connections to the networks. Numerical
analyses on two benchmark data sets, MovieLens and Netflix, show that our
method can remarkably improve the recommendation performance. Specifically, it
not only improve the recommendations accuracy (especially for the small degree
items), but also help the recommender systems generate more diverse and novel
recommendations.Comment: 6 pages, 5 figure
The Degasperis-Procesi equation with self-consistent sources
The Degasperis-Procesi equation with self-consistent sources(DPESCS) is
derived. The Lax representation and the conservation laws for DPESCS are
constructed. The peakon solution of DPESCS is obtained.Comment: 15 page
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