Music Software and Computer Technologies in Modern Music Education

При финансовой поддержке Российского гуманитарного научного фонда, проект № 08-06-14135

L-2 State Estimation With Guaranteed Convergence Speed in the Presence of Sporadic Measurements

This paper deals with the problem of estimating the state of a nonlinear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is proposed. Such an intersample injection is provided by a linear dynamical system, whose state is reset to the measured output estimation error whenever a new measurement is available. The resulting system is augmented with a timer triggering the arrival of a new measurement and analyzed in a hybrid system framework. The design of the observer is performed to achieve exponential convergence with a given decay rate of the estimation error. Robustness with respect to external perturbations and L2-external stability from plant perturbations to a given performance output are considered. Computationally efficient algorithms based on the solution to linear matrix inequalities are proposed to design the observer. Finally, the effectiveness of the proposed methodology is shown in an example

Bi-objective Motion Planning Approach for Safe Motions: Application to a Collaborative Robot

International audienceAccepted version freely available here: [ http://bit.ly/2qlyjJ6 ] Online version via SpringerLink: [ http://link.springer.com/article/10.1007/s10846-019-01110-1 ] Abstract: This paper presents a new bi-objective safety-oriented path planning strategy for robotic manipulators. Integrated into a sampling-based algorithm, our approach can successfully enhance the task safety by guiding the expansion of the path towards the safest configurations. Our safety notion consists of avoiding dangerous situations, e.g. being very close to the obstacles, human awareness, e.g. being as much as possible in the human vision field, as well as ensuring human safety by being as far as possible from human with hierarchical priority between human body parts. Experimental validations are conducted in simulation and on the real Baxter research robot. They revealed the efficiency of the proposed method, mainly in the case of a collaborative robot sharing the workspace with humans

Input-to-State Stabilization in H1H^1-Norm for Boundary Controlled Linear Hyperbolic PDEs with Application to Quantized Control

International audienceWe consider a system of linear hyperbolic PDEs where the state at one of the boundary points is controlled using the measurements of another boundary point. For this system class, the problem of designing dynamic controllers for input-to-state stabilization in $H^1$-norm with respect to measurement errors is considered. The analysis is based on constructing a Lyapunov function for the closed-loop system which leads to controller synthesis and the conditions on system dynamics required for stability. As an application of this stability notion, the problem of quantized control for hyperbolic PDEs is considered where the measurements sent to the controller are communicated using a quantizer of finite length. The presence of quantizer yields practical stability only, and the ultimate bounds on the norm of the state trajectory are also derived

State observer with Round-Robin aperiodic sampled measurements with jitter

A sampled-data observer is proposed for linear continuous-time systems whose outputs are sequentially sampled via non-uniform sampling intervals repeating a prescribed Round-Robin sequence. With constant sampling intervals (jitter-free case) we provide constructive necessary and sufficient conditions for the design of an asymptotic continuous–discrete observer whose estimation error is input-to-state stable (ISS) from process disturbances and measurement noise. We use a time-varying gain depending on the elapsed time since the last measurement. With non-constant sampling intervals (jitter-tolerant case), our design conditions are only sufficient. A suspension system example shows the effectiveness of the proposed approach