Search results for: robust stabilisation.

Authors: Ruili Zhou, Yuesheng Zhu

Abstract:

In this paper, a new robust audio fingerprinting algorithm in MP3 compressed domain is proposed with high robustness to time scale modification (TSM). Instead of simply employing short-term information of the MP3 stream, the new algorithm extracts the long-term features in MP3 compressed domain by using the modulation frequency analysis. Our experiment has demonstrated that the proposed method can achieve a hit rate of above 95% in audio retrieval and resist the attack of 20% TSM. It has lower bit error rate (BER) performance compared to the other algorithms. The proposed algorithm can also be used in other compressed domains, such as AAC.

Keywords: Audio Fingerprinting, MP3, Modulation Frequency, TSM

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Authors: Nga-Viet Nguyen, Georgy Shevlyakov, Vladimir Shin

Abstract:

To solve the problem of multisensor data fusion under non-Gaussian channel noise. The advanced M-estimates are known to be robust solution while trading off some accuracy. In order to improve the estimation accuracy while still maintaining the equivalent robustness, a two-stage robust fusion algorithm is proposed using preliminary rejection of outliers then an optimal linear fusion. The numerical experiments show that the proposed algorithm is equivalent to the M-estimates in the case of uncorrelated local estimates and significantly outperforms the M-estimates when local estimates are correlated.

Keywords: Data fusion, estimation, robustness, M-estimates.

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Authors: Abolhassan Razminia, Mohammad-Ali Sadrnia

Abstract:

One of the most attractive and important field of chaos theory is control of chaos. In this paper, we try to present a simple framework for chaotic motion control using the feedback linearization method. Using this approach, we derive a strategy, which can be easily applied to the other chaotic systems. This task presents two novel results: the desired periodic orbit need not be a solution of the original dynamics and the other is the robustness of response against parameter variations. The illustrated simulations show the ability of these. In addition, by a comparison between a conventional state feedback and our proposed method it is demonstrated that the introduced technique is more efficient.

Keywords: chaos, feedback linearization, robust control, periodic motion.

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Authors: A. Abdalla, A. Kaltayev

Abstract:

The ultimate goal of this article is to develop a robust and accurate numerical method for solving hyperbolic conservation laws in one and two dimensions. A hybrid numerical method, coupling a cheap fourth order total variation diminishing (TVD) scheme [1] for smooth region and a Robust seventh-order weighted non-oscillatory (WENO) scheme [2] near discontinuities, is considered. High order multi-resolution analysis is used to detect the high gradients regions of the numerical solution in order to capture the shocks with the WENO scheme, while the smooth regions are computed with fourth order total variation diminishing (TVD). For time integration, we use the third order TVD Runge-Kutta scheme. The accuracy of the resulting hybrid high order scheme is comparable with these of WENO, but with significant decrease of the CPU cost. Numerical demonstrates that the proposed scheme is comparable to the high order WENO scheme and superior to the fourth order TVD scheme. Our scheme has the added advantage of simplicity and computational efficiency. Numerical tests are presented which show the robustness and effectiveness of the proposed scheme.

Keywords: WENO scheme, TVD schemes, smoothness indicators, multi-resolution.

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Authors: Ali Ameur Haj Salah, Tarek Garna, Hassani Messaoud

Abstract:

This paper attempts to define the validity domain of LSDP (Loop Shaping Design Procedure) controller system, by determining the suitable uncertainty region, so that linear system be stable. Indeed the LSDP controller cannot provide stability for any perturbed system. For this, we will use the gap metric tool that is introduced into the control literature for studying robustness properties of feedback systems with uncertainty. A 2nd order electric linear system example is given to define the validity domain of LSDP controller and effectiveness gap metric.

Keywords: LSDP, Gap metric, Robust Control.

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Authors: Hanan Rizk

Abstract:

Heat exchanger is a device used to mix liquids having different temperatures. In this case, the temperature control becomes a critical objective. This research work presents the temperature control of the double-pipe heat exchanger (multi-input multi-output (MIMO) system), which is modeled as first-order coupled hyperbolic partial differential equations (PDEs), using conventional and advanced control techniques, and develops appropriate robust control strategy to meet stability requirements and performance objectives. We designed the proportional–integral–derivative (PID) controller and H-infinity controller for a heat exchanger (HE) system. Frequency characteristics of sensitivity functions and open-loop and closed-loop time responses are simulated using MATLAB software and the stability of the system is analyzed using Kalman's test. The simulation results have demonstrated that the H-infinity controller is more efficient than PID in terms of robustness and performance.

Keywords: heat exchanger, multi-input multi-output system, MATLAB simulation, partial differential equations, PID controller, robust control

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Authors: E. Neagoe, V. Balanica

Abstract:

A Smart Building Controller (SBC) is a server software that offers secured access to a pool of building specific resources, executes monitoring tasks and performs automatic administration of a building, thus optimizing the exploitation cost and maximizing comfort. This paper brings to discussion the issues that arise with the secure exploitation of the SBC administered resources and proposes a technical solution to implement a robust secure access system based on roles, individual rights and privileges (special rights).

Keywords: Access authorization, smart building controller, software security, access rights.

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Authors: Dong Sang Yoo

Abstract:

We consider nonlinear uncertain systems such that a  priori information of the uncertainties is not available. For such  systems, we assume that the upper bound of the uncertainties is  represented as a Fredholm integral equation of the first kind and we  propose an adaptation law that is capable of estimating the upper  bound and design a continuous robust control which renders nonlinear  uncertain systems ultimately bounded.

 

Keywords: Adaptive Control, Estimation, Fredholm Integral, Uncertain System.

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Authors: Changchun Shen, Shouming Zhong

Abstract:

This paper investigates the robust stability of uncertain neutral system with time-varying delay. By using Lyapunov method and linear matrix inequality technology, new delay-dependent stability criteria are obtained and formulated in terms of linear matrix inequalities (LMIs), which can be easy to check the robust stability of the considered systems. Numerical examples are given to indicate significant improvements over some existing results.

Keywords: Neutral system, linear matrix inequalities, Lyapunov, stability.

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Authors: Say Wei Foo, Qi Dong

Abstract:

Digital watermarking is one of the techniques for copyright protection. In this paper, a normalization-based robust image watermarking scheme which encompasses singular value decomposition (SVD) and discrete cosine transform (DCT) techniques is proposed. For the proposed scheme, the host image is first normalized to a standard form and divided into non-overlapping image blocks. SVD is applied to each block. By concatenating the first singular values (SV) of adjacent blocks of the normalized image, a SV block is obtained. DCT is then carried out on the SV blocks to produce SVD-DCT blocks. A watermark bit is embedded in the highfrequency band of a SVD-DCT block by imposing a particular relationship between two pseudo-randomly selected DCT coefficients. An adaptive frequency mask is used to adjust local watermark embedding strength. Watermark extraction involves mainly the inverse process. The watermark extracting method is blind and efficient. Experimental results show that the quality degradation of watermarked image caused by the embedded watermark is visually transparent. Results also show that the proposed scheme is robust against various image processing operations and geometric attacks.

Keywords: Image watermarking, Image normalization, Singularvalue decomposition, Discrete cosine transform, Robustness.

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Authors: Eun-Jun Yoon, Kee-Young Yoo

Abstract:

In order to guarantee secure communication for wireless sensor networks (WSNs), many user authentication schemes have successfully drawn researchers- attention and been studied widely. In 2012, He et al. proposed a robust biometric-based user authentication scheme for WSNs. However, this paper demonstrates that He et al.-s scheme has some drawbacks: poor reparability problem, user impersonation attack, and sensor node impersonate attack.

Keywords: Security, authentication, biometrics, poor reparability, impersonation attack, wireless sensor networks.

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Authors: Jing-ran Lin, Qi-cong Peng, Huai-zong Shao

Abstract:

The performance of adaptive beamforming degrades substantially in the presence of steering vector mismatches. This degradation is especially severe in the near-field, for the 3-dimensional source location is more difficult to estimate than the 2-dimensional direction of arrival in far-field cases. As a solution, a novel approach of near-field robust adaptive beamforming (RABF) is proposed in this paper. It is a natural extension of the traditional far-field RABF and belongs to the class of diagonal loading approaches, with the loading level determined based on worst-case performance optimization. However, different from the methods solving the optimal loading by iteration, it suggests here a simple closed-form solution after some approximations, and consequently, the optimal weight vector can be expressed in a closed form. Besides simplicity and low computational cost, the proposed approach reveals how different factors affect the optimal loading as well as the weight vector. Its excellent performance in the near-field is confirmed via a number of numerical examples.

Keywords: Robust adaptive beamforming (RABF), near-field, steering vector mismatches, diagonal loading, worst-case performanceoptimization.

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Authors: M. Ahmadnezhad, M. Soltanpour

Abstract:

Electrohydraulic servo system have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In this paper, a robust back-stepping control (RBSC) scheme is proposed to overcome the problem of disturbances and system uncertainties effectively and to improve the tracking performance of EHS systems. In order to implement the proposed control scheme, the system uncertainties in EHS systems are considered as total leakage coefficient and effective oil volume. In addition, in order to obtain the virtual controls for stabilizing system, the update rule for the system uncertainty term is induced by the Lyapunov control function (LCF). To verify the performance and robustness of the proposed control system, computer simulation of the proposed control system using Matlab/Simulink Software is executed. From the computer simulation, it was found that the RBSC system produces the desired tracking performance and has robustness to the disturbances and system uncertainties of EHS systems.

Keywords: Electro hydraulic servo system, back-stepping control, robust back-stepping control, Lyapunov redesign

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Authors: M. Ahmadnezhad, M. Soltanpour

Abstract:

Electrohydraulic servo system have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In this paper, a robust back-stepping control (RBSC) scheme is proposed to overcome the problem of disturbances and system uncertainties effectively and to improve the tracking performance of EHS systems. In order to implement the proposed control scheme, the system uncertainties in EHS systems are considered as total leakage coefficient and effective oil volume. In addition, in order to obtain the virtual controls for stabilizing system, the update rule for the system uncertainty term is induced by the Lyapunov control function (LCF). To verify the performance and robustness of the proposed control system, computer simulation of the proposed control system using Matlab/Simulink Software is executed. From the computer simulation, it was found that the RBSC system produces the desired tracking performance and has robustness to the disturbances and system uncertainties of EHS systems.

Keywords: Electro hydraulic servo system, back-stepping control, robust back-stepping control, Lyapunov redesign.

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Authors: S. Veera Ragavan, V. Ganapathy

Abstract:

Many environment specific methods and systems for Robot Navigation exist. However vast strides in the evolution of navigation technologies and system techniques create the need for a general unified framework that is scalable, modular and dynamic. In this paper a Unified Framework for a Robust Conflict-free Robot Navigation System that can be used for either a structured or unstructured and indoor or outdoor environments has been proposed. The fundamental design aspects and implementation issues encountered during the development of the module are discussed. The results of the deployment of three major peripheral modules of the framework namely the GSM based communication module, GIS Module and GPS module are reported in this paper.

Keywords: Localization, Sensor Fusion, Mapping, GIS, GPS, and Autonomous Mobile Robot Navigation.

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Authors: Amirhossein Asadabadi, Amir Anvar

Abstract:

Small satellites have become increasingly popular recently as a means of providing educational institutes with the chance to design, construct, and test their spacecraft from beginning to the possible launch due to the low launching cost. This approach is remarkably cost saving because of the weight and size reduction of such satellites. Weight reduction could be realised by utilising electromagnetic coils solely, instead of different types of actuators. This paper describes the restrictions of using only “Electromagnetic" actuation for 3D stabilisation and how to make the magnetorquer based attitude control feasible using Fuzzy Logic Control (FLC). The design is developed to stabilize the spacecraft against gravity gradient disturbances with a three-axis stabilizing capability.

Keywords: Fuzzy, Attitude Control, Small Satellite, Fuzzy Logic Control, Electromagnetic, Magnetic Control.

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Authors: Nurhani Kasuan, Zakariah Yusuf, Mohd Nasir Taib, Mohd Hezri Fazalul Rahiman, Nazurah Tajuddin, Mohd Azri Abdul Aziz

Abstract:

This paper presents a hybrid fuzzy-PD plus PID (HFPP) controller and its application to steam distillation process for essential oil extraction system. Steam temperature is one of the most significant parameters that can influence the composition of essential oil yield. Due to parameter variations and changes in operation conditions during distillation, a robust steam temperature controller becomes nontrivial to avoid the degradation of essential oil quality. Initially, the PRBS input is triggered to the system and output of steam temperature is modeled using ARX model structure. The parameter estimation and tuning method is adopted by simulation using HFPP controller scheme. The effectiveness and robustness of proposed controller technique is validated by real time implementation to the system. The performance of HFPP using 25 and 49 fuzzy rules is compared. The experimental result demonstrates the proposed HFPP using 49 fuzzy rules achieves a better, consistent and robust controller compared to PID when considering the test on tracking the set point and the effects due to disturbance.

Keywords: Fuzzy Logic controller, steam temperature, steam distillation, real time control.

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Authors: M. Almeshal, M. O. Tokhi, K. M. Goher

Abstract:

A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.

Keywords: double inverted pendulum, modelling, robust control, simulation,

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Authors: Longqiao Zhou, Zixin Liu, Shu Lü

Abstract:

This paper addresses the robust stability problem of a class of delayed neutral Lur’e systems. Combined with the property of convex function and double integral Jensen inequality, a new tripe integral Lyapunov functional is constructed to derive some new stability criteria. Compared with some related results, the new criteria established in this paper are less conservative. Finally, two numerical examples are presented to illustrate the validity of the main results.

Keywords: Lur’e system, Convex function, Jensen integral inequality, Triple-integral method, Exponential stability.

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Authors: Chih-Hui Chiu, Chun-Hsien Lin

Abstract:

In this study, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive output recurrent cerebellar model articulation control (AORCMAC) and H∞ control technique is proposed for wheeled inverted pendulums (WIPs) real-time control with exact system dynamics unknown. Moreover, a robust H∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. The experimental results indicate that the WIPs can stand upright stably when using the proposed RIBTC.

Keywords: Wheeled inverted pendulum, backsteppingtracking control, H∞ control, adaptive output recurrentcerebellar model articulation control.

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Authors: David Jones, Richard McWilliam, Alan Purvis

Abstract:

Morphogenesis is the process that underpins the selforganised development and regeneration of biological systems. The ability to mimick morphogenesis in artificial systems has great potential for many engineering applications, including production of biological tissue, design of robust electronic systems and the co-ordination of parallel computing. Previous attempts to mimick these complex dynamics within artificial systems have relied upon the use of evolutionary algorithms that have limited their size and complexity. This paper will present some insight into the underlying dynamics of morphogenesis, then show how to, without the assistance of evolutionary algorithms, design cellular architectures that converge to complex patterns.

Keywords: Morphogenesis, regeneration, robustness, convergence, cellular automata.

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Authors: Guang Zhou, Shouming Zhong

Abstract:

In this paper, we investigate the problem of the existence, uniqueness and global asymptotic stability of the equilibrium point for a class of neural networks, the neutral system has mixed time delays and parameter uncertainties. Under the assumption that the activation functions are globally Lipschitz continuous, we drive a new criterion for the robust stability of a class of neural networks with time delays by utilizing the Lyapunov stability theorems and the Homomorphic mapping theorem. Numerical examples are given to illustrate the effectiveness and the advantage of the proposed main results.

Keywords: Neural networks, Delayed systems, Lyapunov function, Stability analysis.

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Authors: Naohiro Ban, Hiromitsu Ogawa, Manato Ono, Yoshihisa Ishida

Abstract:

This paper describes an expanded system for a servo system design by using the Loop Shaping Design Procedure (LSDP). LSDP is one of the H∞ design procedure. By conducting Loop Shaping with a compensator and robust stabilization to satisfy the index function, we get the feedback controller that makes the control system stable. In this paper, we propose an expanded system for a servo system design and apply to the DC motor. The proposed method performs well in the DC motor positioning control. It has no steady-state error in the disturbance response and it has robust stability.

Keywords: Loop Shaping Design Procedure (LSDP), servosystem, DC motor.

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Authors: Dyah E. Herwindiati

Abstract:

A clustering is process to identify a homogeneous groups of object called as cluster. Clustering is one interesting topic on data mining. A group or class behaves similarly characteristics. This paper discusses a robust clustering process for data images with two reduction dimension approaches; i.e. the two dimensional principal component analysis (2DPCA) and principal component analysis (PCA). A standard approach to overcome this problem is dimension reduction, which transforms a high-dimensional data into a lower-dimensional space with limited loss of information. One of the most common forms of dimensionality reduction is the principal components analysis (PCA). The 2DPCA is often called a variant of principal component (PCA), the image matrices were directly treated as 2D matrices; they do not need to be transformed into a vector so that the covariance matrix of image can be constructed directly using the original image matrices. The decomposed classical covariance matrix is very sensitive to outlying observations. The objective of paper is to compare the performance of robust minimizing vector variance (MVV) in the two dimensional projection PCA (2DPCA) and the PCA for clustering on an arbitrary data image when outliers are hiden in the data set. The simulation aspects of robustness and the illustration of clustering images are discussed in the end of paper

Keywords: Breakdown point, Consistency, 2DPCA, PCA, Outlier, Vector Variance

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Authors: M. Pourgholi, V.J.Majd

Abstract:

This paper addresses parameter and state estimation problem in the presence of the perturbation of observer gain bounded input disturbances for the Lipschitz systems that are linear in unknown parameters and nonlinear in states. A new nonlinear adaptive resilient observer is designed, and its stability conditions based on Lyapunov technique are derived. The gain for this observer is derived systematically using linear matrix inequality approach. A numerical example is provided in which the nonlinear terms depend on unmeasured states. The simulation results are presented to show the effectiveness of the proposed method.

Keywords: Adaptive observer, linear matrix inequality, nonlinear systems, nonlinear observer, resilient observer, robust estimation.

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Authors: Robert E. Hursig, Jane X. Zhang

Abstract:

A robust still image face localization algorithm capable of operating in an unconstrained visual environment is proposed. First, construction of a robust skin classifier within a shifted HSV color space is described. Then various filtering operations are performed to better isolate face candidates and mitigate the effect of substantial non-skin regions. Finally, a novel Bhattacharyya-based face detection algorithm is used to compare candidate regions of interest with a unique illumination-dependent face model probability distribution function approximation. Experimental results show a 90% face detection success rate despite the demands of the visually noisy environment.

Keywords: Audio-visual speech recognition, Bhattacharyyacoefficient, face detection,

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Authors: Young-Seok Choi

Abstract:

This paper presents a subband adaptive filter (SAF) for a system identification where an impulse response is sparse and disturbed with an impulsive noise. Benefiting from the uses of l1-norm optimization and l0-norm penalty of the weight vector in the cost function, the proposed l0-norm sign SAF (l0-SSAF) achieves both robustness against impulsive noise and much improved convergence behavior than the classical adaptive filters. Simulation results in the system identification scenario confirm that the proposed l0-norm SSAF is not only more robust but also faster and more accurate than its counterparts in the sparse system identification in the presence of impulsive noise.

Keywords: Subband adaptive filter, l0-norm, sparse system, robustness, impulsive interference.

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Authors: Nidal F. Shilbayeh, Belal AbuHaija, Zainab N. Al-Qudsy

Abstract:

In this paper, we propose a new robust and secure system that is based on the combination between two different transforms Discrete wavelet Transform (DWT) and Contourlet Transform (CT). The combined transforms will compensate the drawback of using each transform separately. The proposed algorithm has been designed, implemented and tested successfully. The experimental results showed that selecting the best sub-band for embedding from both transforms will improve the imperceptibility and robustness of the new combined algorithm. The evaluated imperceptibility of the combined DWT-CT algorithm which gave a PSNR value 88.11 and the combination DWT-CT algorithm improves robustness since it produced better robust against Gaussian noise attack. In addition to that, the implemented system shored a successful extraction method to extract watermark efficiently.

Keywords: DWT, CT, Digital Image Watermarking, Copyright Protection.

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Authors: Saman M. Siddiqui, Fang Jiancheng

Abstract:

Micro electromechanical sensors (MEMS) play a vital role along with global positioning devices in navigation of autonomous vehicles .These sensors are low cost ,easily available but depict colored noises and unpredictable discontinuities .Conventional filters like Kalman filters and Sigma point filters are not able to cope with nonwhite noises. This research has utilized H∞ filter in nonlinear frame work both with Kalman filter and Unscented filter for navigation and self alignment of an airborne vehicle. The system is simulated for colored noises and discontinuities and results are compared with not robust nonlinear filters. The results are found 40%-70% more robust against colored noises and discontinuities.

Keywords: filtering, integrated navigation, MEMS, nonlinearfiltering, self alignment

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Authors: Siwar Fadhel, Imen Bahri, Man Zhang

Abstract:

The switched reluctance machine (SRM) has undeniable qualities in terms of low cost and mechanical robustness. However, its highly nonlinear character and its uncertain parameters justify the development of complicated controls. In this paper, authors present the design of a robust H-infinity current controller for an 8/6 SRM with taking into account the nonlinearity of the SRM and with rejection of disturbances. The electromagnetic torque is indirectly regulated through the current controller. To show the performances of this control, a robustness analysis is performed by comparing the H-infinity and PI controller simulation results. This comparison demonstrates better performances for the presented controller. The effectiveness and robustness of the presented controller are also demonstrated by experimental tests.

Keywords: Current regulation, experimentation, robust H-infinity control, switched reluctance machine.

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