The Experts below are selected from a list of 6987 Experts worldwide ranked by ideXlab platform
Jie Pan - One of the best experts on this subject based on the ideXlab platform.
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global output Feedback Path tracking of unicycle type mobile robots
Robotics and Computer-integrated Manufacturing, 2006Co-Authors: Jie PanAbstract:Abstract We present an output-Feedback controller that forces the output (position and orientation) of a unicycle-type mobile robot to track a predefined Path. A coordinate transformation is first derived to cancel the velocity quadratic terms. An observer is then designed to globally exponentially/asymptotically estimate the unmeasured velocities. The controller synthesis is based on Lyapunov's direct method and the backstepping technique. Our proposed controller works for both internally damped and un-damped cases. Simulations illustrate the soundness of the proposed controller.
Necmiye Ozay - One of the best experts on this subject based on the ideXlab platform.
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CDC - Fault-Tolerant Output-Feedback Path Planning with Temporal Logic Constraints
2018 IEEE Conference on Decision and Control (CDC), 2018Co-Authors: Liren Yang, Necmiye OzayAbstract:In this paper, we consider searching for fault tolerant control strategies for linear systems to satisfy some high level requirements specified by linear temporal logic. By the term fault tolerant, we mean the obtained control strategy can respond to a fault that leads to a sudden change of the system dynamics. We first show how open-loop fault tolerant strategies (associated with each initial state) can be synthesized by leveraging Mixed Integer Linear Programming (MILP) based encodings used for linear temporal logic. These open-loop strategies, however, are not robust to the disturbances because of two reasons. First, since the disturbed system cannot be predicted precisely, the fault will be detected with a delay. Secondly, even if the faulty status is known, the true system trajectory may still deviate from the planned trajectory as the impact of the disturbance accumulates. To solve the two problems, we present a MILP formulation of the problem that incorporates finite detection delays, the open-loop strategy defined by the MILP's solution is then robustified with additional linear regulation.
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fault tolerant output Feedback Path planning with temporal logic constraints
Conference on Decision and Control, 2018Co-Authors: Liren Yang, Necmiye OzayAbstract:In this paper, we consider searching for fault tolerant control strategies for linear systems to satisfy some high level requirements specified by linear temporal logic. By the term fault tolerant, we mean the obtained control strategy can respond to a fault that leads to a sudden change of the system dynamics. We first show how open-loop fault tolerant strategies (associated with each initial state) can be synthesized by leveraging Mixed Integer Linear Programming (MILP) based encodings used for linear temporal logic. These open-loop strategies, however, are not robust to the disturbances because of two reasons. First, since the disturbed system cannot be predicted precisely, the fault will be detected with a delay. Secondly, even if the faulty status is known, the true system trajectory may still deviate from the planned trajectory as the impact of the disturbance accumulates. To solve the two problems, we present a MILP formulation of the problem that incorporates finite detection delays, the open-loop strategy defined by the MILP's solution is then robustified with additional linear regulation.
Liren Yang - One of the best experts on this subject based on the ideXlab platform.
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CDC - Fault-Tolerant Output-Feedback Path Planning with Temporal Logic Constraints
2018 IEEE Conference on Decision and Control (CDC), 2018Co-Authors: Liren Yang, Necmiye OzayAbstract:In this paper, we consider searching for fault tolerant control strategies for linear systems to satisfy some high level requirements specified by linear temporal logic. By the term fault tolerant, we mean the obtained control strategy can respond to a fault that leads to a sudden change of the system dynamics. We first show how open-loop fault tolerant strategies (associated with each initial state) can be synthesized by leveraging Mixed Integer Linear Programming (MILP) based encodings used for linear temporal logic. These open-loop strategies, however, are not robust to the disturbances because of two reasons. First, since the disturbed system cannot be predicted precisely, the fault will be detected with a delay. Secondly, even if the faulty status is known, the true system trajectory may still deviate from the planned trajectory as the impact of the disturbance accumulates. To solve the two problems, we present a MILP formulation of the problem that incorporates finite detection delays, the open-loop strategy defined by the MILP's solution is then robustified with additional linear regulation.
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fault tolerant output Feedback Path planning with temporal logic constraints
Conference on Decision and Control, 2018Co-Authors: Liren Yang, Necmiye OzayAbstract:In this paper, we consider searching for fault tolerant control strategies for linear systems to satisfy some high level requirements specified by linear temporal logic. By the term fault tolerant, we mean the obtained control strategy can respond to a fault that leads to a sudden change of the system dynamics. We first show how open-loop fault tolerant strategies (associated with each initial state) can be synthesized by leveraging Mixed Integer Linear Programming (MILP) based encodings used for linear temporal logic. These open-loop strategies, however, are not robust to the disturbances because of two reasons. First, since the disturbed system cannot be predicted precisely, the fault will be detected with a delay. Secondly, even if the faulty status is known, the true system trajectory may still deviate from the planned trajectory as the impact of the disturbance accumulates. To solve the two problems, we present a MILP formulation of the problem that incorporates finite detection delays, the open-loop strategy defined by the MILP's solution is then robustified with additional linear regulation.
Zhendong Sun - One of the best experts on this subject based on the ideXlab platform.
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Brief paper: Stabilizing switching design for switched linear systems: A state-Feedback Path-wise switching approach
Automatica, 2009Co-Authors: Zhendong SunAbstract:This paper addresses the problem of switching stabilization for discrete-time switched linear systems. Based on the abstraction-aggregation methodology, we propose a state-Feedback Path-wise switching law, which is a state-Feedback concatenation from a finite set of switching Paths each defined over a finite time interval. We prove that the set of state-Feedback Path-wise switching laws is universal in the sense that any stabilizable switched linear system admits a stabilizing switching law in this set. We further develop a computational procedure to calculate a stabilizing switching law in the set.
Issa M S Panahi - One of the best experts on this subject based on the ideXlab platform.
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An Efficient Delayless Sub-band Filtering for Adaptive Feedback Compensation in Hearing Aid
Journal of Signal Processing Systems, 2016Co-Authors: Soudeh A Khoubrouy, Issa M S PanahiAbstract:Acoustic Feedback, or signal leakage between the loudspeaker and microphone of hearing aids, creates some irritations to the users of these devices and degrades the performance of the hearing aids. Among various methods proposed to cancel the negative effect of acoustic Feedback, Instrumental Variable Method Adaptive Feedback Canceller (IVM-AFC) has shown superb performance. IVM-AFC exploits two kinds of adaptive filters to pre-filter the signals and to estimate the Feedback Path transfer function, respectively. This AFC method typically uses Partitioned Block Frequency Domain Normalized Least Mean Square (PBFD- NLMS) algorithm for the Feedback Path estimation. In this paper, two alternative algorithms are introduced in addition to PBFD-NLMS. One is Discrete Fourier Transform Multi-Delay block Frequency domain NLMS (DFT-MDF-NLMS) algorithm not used for this application before. The other one is a new delayless sub-band filtering algorithm. The algorithms are evaluated using speech as the input of hearing aid. Based on the experimental results, the new sub-band filtering method possesses low computational complexity and high capability of tracking the changes in the Feedback Path.
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criteria for estimating an fir filter for cancelling the Feedback Path signal in hearing aid system
Signal Processing, 2014Co-Authors: Soudeh A Khoubrouy, Issa M S PanahiAbstract:Many adaptive methods use a Finite Impulse Response (FIR) filter to estimate and cancel the effect of acoustic Feedback from the loudspeaker to the microphone in a hearing aid system. In these methods the order of the filter is assumed to be fixed and known a priori, even if the Feedback Path characteristics change from one environment to another. Underestimation of the order of the filter and thus, the filter itself, results in inadequate Feedback cancellation, while overestimation of the filter order increases computational complexity, delay, and power consumption without significantly improving cancellation of the Feedback Path effect. In this paper an adaptive method using short-duration noise injection with new criteria is proposed to recursively find the FIR filter of proper order for estimating the Feedback Path and cancelling its effect. The proposed method requires no a priori knowledge of the acoustic Feedback Path or its order. Using the speech and music signals as the desired signals at the input microphone, the performance of the proposed method is analyzed and compared with those based on the convergence of Misalignment (MISA) and Perceptual Evaluation of Speech Quality (PESQ) criteria.
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order selection of the hearing aid Feedback canceller filter based on its impulse response energy
International Conference of the IEEE Engineering in Medicine and Biology Society, 2012Co-Authors: Soudeh A Khoubrouy, Issa M S PanahiAbstract:Numerous methods have been proposed to cancel the unpleasant effects of acoustic Feedback between the loudspeaker and microphone in hearing aid systems. Adaptive Feedback Cancellation (AFC) methods are often used to estimate an FIR filter for cancelling the Feedback Path effect. In estimating the AFC FIR filter, it is important to select the order of the filter properly; especially when the Feedback Path changes from one environment to another and no knowledge about it is available. Choosing improper filter order causes deficient system performance or excessive computations and power usage in the system. We present tracking of the energy of AFC FIR filters and its convergence behavior as a new criterion for determining the proper order for AFC FIR filter. Experimental results show validity of the proposed criterion.
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EMBC - Improving misalignment for Feedback Path estimation in hearing aid by multiple short-time noise injections
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Inte, 2012Co-Authors: Soudeh A Khoubrouy, Issa M S PanahiAbstract:Adaptive Feedback Cancellation (AFC) methods are used to find an FIR filter to cancel the negative effect of acoustic Feedback between the loudspeaker and microphone of the hearing aid. Finding the AFC filter of appropriate order/length directly affects the performance and complexity of the system. In this paper, we use noise injection method to find the AFC filter estimating the Feedback Path model. We show that the optimum length which guarantees a good compromise between the quality and the complexity of the system may be smaller than the length of the actual Feedback Path model. However, in order to improve the performance of the system in terms of Misalignment criterion, we propose using multiple short-time noise injections and averaging method to find the best filter estimate of appropriate length.
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EMBC - Adaptive cancellation of variable Feedback Path for hearing aid using misalignment-dependent step size values
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Inte, 2011Co-Authors: Soudeh A Khoubrouy, Issa M S PanahiAbstract:Various methods have been proposed to overcome the problem of compensating the acoustic Feedback Path that negatively impacts the performance of hearing aid devices. However, in most of them Feedback Path model is assumed to be fixed which is not quite realistic. In this paper, we consider fixed and variable Feedback Paths and analyze for each case the performance of one of the robust Adaptive Feedback Cancellation (AFC) schemes, i.e. the Prediction Error Method AFC which uses Partitioned Block Frequency-Domain Normalized Least Mean Square (PBFD-NLMS) algorithm. Based on the analysis results we propose varying the step size values for the same adaptive algorithm on the fly by monitoring the misalignment criteria. The experimental results using the proposed method show improvement made on the system performance.
