Reduced-order output feedback controllers for discrete-time systems

This article considers the stabilization by output feedback controllers for discrete-time systems. The controller can place all of the closed-loop poles within a specified disk D(-α, 1/β), centred at (-α,0) with radius 1/β, where | - α|  + 1/β < 1. The design method involves the decomposition of the system into two portions. The first portion comprises of all of the poles that are lying outside of the specified disk. A reduced-order model is constructed for this portion. The second portion comprises of all of the remaining poles of the system and is characterized by an H_∞-norm bound. The controller design is then accomplished by using H_∞-control theory. It is shown that, subject to the solvability of an algebraic Riccati equation, output feedback controllers can be systematically derived. The order of the controller is low, and can be as low as the number of the open-loop poles that are lying outside of the specified disk. A step-by-step design algorithm is provided. Numerical examples are given to illustrate the attractiveness of the design method.

Constrained pole placement for linear systems using low-order output feedback controllers

The paper presents a simple approach to the problem of designing low-order output feedback controllers for linear continuous systems. The controller can place all of the closed-loop poles within a circle, C(- , 1/ β) , with centre at - and radius of 1/ β in the left half s-plane. The design method is based on transformation of the original system and then applying the bounded-real-lemma to the transformed system. It is shown that subjected to the solvability of an algebraic Riccati equation (ARE), output feedback controllers can then be systematically derived. Furthermore, the order of the controller is low and equals only the number of the open-loop poles lying outside the circle. A step-by-step design algorithm is given. Numerical examples are given to illustrate the design method.

Visual feedback control of a robot in an unknown environment (learning control using neural networks)

In this paper, a visual feedback control approach based on neural networks is presented for a robot with a camera installed on its end-effector to trace an object in an unknown environment. First, the one-to-one mapping relations between the image feature domain of the object to the joint angle domain of the robot are derived. Second, a method is proposed to generate a desired trajectory of the robot by measuring the image feature parameters of the object. Third, a multilayer neural network is used for off-line learning of the mapping relations so as to produce on-line the reference inputs for the robot. Fourth, a learning controller based on a multilayer neural network is designed for realizing the visual feedback control of the robot. Last, the effectiveness of the present approach is verified by tracing a curved line using a 6-degrees-of-freedom robot with a CCD camera installed on its end-effector. The present approach does not necessitate the tedious calibration of the CCD camera and the complicated coordinate transformations.

Genetic image enhancement based on saturation feedback

In this paper an adaptive approach for color image enhancement is proposed. In this approach, the saturation feedback technique is used as a means of supplementing color image shmpness and contrast. This technique of the saturation feedback can serve to bring out image details that have low luminance contrast. In the technique, the feedback parameters are the key component and are usually determined manually. In order to realize the adaptive color image enhancement, the genetic algorithm is employed to search global optimal parameters for saturation feedback automatically. The detailed procedures are described in the paper. Experimental results on color images show the feasibility of the proposed method.

Dynamic output feedback sliding-mode control using pole placement and linear functional observers

This paper presents a methodological approach to design dynamic output feedback sliding-mode control for a class of uncertain dynamical systems. The control action consists of the equivalent control and robust control components. The design of the equivalent control and the sliding function are based on the pole-placement technique. Linear functional observers are developed to implement the sliding function and the equivalent control. Stability of the resulting system under the proposed control scheme is guaranteed. A numerical example is given to demonstrate its efficacy.

Achieving greater feedback and flexibility using online pre-laboratory exercises with non-major chemistry students

Compulsory online pre-laboratory exercises were required of non-major, first-year university chemistry students in response to poor student preparation for laboratory sessions. The online pre-laboratory exercises were designed to be straightforward, endeavoring to help students maximize the benefits of the introductory laboratory class. Diagrams and pictures were included in the exercises to improve descriptions. Students were allowed multiple attempts with immediate feedback provided to help them learn from their mistakes. The study is a descriptive account of students' perceptions of the impact of online pre-laboratory exercises on their learning. Students recognized the value of the exercises in improving their organization, their preparedness for the laboratory class, and their understanding of the chemistry concepts of the weekly experiments. The increased flexibility of doing pre-laboratory exercises online and the increased feedback to students were two important aspects of this project that nearly all students recognized as being beneficial to their learning.

Is it worth the effort? How feedback influences students' subsequent submission of assessable work

This paper explores the extent to which students appear to their assessors to act on feedback they have received, and questions the assumption that providing feedback alone is sufficient to effect higher standards of work by students. Feedback provided to 51 undergraduate social work students, on two consecutive assignments involving a similar task, was examined to ascertain the number of problem areas noted from seven predefined categories. While the greatest increase in marks was associated with the greatest reductions in the number of problem areas identified in the comments, overall two-thirds of all students (66.7%) were awarded marks for both assignments within four percentage points. As such, this study found only limited support for the idea that students respond to feedback by making changes which are consistent with the intent of the feedback received. Hence the assumption that providing feedback alone is sufficient to effect higher standards of work by students was not supported. These findings invite educators to critically reflect on their own practices in providing feedback to students.

Feedback credibility issues in trust management systems

The following topics are dealt with: soft computing in intelligent multimedia; grid and pervasive computing security; interactive multimedia & intelligent services in mobile and ubiquitous computing; data management in ubiquitous computing; smart living space; software effectiveness and efficiency.

Dynamic output feedback control of single-link flexible manipulators

This paper presents an efficient technique to design dynamic feedback control scheme for single-link flexible manipulators.  A linear model can be derived for the robotic system using the assumed-mode method.  Conventional techniques such as pole-placement or LQR require physical measurements of all systme states,  posing a stringent requirement for its implementation.  To overcome this problem, a low-order state functional observer is proposed here for reconstruction of the state feedback control action.  The observer design involves solving an optimisation problem with the objective to generate a feedback gain that is as close as possible to that of the required feedback controller.  A condition for robust stability of the closed-loop system under the observer-based control scheme is given.  The attractive features of the propsed technique are the resulted functional state observer is of a very low order and it requires only sensor measurements of only the output- the tip position of the arm.

A parameter adjustment method for relevance feedback

Various relevance feedback techniques have been applied in Content-Based Image Retrieval (CBIR). By using relevance feedback, CBIR allows the user to progressively refine the system's response to a query. In this paper, after analyzing the feature distributions of positive and negative feedbacks, a new parameter adjustment method for iteratively improving the query vector and adjusting the weights is proposed. Experimental results demonstrate the effectiveness of this method.

A distributed approach to global feedback control of multi-agent systems

This paper presents a distributed approach to global state feedback control of for multi-agent systems. The proposed solution is obtained from the construction of decentralised functional observers. The required local control signal is generated asymptotically using only corresponding local output information. It is shown that a complete distribution of the control of a decentralised system having N agents can be achieved upon the satisfaction of some necessary conditions, and that the resulting controller can emulate the performance of a global state feedback controller. A step-by-step design algorithm is given. Its simplicity and correctness are illustrated through a numerical example.