469 research outputs found
Polynomial J-spectral factorization method for optimal control of discrete-time systems
No full textDimirovski, Georgi M. (Dogus Author)We present a simple algorithm for linear-quadratic control of discrete-time systems, based on polynomial J-spectral factorization
Vuk and Georgi: An adventure into active systems via mechatronics, robotics and manufacturing engineering
No full textDimirovski, Georgi M. (Dogus Author) -- Conference full title: 2013 IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY) 26-28 Sept. 2013, Subotica, SerbiaThe last century's ending quarter was marked by an dramatically dynamic development of new technologies and practical realizations of diverse technical constructions in various fields of engineering, in general, and in robotics, in particular. However, such growth of new technological achievements was not accompanied always with the necessary caution steps and protection measures against possible breakdown and destructions, which in specific cases and under certain conditions could be disastrous. In this talk commemorating Academician Vukobratovic and drawing from his endeavors on the so-called active systems and research he shared with me as well as our academic cooperation during the last decade of his active work, while examining some advantages, his merits for the entire field are pointed in here out to the best author's abilities. Some active systems such as adaptation for active noise and machine vibration control via active damping by force feedback as well as mobile robotic unmanned air and underwater vehicles as well as platoon of ground vehicles are note considered. Rather focus is put on active controls of earthquake induced vibrations and high-rise structures, manufacturing processes, wheeled mobile manipulators and walking humanoid robots are discussed in more detail while on homing missiles are only mentioned. In due course, some solutions to contact task in dynamic environment that are linked with active systems are also touched upon
Applied system and control sciences to social systems: Globalization age paradigms
No full textDimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea; 6 July 2008 through 11 July 2008.Modern advanced information technologies resulting from automation of control and decision processes along with ubiquitous communications have a multitude of impacts on development of national economies within the global economy. Thus all kinds of social systems, being essentially human centred systems, is a cross-, inter- and multi-disciplinary challenge to systems and control researchers. Social systems in modern civilization are reviewed from the systems science viewpoint and on the grounds of recent developments in control science and technology and with regard to globalization paradigm. The innovative systems approaches employing results from hybrid systems theory and dynamical networks are needed to address the now-old challenges of combined knowledge and technology transfer world wide for sustainable development that may remedy climate change and some of the negative socio economic aspects of globalization
Positive observer design for switched interval positive systems via the state-dependent and time-dependent switching
No full textDimirovski, Georgi M. (Dogus Author) -- Conference full title: 35th Chinese Control Conference: July, 2016, Chengdu, China.Positive observer design of interval switched positive systems is considered in this paper. The multiple quadratic co-positive Lyapunov functions technique and the method of augmented systems are adopted. The sufficient conditions of insuring stabilization of augmented systems are obtained under the state-dependent and time-dependent switching law, respectively. In the end, a numerical example is provided to demonstrate the feasibility of the presented results
Stabilization of a class of switched nonlinear systems
No full textDimirovski, Georgi M. (Dogus Author)The stabilization of a class of single input switched nonlinear systems is investigated in the paper. The system concerned is of switched triangular structure, which has all switched models in triangular form. The stabilization of the switched system under arbitrary switching law is investigated. The nonlinear state feedback is explicitly designed. We exploit the structural characteristics of the switched nonlinear systems to construct a common Lyapunov function for arbitrary switching
A condition for output-to-state stability of switched nonlinear systems
No full textDimirovski, Georgi M. (Dogus Author)Output-to-state stability of switched nonlinear systems is studied in this paper. A sufficient condition for output-to-state stability is given in terms of series expressions and under the assumption that all subsystems are output-to-state stable. For a class of switched nonlinear systems we also show how to satisfy this condition by appropriately choosing dwell time. A lower bound on such dwell time is explicitly calculated. AU results are derived constructively
An introductory review of time-inconsistent stochastic optimal control
No full textDimirovski, Georgi M. (Dogus Author) -- Conference full title: 37th Chinese Control Conference, CCC 2018; Wuhan; China; 25 July 2018 through 27 July 2018.This paper gives an introductory review of time-inconsistent stochastic optimal control. We mainly explain the reasons that result in the time inconsistency, and review the recent progresses in time-inconsistent stochastic linear-quadratic optimal control
Synchronized dancing of an industrial manipulator and humans with arbitrary music
No full textTükel, Dilek Bilgin (Dogus Author) -- Dimirovski, Georgi M. (Dogus Author)An extended Labanotation for an industrial robot was developed and applied. A user-friendly program was designed to help design dance choreography. The program, LabanRobot, has a simple interface that can be used without any prior knowledge of the robot. The choreographer should keep geometry in mind and plan the dance sequence accordingly. The conversion of dance sequences to robot motion is done automatically by the program. Details of the algorithm are given. Examples of simulation and on-stage-performance are shown
Switching Hinf control synthesis designs for networked control systems
No full textDimirovski, Georgi M. (Dogus Author) -- Conference full title: 19th International Conference on Control Systems and Computer Science (CSCS), 29-31 May 2013, Bucharest, RomaniaThis paper investigates joint stabilization and disturbance attenuation problem of for a class of networked control systems subject to disturbance and packet dropout in the transmission channel. A condition for exponential stabilization of networked control systems under a given switching rule is derived by employing multiple Lyapunov-like functions. A design solution for switching Hinf control that compensates for packet dropout and attenuates disturbance is found in terms of linear matrix inequalities. Impulse impact is also studied in order to reduce theory-application discrepancy switching. An illustrative example is given along with its simulation results to demonstrate both feasibility and efficiency of the proposed method.ERRIC, Romanian Association for Artificial Intelligence (ARIA), Universitatea Politehnica din Bucharest (UPB), Faculty of Automatic Control and Computers (A and C), IEEE Romania Section, IEEE Romanian Chapter of Computational Intelligence Society
Disturbance attenuation and feedback control for switched systems with saturating actuators
No full textDimirovski, Georgi M. (Dogus Author) -- Conference full title: 35th Chinese Control Conference: July, 2016, Chengdu, China.The paper studies the problem of the disturbance attenuation for switched systems subject to actuator saturation. A nonlinear feedback controller which expresses by the form of quasi-LPV as well as the switching law which is time-dependent, are constructed that lead to the closed-loop switched system is stable and has disturbance attenuation capacity. In addition, the solvability conditions for the stabilization and disturbance attenuation for switched systems are expressed by the linear matrix inequalities (LMIs). At last, an example illustrates that our method is effective
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