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In this paper, a motion planning method for mobile auditory robots is proposed based on an optimization technique. Since it is one of the most important abilities for auditory robots to recognize vocal messages correctly, the proposed method is designed to maximize the confidence measure of a speech recognition since the measure is thought to be strongly(More)
This paper is concerned with the stability of zeros of the discrete-time mul-tivariable system composed of a generalized sample hold function (GSHF), a continuous-time plant with the degrees of infinite elementary divisors being two or three, i.e., µ 1 = · · · = µ m−k = 2 and µ m−k+1 = · · · = µ m = 3 (k = 1,. .. , m, 0 ≤ k ≤ m − 1), and a sampler in(More)
In this paper, we state the positive real lemma and the strictly positive real lemma (KYP lemma) for non-minimal realization systems. First we show the positive real lemma for stabilizable and observable systems under only the constraint on the regularity of the systems, by using the generalized algebraic Riccati equation. Moreover we show that the solution(More)
Unstable zeros limit the achievable control performance. When a continuous-time system is discretized using the zero-order hold, there is no simple relation which shows how the zeros of the continuous-time system are transformed by sampling. This paper analyzes the asymptotic behavior of the limiting zeros for multivariable systems and derives a new(More)