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Block control Structure Selection Based on Relative Interaction Decomposition

Block Control Structure Selection Based on Relative Interact...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Mao-Jun He Wen-Jian Cai Bing-Fang Wu School of Electrical and Electronic Engineering Nanyang Technological University Singapore

this paper presents an unified framework for control structure selection of multivariable processes. On the basis of structure decomposition, all interaction transmitting channels to an individual control loop from all the other closed loops are decoupled and represented by elements of the decomposed relative interaction array (DRIA). Utilizing the decoupled interactions from both inputs and outputs, a decomposed relative gain array (DRGA) is constructed. DRGA is then employed to evaluate the overall interactions to individual control loop from another one. Consequently, the synthesis of the control structure can be evaluated in a straightforward manner by using a relative control performance index (RCPI). A simple Cai-He (C-H) diagram is proposed to facilitate control structure selection procedure. One example is presented to illustrate the advantages of the proposed approach

关键词： control systems Distributed control Performance analysis MIMO Process control Helium Electrical equipment industry Industrial control Centralized control Hardware

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A Strategy-driven Framework for Multi-Robot Cooperation System

A Strategy-driven Framework for Multi-Robot Cooperation Syst...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Yong Jie Chan Kin Choong Yow School of Computer Engineering Nanyang Technological University Singapore

the cooperation and coordination among the different robots and their self-governance in a workplace have become important issues in engineering design Robot soccer systems have been used as a platform to demonstrate the various researches in technology and implementation of a multi-robot cooperative environment. In this paper, a strategy-driven cooperative framework among multi-robot is proposed and investigated. Task completion is achieved through three main components: (1) sensing and representation of the dynamic environment information as the primary input parameters, (2) choice of a suitable strategy and allocation of tasks to achieve individual and inter-dependent behaviours, and (3) motion control and path planning to guide the robots to the required destination and perform the required action

关键词： Robot kinematics Service robots Path planning Robot sensing systems Design engineering Multirobot systems Centralized control Employment Motion control Strategic planning

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Characteristics of Fixed Timing Strategy in Oversaturated Network Traffic control

Characteristics of Fixed Timing Strategy in Oversaturated Ne...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Changliang Yuan Xiaoguang Yang School of Transportation Engineering University of Tongji Shanghai China

Network traffic signal control in oversaturated scenarios has to be disposed systematically. three main components, network control objectives, control strategies and network flow models, are critical in it. this study selects the cell transmission model (CTM) to describe traffic flow characteristics and develops an optimal control model using one kind of network throughput performance indices, system dispersal time (SDT), as the control objective. Signal timing plans are calculated by gene algorithm optimization with common cycle strategy and these timing plans are evaluated by VISSIM at last. By regularization method analysis, the dispersal trajectory characteristics are derived out. Results show that a proper non-maximum cycle length will disperse congested network vehicles rapidly and a better fixed signal timing strategy will always try to disperse the congested vehicles in the congestion prophase

关键词： Timing Traffic control Communication system traffic control control systems throughput Vehicles Delay Optimal control Centralized control Roads

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Explicit Constructions of Global Stabilization control Laws for a Class of Nonminimum Phase Nonlinear Systems

Explicit Constructions of Global Stabilization Control Laws ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Weiyao Lan Ben M. Chen Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore

this paper addresses a global stabilization problem for a class of nonminimum phase nonlinear systems. the nonlinearities of the system, which depend on the system output, can be unknown, but satisfy some linear growth conditions. the given system is first transformed into a special coordinate basis, in which the system zero dynamics is divided into a stable part and an unstable part. A sufficient solvability condition is then established for solving the global stabilization problem. Finally, the obtained result is utilized to solve a stabilization problem on a rotational/translational actuator (RTAC) system

关键词： Nonlinear control systems control systems Nonlinear systems Nonlinear dynamical systems Output feedback State feedback Linear feedback control systems Hydraulic actuators Phase estimation Robustness

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Expansion of Hager Belhumeur Inverse Additive Algorithm to Homographies

Expansion of Hager Belhumeur Inverse Additive Algorithm to H...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Hyun Seok Hong Myung Jin Chung Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology South Korea

Image alignment is a widely used technique in computer vision, and it can be applied to many areas such as image registration and region tracking. Hager and Belhumeur proposed an efficient image alignment algorithm which can find out translation and affine deformations quickly. However, it is known that their algorithm cannot be applied to homographies. Image alignment with a homography is important because general motions of object in 3D space are observed as perspective motions which are another name of homographies. In this paper, we propose an expanded inverse additive algorithm for homographies, and apply the algorithm to region tracking. We conduct real-time tracking experiments to show the performance of the proposed algorithm

关键词： Cameras Computer vision Image registration Robot vision systems Image processing Minimization methods Nonlinear optics Image motion analysis Lighting Geometry

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A New End-effector for On-orbit Assembly of a Large Reflector

A New End-effector for On-orbit Assembly of a Large Reflecto...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Shin-ichiro Nishida Tsuneo Yoshikawa Japan Aerospace Exploration Agency Institute of Aerospace Technology Japan Information Science and Engineering Ritsumeikan University Kusatsu Japan

In Earth orbit, astronomical observations are possible free from any absorption or disturbances by the Earth's atmosphere. therefore, some large space telescopes and large space radio telescopes are planned for the future. We discuss the design of a radio telescope reflector which can be assembled in orbit by a space robot arm, with its networks and connecting mechanisms suitable for robot tasks. the characteristics of the new end-effector of robot arm and their suitability for onboard assembly tasks were confirmed by testing using a prototype end-effector and a two dimensional ground test arm. the test results are also described in this paper

关键词： Robotic assembly Orbital robotics Testing Radio astronomy Earth Electromagnetic wave absorption Terrestrial atmosphere Telescopes Optical design Joining processes

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Adaptive Stable PID controller with Parallel Feedforward Compensator

Adaptive Stable PID Controller with Parallel Feedforward Com...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Z. Iwai I. Mizumoto L. Liu S.L. Shah H. Jiang Department of Mechanical Systems Engineering acronyms acceptable Kumamoto University Kumamoto Japan Department of Chemical and Material Engineering University of Alberta Edmonton AB Canada

In this paper, a new design method of adaptive PID controller is proposed. the method utilizes the plant characteristics called almost strict positive realness (ASPR) so that the stability of the adaptive PID control system is always guaranteed. the design scheme is derived for the design of adaptive tracking PID control system. Here it is also proposed a new design procedure of the parallel feedforward compensator (PFC) which actually guarantees the ASPRness of the controlled plant. the result is examined by applying it to the design of the first order with time delay process system. the effectiveness of the method is examined through simulations and experiments using thermal pilot plant

关键词： Programmable control Adaptive control three-term control control systems Stability Tuning Automatic control Optimal control Design methodology Adaptive systems

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Output Sliding-Mode control of Discrete-Time Nonminimum Phase Systems

Output Sliding-Mode Control of Discrete-Time Nonminimum Phas...

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international conference on control, automation, robotics and vision (ICARCV)

作者： H. C. Ting J. L. Chang Y. P. Chan Deptment of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Electrical Engineering Oriental Institute of Technology Taipei Taiwan

Aiming to tracking problem of the nonminimum phase system, this paper proposes an output feedback sliding-mode method for a discrete-time input-output plant model. Using the solutions accomplished from two Diophantine equations associated with the sliding function, the proposed design algorithm can force the system trajectory to enter the sliding layer and ensure robust stability such that the tracking error is bounded in a small region. In addition, combining with a parameter adaptive algorithm is to maintain the operation of the proposed method in a system with unknown parameters. A numerical simulation result is presented to demonstrate the validity of the developed method.

关键词： Sliding mode control control systems Equations Output feedback Sampling methods Stability Force control control engineering Motion control Algorithm design and analysis

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A Biometric Approach to Linux Login Access control

A Biometric Approach to Linux Login Access Control

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Adam J. Gandossi Wanquan Liu Ronny Tjahyadi Lixin Xu Department of Computing Curtin University of Technology Perth WA Australia

Login access control refers to securing the entry point to a computing system. the login system is responsible for this service and must provide a number of tasks, the main task being that of user authentication. Traditionally, the authentication in Linux and other operating systems is achieved through password verification. this research focused on overcoming the vulnerabilities of password verification, which has been identified as the greatest gap in computer security, through the development of a biometric (facial recognition) login system. the application of biometrics, the automated use of physiological or behavioral characteristics to determine or verify identity, was applied via the eigenface algorithm successfully in this research, resulting in a functional prototype biometric login system for Linux

关键词： Biometrics Linux Access control Authentication Face recognition Operating systems Computer security Application software Project management Computer architecture

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Switched Linear control of a Model Helicopter

Switched Linear Control of a Model Helicopter

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： H.Y Sutarto Agus Budiyono Endra Joelianto Go Tiauw Hiong Department of Aeronautics and Aerospace Engineering Institut Teknologi Bandung Bandung Indonesia School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

A mini scale helicopter poses a difficult control problem due to its complex dynamics. Compared to its full-size counterparts, the model helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. We specifically investigate the control for transition dynamics between hover and cruise by formulating the phenomena as a hybrid system. We consider piecewise quadratic Lyapunov-like functions that leads to linear matrix inequalities (LMIs) characterization for performance analysis and controller synthesis. State jumps of the controller responding to switched of plant dynamics are exploited to improve control performance. the transition control performance is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach

关键词： Helicopters Aerodynamics Vehicle dynamics control system synthesis Aerospace engineering Equations Linear matrix inequalities Performance analysis Nonlinear dynamical systems Switched systems

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