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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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Integrated guidance/autopilot scheme for anti-vessel missiles based on three channels independence design idea

Integrated guidance/autopilot scheme for anti-vessel missile...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Zhao, GR Xu, QJ Yu, JY Gu, WJ Naval Aeronaut Engn Inst Dept Automat Control Yantai 264001 Peoples R China

ISBN: (纸本)0780386531

A scheme of integrated guidance/autopilot design for STT missile against maneuvering targets on the sea is proposed. three channels independence design idea is adopted. Firstly, an integrated guidance/autopilot model of the yaw plane is formulated and the guidance/control law is designed based on the backstepping idea and variable structure control theory. Secondly, control laws are proposed for the height and roll angle, so that when the missile have the capability to hit the target on the yaw plane, and the height can approach to zero as the distance between the missile and target on the yaw plane tends to zero, the missile will hit the target. Finally, to verify the effectiveness and rightness of the integrated design scheme, the simulation of some anti-vessel missile against high maneuvering targets have been made, the simulation results have shown that high accuracy of hitting target can be got.

关键词： Missiles

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Off-line formulation of robust model predictive control based on several Lyapunov functions

Off-line formulation of robust model predictive control base...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Feng, L Wang, JL Poh, E Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)0780386531

Recently, it has been recognized that the dilation of the LMI characterizations has new potentials in dealing with such involved problems as multi-objective control, robust performance analysis or synthesis for real polytopic uncertainty and so on. In the Model Predictive control (MPC) area, Cuzzola et al. have proposed a technique which is based on the use of several Lyapunov functions each one corresponding to a different vertex of the uncertainty polytope. the main advantage of this approach compared to the other well-known techniques is the reduced conservativeness. However, this approach also increases the on-line computational demand, which partially limits its practicality. In this paper, an off-line approach is proposed to reduce such on-line computational demand substantially. the approach is based on the concept of the asymptotically stable invariant ellipsoids and the closed-loop robust stability is guaranteed.

关键词： model predictive control linear matrix inequalities invariant ellipsoid off-line

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Improving suspension manufacturing yield using polynomial regression

Improving suspension manufacturing yield using polynomial re...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Ritthidetch, T Masuchun, R Chaikla, A Julsereewong, P Tirasesth, K King Mongkuts Inst Technol Fac Engn Bangkok 10520 Thailand

ISBN: (纸本)0780386531

this paper proposes the technique to adjust the roll and pitch directions of the flex suspension assembly in a disk drive production. the adjustment is accomplished using a number of laser beam projections, which can be approximated using the polynomial regression model of the existing measured roll and pitch directions. Information derived from the analysis can help improve manufacturing yield. the performances of the proposed technique were observed using the flex suspension assembly plant in thailand as an illustrative case study. the experimental results are given to support the improving manufacturing yields and some economic benefits of the proposed technique.

关键词： regression analysis position control process control laser beam applications polynomial approximation hard discs disc drives assembling manufacturing systems suspension manufacturing yield polynomial regression roll direction pitch direction flex suspension assembly disk drive production laser beam projection economic benefit

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Robust filtering for systems with stochastic nonlinearities and deterministic uncertainties

Robust filtering for systems with stochastic nonlinearities ...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Yang, FW Wang, ZD Liu, XH Brunel Univ Dept Informat Syst & Comp Uxbridge UB8 3PH Middx England

ISBN: (纸本)0780386531

In this paper, we consider the robust finite-horizon filter design problem for a class of discrete time-varying systems with both stochastic nonlinearities and deterministic uncertainties. the description of the stochastic nonlinearities is quite general, which comprises the state-multiplicative noises and the random sequences whose powers depend on either the sector-bound nonlinear function of the state or the sign of a nonlinear function of the state. the norm-bounded parameter uncertainties are allowed to enter both the system and the output matrices. We aim to design a robust filter that guarantees an optimized tipper bound on the state estimation error variance, for all stochastic nonlinearities and admissible deterministic uncertainties. the existence conditions for the desired robust filters are first derived, and the filter parameters are then determined in terms of the solutions to two recursive Riccati-like difference equations. A numerical example is presented to show the applicability of the proposed method.

关键词： Robustness (control systems)

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Phase-locked loop process control system using LQR approach

Phase-locked loop process control system using LQR approach

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Wanchana, S Benjanarasuth, T Isarakorn, D Ngamwiwit, J Komine, N King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok Thailand

ISBN: (纸本)0780386531

this paper presents the phase-locked loop (PLL) process control system designed by using the approach of linear quadratic regulator (LQR). By considering the loop filter (LF) of phase-locked loop is a part of the process to be controlled, an augmented system can be constructed when voltage control oscillators (VCO) is considered as an added integrator. the integral gain of the proposed augmented system obtained by LQR can be used as an optimal value to design the parameter of LF under the known value of natural frequency of the PLL. the experimental results in controlling the second-order lag pressure process using the proposed PLL show that the system response is fast without overshoot and steady-state error, the output disturbance effect can be rejected, the property of tracking can be obtained and the system can be controlled when process parameter is changed.

关键词： phase locked loops voltage-controlled oscillators process control linear quadratic control gain control feedback voltage control phase-locked loop process control system linear quadratic regulator loop filter voltage control oscillators integral gain second-order lag pressure process

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Bench-scale building controlled by a miniature AMD system for education in control engineering

Bench-scale building controlled by a miniature AMD system fo...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Zhang, CW Ou, JP Harbin Inst Technol Sch Civil Engn Harbin 150090 Peoples R China

ISBN: (纸本)0780386531

this paper presents one education system for control engineering, which consists of a two-floor building structural model with a moving controllable cart device lying on the top floor, namely a miniature AMD control system. the structure is controlled by the AMD, when it vibrates subjected to external disturbance. Both the calculation model and physical implementation are given according to observer based full-state feedback control design specifications, which includes designing and tuning of a Proportional-Velocity (PV) position controller, mathematically modeling the system's state-space representation through Lagrange's method, designing and tuning of a full-order state-observer based on the structural acceleration feedback, at last designing a real-time mode-switching experiment using a predefined logic sequence to alternate between a mode of repeatable structural excitation and an Active Mass Damping control mode to depress the structure's vibration to show the effectiveness of using AMD control system in suppressing structural vibration. the results show the procedures using AMD device system in control engineering education.

关键词： AMD control education structural vibration bench experiment

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Obstacle-navigation control for a mobile robot suspended on overhead ground wires

Obstacle-navigation control for a mobile robot suspended on ...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Tang, L Fang, LJ Wang, HG Chinese Acad Sci Grad Sch Robot Lab Shenyang 110016 Peoples R China

ISBN: (纸本)0780386531

this paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of power transmission lines based on a novel movement mechanism the kinematics of the mobile robot and the process of obstacle-navigation control are analyzed in detail. this paper presents to develop robot expert system using hybrid programming of C Language Integrated Production System (CLIPS) and C language, and the robot expert system has powerful logical reasoning ability and data processing ability. the robot control modes have layered planning and direct control. this paper describes the robot expert system with hybrid architecture and analyzed decision-making of obstacle-navigation in layered planning mode in detail. the robot can learn online of offline, and when it encounter the same obstacles, it can navigate them quickly. Obstacle-navigation control is the difficult point of the type of wire-suspended robot and the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires.

关键词： obstacle-navigation control mobile robot over head ground wire expert system CLIPS

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Accurate positioning for real-time control purpose: Integration of GPS, NAV200 and encoder data

Accurate positioning for real-time control purpose: Integrat...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Wang, DW Low, C He, B Pham, M Nanyang Technol Univ Sch Elect & Elect Engn Singapore 2263 Singapore

ISBN: (纸本)0780386531

Positioning of a mobile robot is critical to its movement in an outdoor environment to accomplish tasks with success and accuracy. For outdoor automation with a fleet of mobile robots in a local area, a common positioning system for all vehicles is essential for manoeuvring and coordination. the positioning system should be referenced to a global coordinate frame and requires few artificial landmarks only for the areas that are out of the GPS positioning system. In addition, positioning system is desirable to have a high update rate for real-time control purposes. In this paper, we propose an integrated positioning system (IPS), which is able to provide an accurate and high update rate position estimate. the integrated system utilizes GPS as the global coordinate positioning system, Nav200 as the local positioning system for areas that are not covered by GPS signals and en coders/compass as the supplementary relative positioning system. the structure of the IPS and techniques are described. Experimental results are presented to show the working and output of the IPS.

关键词： Mobile robots

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Polynomial operator-based digital controller structures of high stability performance and computation efficiency

Polynomial operator-based digital controller structures of h...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Hao, JX Li, G Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)0780386531

In this paper, the optimal controller structure problem is investigated with finite word length (FWL) consideration. Based on the polynomial operator concept, a new sparse controller structure is proposed. this structure is efficient in terms of implementation and can be optimized to reduce FWL effects. A pole modulus sensitivity based stability measure is derived and the optimal controller structures are defined as those that maximize the proposed measure. the problem of finding optimal sparse structures is solved using exhaustive searching with a practical consideration. A design example is given, which shows that the newly developed structure can beat the fully parametrized optimal state-space realization in terms of both computation efficiency and stability performance.

关键词： digital control discrete time systems optimal control polynomials mathematical operators stability roundoff errors control system synthesis digital controller high stability performance optimal controller structure problem finite word length polynomial operator sparse controller pole modulus sensitivity stability measure optimal sparse structure

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Comparison and analysis of the Lyapunov exponents of blood flow signal of healthy and stenotic artery

Comparison and analysis of the Lyapunov exponents of blood f...

引用

8th international conference on control, automation, robotics and vision (ICARCV 2004)

作者： Shan, HN Wang, ZQ Wang, J Wang, PL Nanjing Univ Sci & Technol Dept Automat Control Nanjing 210094 Peoples R China

ISBN: (纸本)0780386531

the Lyapunov exponent is an important index reflecting dynamic characteristics of nonlinear systems. In order to study the value of the largest Lyapunov exponent on diagnosing the arterial stenosis in various degrees, we acquired the blood flow signal on the healthy and stenotic internal carotid arterial in white rabbits by transcranial Doppler ultrasound and the collection system of Doppler Ultrasound's signal designed by ourselves, calculated the largest Lyapunov exponents respectively, analyzed and compared the dynamic state of the blood flow. the results show that the largest Lyapunov exponents of the blood flow signal in the white rabbits with the healthy internal carotid arterial are negative, and the blood flow is non-chaos. the largest Lyapunov exponents of the blood flow signal in the white rabbits with the stenotic internal carotid arterial are positive, and the blood flow is chaos. the larger the value of the largest Lyapunov exponent is, the higher the degree of stenosis is. Perhaps, it will provide a new approach to diagnose the arterial stenosis.

关键词： Lyapunov exponent chaos arterial stenosis blood flow signal

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