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A new dynamic matrix control algorithm with Lyapunov stability

A new dynamic matrix control algorithm with Lyapunov stabili...

引用

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

作者： Pu Han Yuhong Li Hongjun Liu Dongfeng Wang Department of Automation North China Electric Power University Baoding China

ISBN: (纸本)0780386531

Dynamic matrix control is a popular technique for the control of slow dynamical systems. However, most existing predictive control algorithms are implemented by optimization method to minimize a performance index, which results in the difficulty to analyze the stability of the predictive control algorithms, and further makes it difficult to implement the stability design of predictive controllers. the calculation of inverse matrix is involved in dynamic matrix control (DMC) and it restrains on-line application. In this paper, a DMC algorithm is proposed based on Lyapunov stability theory. A decay factor is introduced to make the control increment come to zero in the control horizon. It can reduce the computation quantity of inverse matrix and guarantee the stability of predictive control systems. An application study of the method for main steam pressure system is carried out. the simulation results demonstrate the effectiveness of the strategy proposed.

关键词： Heuristic algorithms Lyapunov method Predictive control control systems Prediction algorithms Performance analysis Algorithm design and analysis Stability analysis Optimization methods Computational modeling

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the study of Smith prediction controller in NCS based on time-delay identification

The study of Smith prediction controller in NCS based on tim...

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

作者： Chen Peng Dong Yue Ji Sun Center for Information & Control Engineering Technology Nanjing Normal University China

ISBN: (纸本)0780386531

Under the environment of network, the second-order inertial object is controlled when the single-packet transmission and no data packet dropout, the goal of this paper is to design controller of numeric PID without network delay that satisfy relevant performance and stabilizability when network-induced delay is included. the dynamic Smith controller and on-line time-delay identification are used; the specified methods of Smith parameter are purposed when the network delay is greater or less sample time and satisfy the given index. It can be used as the base for fuzzy compensation controller under multiple-packet and data packet dropout.

关键词： Delay effects Design methodology Sampling methods Delay estimation control systems Stability analysis Power system reliability Delay systems Intelligent networks Sun

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A stability criterion for linear uncertain systems with multiple delays

A stability criterion for linear uncertain systems with mult...

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2004 8th international conference on control, automation, robotics and vision (ICARCV), Volume 3

作者： Xin-Jun Ma Bugong Xu Qing-Yang Wang Da-Zhou Peng The Laboratory of Real-Time Control through Internet and Fieldbuses College of Automatic Science & Engineering South China University of Technology Guangzhou Guangdong China

ISBN: (纸本)0780386531

In this paper, a delay-independent sufficient condition for stability of linear uncertain systems with multiple delays is established. A new stability criterion is obtained based on the related theory of spectral radius and modulus matrix by the frequency domain method. the results are presented based on the assumption that system matrix A is a Hurwitz one and there is no requirement of a negative matrix measure. In comparison with the results in the literature, it is showed that the proposed method is less conservative.

关键词： stability criteria linear systems frequency-domain synthesis uncertain systems matrix algebra stability criterion multiple delays delay independent sufficient condition linear uncertain systems stability spectral radius theory modulus matrix frequency domain method Hurwitz matrix negative matrix measure

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Optimal control for nonlinear discrete-time systems: a successive approximation approach

Optimal control for nonlinear discrete-time systems: a succe...

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

作者： Gong-You Tang Hai-Hong Wang College of Information Science and Engineering Ocean University of China Qingdao China

ISBN: (纸本)0780386531

A new successive approximation algorithm is developed for the optimal control of nonlinear discrete-time systems with quadratic cost functional. By using the proposed algorithm the original nonlinear optimal problem is transformed into a sequence of linear two-point boundary value (TPBV) problems. the optimal control law obtained consists of an accurate linear feedback term and a nonlinear compensation term, which is the limit of the solution sequence of the adjoint vector differential equations. through the finite-step iterations of nonlinear compensation term of optimal solution sequence, we can obtain a suboptimal control law. Simulation examples are employed to verify the validity of the successive approximation approach.

关键词： Optimal control Cost function Nonlinear systems Nonlinear equations control system synthesis Approximation algorithms Iterative algorithms Educational institutions Information science Oceans

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A necessary and sufficient stability theorem and its applications

A necessary and sufficient stability theorem and its applica...

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

作者： Bugong Xu College of Automation Science and Engineering South China University of Technology Guangdong China

ISBN: (纸本)0780386531

A new-type necessary and sufficient stability theorem for general retarded dynamical systems together with new stability analysis techniques are presented based on the author's previous works in the literature. Linear systems with multiple time-varying delays and linear uncertain systems with one time-varying bounded parameter are considered to show the applications of the new stability theorem and the new stability analysis techniques. the delay-independent and delay-dependent stability criteria are established. Unlike some results in the literature, all of the established results do not depend on the derivatives of the time-varying delays and the time-varying parameter. therefore, the proposed methods are suitable for the cases with very fast time-varying delays and parameter.

关键词： Stability analysis Time varying systems Linear systems Delay lines Uncertain systems Delay effects Lyapunov method Eigenvalues and eigenfunctions automation Stability criteria

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Tracking as recognition: a stable 3D tracking framework

Tracking as recognition: a stable 3D tracking framework

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

作者： J. Leng H. Wang EEE School Nanyang Technological University Singapore

this paper proposes a framework for monocular tracking of object undergoing rigid transformation in 3D real world. In this method, instead of computing object motion only with respect to one previous frame as many previous 3D tracking algorithms did, we combine the idea of 'tracking as recognition' in our approach, using the global information of the object in the image to obtain an approximate absolute object pose, which can prevent tracking drift accumulation. Two-frame registration methods are also employed to refine this approximation and approach optimal. Our approach provides robustness for tracking as it can avoid infinite error accumulation and large estimate drift during processing.

关键词： Target tracking Cameras Robot vision systems Image databases Spatial databases Educational institutions Image recognition Computer errors Visual databases Computer vision

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Linear quadratic Gaussian control of 2-dimensional systems

Linear quadratic Gaussian control of 2-dimensional systems

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

作者： Ran Yang Cishen Zhang Lihua Xie Department of Electrical and Electronic Engineering University of Melbourne Parkville VIC Australia School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)0780386531

the linear quadratic Gaussian (LQG) control for one-dimensional (1-D) systems has been known to be one of the fundamental and significant methods in linear system theory. However, the LQG control problem for two-dimensional (2-D) systems has not been satisfactorily solved due to their structural and dynamical complexity. In this paper, sufficient conditions for evaluation of the quadratic performance indices of 2-D systems in terms of the system state and control variables are proposed. Using these conditions, systematic design methods for finite horizon and infinite horizon LQG controls of 2-D systems are developed.

关键词： control systems Two dimensional displays Infinite horizon Design engineering Linear systems Gaussian noise Kalman filters Filtering Stability Radio access networks

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Adaptive robust tracking and model following of uncertain time-delay systems via output feedback control

Adaptive robust tracking and model following of uncertain ti...

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

作者： Hansheng Wu H. Kawabata K. Kawabata Department of Information Science Hiroshima Prefectural Women's University Shobara Hiroshima Japan Faculty of Economics Daiichikeizai University Fukuoka Japan School of Business Kyushu Sangyo University Fukuoka Japan

the problem of adaptive robust tracking and model following is considered for a class of linear dynamical systems with multiple delayed state perturbations, time-varying uncertain parameters, and external disturbance. A class of adaptive output feedback controllers is proposed for robust tracking of dynamical signals. Based on the strictly positive realness of the nominal system, it is shown from the Kalman-Yakubovitch lemma that the proposed adaptive robust output feedback tracking controller can guarantee the zero-error tracking.

关键词： Programmable control Adaptive control Robust control Output feedback control systems Uncertainty Robustness Delay systems Upper bound State feedback

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3D objects detection with Bayesian networks for vision-guided mobile robot navigation

3D objects detection with Bayesian networks for vision-guide...

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

作者： Wen Shang Xudong Ma Xianzhong Dai Department of Automatic Control South-East University Nanjing China

ISBN: (纸本)0780386531

Recognition of environmental features, which is now the central research topic both in computer vision and mobile robot fields, is prerequisite for vision-guided mobile robot navigation. Perceptual organization is a powerful tool for object recognition through grouping low-level features into objects. In this paper, a perceptual organization algorithm based-on Bayesian networks is proposed to recognize 3D polyhedrons, e.g. compartments and doors, from 2D image in office environment. the algorithm makes full use of knowledge representation and probability inference characteristics of Bayesian networks, thus generating robust recognition results. Moreover, mobile robot active ability is developed to enhance recognition effects. Experimental results demonstrate the validity of the algorithm.

关键词： Object detection Bayesian methods Mobile robots Navigation Inference algorithms Computer vision Object recognition Image recognition Knowledge representation Character generation

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Robust closed-loop process identification from step test

Robust closed-loop process identification from step test

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

作者： Wen-Jian Cai Yue Fang Ya-Gang Wang School of Electrical and Electronic Engineering Nanyang Technological University Singapore Purechem Onyx Private Limited Singapore

ISBN: (纸本)0780386531

In this paper, a new identification technique for single-input single-output closed-loop processes from step test in the frequency domain is proposed. the method can identify multiple points on process frequency response over the important frequency range of interest. Consequently, an accurate transfer function can be obtained directly by matching the model in the frequency domain. Such a method is applicable to closed-loop with pre-tuned controller and can be used for on-line tuning of PID controllers. the applications on various typical processes have been employed to show both effectiveness and practicality of the method.

关键词： Robustness Testing Frequency response Automatic control three-term control Electrical equipment industry Industrial control Frequency domain analysis Process control control systems

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