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Kolmogorov-Chaitin complexity of linear digital controllers implemented using fixed-point arithmetic

Kolmogorov-Chaitin complexity of linear digital controllers ...

引用

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

作者： J.F. Whidborne J. Mckernan Da-Wei Gu Department of AeroSpace Sciences Cranfield University Bedfordshire UK Department of Engineering University of Leicester Leicester UK

the complexity of linear, fixed-point arithmetic, digital controllers is investigated from a Kolmogorov-Chaitin perspective. Based on the idea of Kolmogorov-Chaitin complexity, practical measures of complexity are developed for both state-space realizations, and for parallel and cascade realizations. the complexity of solutions to a restricted complexity controller benchmark problem is investigated using this measure. the results show that, from a Kolmogorov-Chaitin viewpoint, higher-order controllers with a shorter word-length may have a lower complexity but a better performance than lower-order controllers with longer word-length.

关键词： Digital control Fixed-point arithmetic Floating-point arithmetic control systems Length measurement Aerospace control control design Roundoff errors Error correction

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Simulation of network traffic and its application

Simulation of network traffic and its application

引用

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

作者： Bingyi Zhang Yamin Sun Department of Computer Science Nanjing University of Science and Technology of PLA Nanjing China

ISBN: (纸本)0780386531

Network traffic model based on Alpha stable process is a hot point. Many models without proof have been proposed. A fractal Alpha model is proposed in this paper and two proofs based on flow and session level respectively are given. Proof and simulation show the model in this paper can describe the self similarity, spike and the long range dependent between increments. Using the mode in this paper, a formula for the residual of the queueing distribution function (RDF) is deduced. Comparing the RDF based on the model in this paper with that based on other models, it can be found that the formula in this paper meet real RDF better.

关键词： Telecommunication traffic Traffic control Resource description framework Protocols Computational modeling Application software Sun Computer science Distribution functions Internet

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Robust H/sub /spl infin// control of web winding system with periodic tension disturbance

Robust H/sub /spl infin// control of web winding system with...

引用

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

作者： Yulin Xu Zhongsheng Wang Electrical Engineering Department Zhongyuan Institute of Technology Zhengzhou China

ISBN: (纸本)0780386531

this paper presents the design of a mixed-sensitivity H/sub /spl infin// controller, the aim is to obtain good reference tracking properties as well as to properly reject sinusoidal disturbance for suppressing vibrations. the proposed approach is based on the frequency weighting functions which give an extended model to design a stabilizing H/sub /spl infin// controller. the method is applied to a 3-motor web winding system to compensate the web tension disturbance caused by the sinusoidal vibration on winder.

关键词： robust control H/sup /spl infin// control control system synthesis winding (process) vibration control tracking process control robust H/sub /spl infin// control web winding system periodic tension disturbance mixed-sensitivity H/sub /spl infin// controller frequency weighting functions stabilizing H/sub /spl infin// controller web tension disturbance

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An approach to integral input-to-state stabilization via satisficing strategy

An approach to integral input-to-state stabilization via sat...

引用

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

作者： Tianshi Chen Zhiyuan Liu Run Pei Hong Chen Department of Control Science and Engineering Harbin Institute of Technology Harbin Heilongjiang China Department of Control Science and Engineering Jilin University Changchun Jilin China

ISBN: (纸本)0780386531

Integral input-to-state stability (iISS) of a class of nonlinear systems is investigated via satisficing decision theory in this paper. In particular, based on a new concept of control Lyapunov function (ilSS-CLF), a satisficing complete parameterization design of integral input-to-state stabilizing control laws that achieve iISS disturbance attenuation is discussed. A large family of the designed control laws has certain robustness to input disturbances and under some assumption can solve an inverse optimal gain assignment problem. the same method can also apply to the problem of integral input-output-to-state stabilization.

关键词： stability nonlinear control systems decision theory Lyapunov methods integral input-to-state stabilization nonlinear systems satisficing decision theory control Lyapunov function satisficing complete parameterization design disturbance attenuation inverse optimal gain assignment

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Kalman filtering for descriptor systems with current and delayed measurements

Kalman filtering for descriptor systems with current and del...

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

作者： Haoqian Wang Huanshui Zhang Guangren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Shenzhen Graduate School of Hahin Institute of Technology Shenzhen University Shenzhen China

ISBN: (纸本)0780386531

A class of discrete-time Kalman filtering problem for the descriptor time-varying systems with current and delayed measurements is considered. Using the known maximum likelihood (ML) estimation results and the method of measurements reorganization, the optimal Kalman filter and corresponding Riccati equations for descriptor systems involving current and delayed measurements are derived. Our solution does not require system augmentation or system transformation, and the estimator is given in terms of two Riccati equations of the same order as that of the system state. A simple algorithm is presented for the problem.

关键词： Kalman filters Filtering Current measurement Delay estimation Maximum likelihood estimation Covariance matrix Riccati equations State estimation Gaussian noise Noise measurement

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Multi-freedom design of fault detection filter for linear time-delay systems

Multi-freedom design of fault detection filter for linear ti...

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

作者： Maiying Zhong Hao Ye Guizeng Wang Department of Automation Tsinghua University Beijing P. R. China Control Science and Engineering School Shandong University Jinan China

ISBN: (纸本)0780386531

this paper deals with the fault detection filter design problem for linear time invariant time-delay systems with unknown input. the core of our study is to a) take the behavior of delayed state and measurement into consideration when the observer-based fault detection filter is constructed; b) solve the formulated fault detection filter design problem by combining of using the left eigenstructure assignment approach and H/sub /spl infin// optimization technique. through a suitable choice of the filter gain matrices and residual weighting matrix, the residual can be completely decoupled from the delay-free unknown input, while the influence of the delayed unknown input on residual is minimized in the sense of H/sub /spl infin// norm. Numerical simulation is used to illustrate the efficiency of the proposed method.

关键词： Fault detection Nonlinear filters Delay effects Vectors Linear matrix inequalities Design optimization Time measurement automation Automatic control control systems

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Fuzzy logic system for miniature climbing robots

Fuzzy logic system for miniature climbing robots

引用

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

作者： Jun Xiao Jizhong Xiao Ning Xi College of Information Science and Engineering Northeastern University China Department of EE CUNY Queensborogh Community College NY USA Department of ECE Michigan State University MI USA

ISBN: (纸本)0780386531

this paper presents a fuzzy navigation and motion control system for miniature climbing robots. After the introduction of robot structure, a navigation approach based on a fuzzy multi-sensor data fusion scheme is proposed, which integrates task scheduling, sensing, planning and real-time execution in a unified task reference framework and makes the task synchronization much easier. For a highly nonlinear system as the miniature climbing robot, a fuzzy motion controller with gravity compensation is designed to reduce energy consumption and improve the robot performance at different situations. Experimental results prove the validity of the proposed method.

关键词： Fuzzy logic Climbing robots Fuzzy control Fuzzy systems Navigation Motion control Robot sensing systems Motion planning Nonlinear systems Nonlinear control systems

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Robust fault detection in matrix second-order linear systems via Luenberger-type unknown input observers: a parametric approach

Robust fault detection in matrix second-order linear systems...

引用

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

作者： G.R. Duan Y.L. Wu M.R. Zhang Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

A new parametric approach for robust fault detection in matrix second-order linear (MSOL) systems with unknown disturbances is directly proposed in matrix second-order framework. the residual is generated through utilizing a Luenberger function observer of MSOL systems. Based on a recently proposed eigenstructure assignment approach for MSOL systems, parameterizations of the coefficient matrices of the Luenberger function observer are presented. By combining the parameterizations of the observer eigenvector matrix and an established condition for disturbance decoupling in MSOL systems, the effect of the disturbance to the residual signal is decoupled. A simple algorithm is presented. An example shows the effect of the proposed approach.

关键词： Robustness Fault detection Linear systems control systems State-space methods Robot control Process design Equations control theory Vibration control

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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

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

作者： J.X. Hao G. Li School of Electrical and Electronic Engineering Nanyang Technological University Singapore

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： Polynomials Digital control High performance computing Optimal control control systems Robust stability Transfer functions Digital systems Error correction Robust control

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A platooning controller robust to vehicular faults

A platooning controller robust to vehicular faults

引用

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

作者： Danwei Wang M. Pham School of Electrical and Electronic Engineering Nanyang Technological University Singapore

this paper presents a platooning controller for a four-wheel-driving four-wheel-steering vehicle to follow another. the controller is based on the full-state tracking theory and utilizes a vehicular model that makes it able to continue to operate when faults are detected at its steering systems or driving motors which are disabled accordingly. the unified controller is also able to track and follow the target either moving forward in front or moving backward in the back of the vehicle making the real-time implementation of different tracking modes simple. Tracking stability is secured by the proper selection of design parameters. Simulations show the proposed control scheme works properly even in the presence of faults at several different parts.

关键词： Robust control Remotely operated vehicles Target tracking Fault detection Steering systems Mobile robots control systems Sensor systems Stability Vehicle detection

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