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Application of idea of time-scale control to synthesis of control signals for certain class of discrete-time systems

Application of idea of time-scale control to synthesis of co...

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international conference on methods and models in automation and robotics (MMAR)

作者： Bogdan Grzywacz Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Poland

the innovative idea for control of discrete-time plants has been presented. It is shown that very interesting results obtained due to control of time-variable time scale of continuous-time systems can also be achieved in case of control of discrete-time systems, if “smart” choice of state-variables of discrete-time plant model is introduced. the output of discrete-time plant model y(k) which is element of modified MFC control structure is controlled by variable time-scale signal A(k) depending on error e(k)=y o (k)-y(k), where y o (k) is reference signal for model output. If e(k)=0, then A(k)=0 too, and changes of model state as well as its output y are stopped. Under certain additional conditions signal composed of model state variables can be used to synthesis of real plant input signal U(k) making that its output Y(k) follows model output y(k). the simulation results are attached.

关键词： Mathematical model Equations Transfer functions Process control Control systems Discrete-time systems Approximation methods

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Nonlinear estimation framework: A versatile tool for state estimation

Nonlinear estimation framework: A versatile tool for state e...

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international conference on methods and models in automation and robotics (MMAR)

作者： Miroslav Flídr Ondřej Straka Jindřich Havlík Miroslav Šimandl Department of Cybernetics University of West Bohemia Plzen Czech Republic

the paper presents MATLAB based software framework designed for nonlinear state estimation of discrete-time dynamic systems. the framework is designed to facilitate implementation, testing and use of various nonlinear state estimation methods. It allows simple description of the problem, specification of estimation experiment and processing the resulting data in order to simply compare various estimators. the main strength of the framework is its versatility. the framework provides means for description of the problem by either structural or probabilistic model. the user has a wide variety of classic and contemporary estimation methods at hand, which can be easily parametrized. Besides the well-known basic nonlinear estimation methods such as the extended Kalman filter, the divided difference filters and the unscented Kalman filter, the framework implements the particle filter with advanced features. the framework offers tools for straightforward evaluation of many well known metrics used for estimate quality assessment. And as the framework is designed on the object oriented basis, further extension by user-specified nonlinear estimation algorithms is extremely easy. the aim of the paper is to get acquainted with the possibilities of the toolbox. It will demonstrate the easy and natural way in which the estimation problem can be described within the means provided by the framework. Two examples of target tracking will be demonstrated with the estimation experiment setup using the presented framework.

关键词： Estimation Mathematical model Noise Approximation methods Kalman filters Target tracking Stochastic processes

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Discrete-time formulas of one parameter stabilizing controllers and mixed sensitivity problem, for square systems

Discrete-time formulas of one parameter stabilizing controll...

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international conference on methods and models in automation and robotics (MMAR)

作者： C. Conejo R. Galindo Universidad Autonoma de Nuevo Leon San Nicolas de los Garza Nuevo Leon MX Under project PAICyT IT 956-11

A comparison between discrete-time techniques (Tustin's method, forward and backward Euler's rules) for explicit formulas of the parametrization of one parameter stabilizing controllers for square systems and mixed sensitivity problem are given. Multi Input Multi Output (MIMO), strictly proper, lumped and Linear Time Invariant (LTI) systems with a stabilizable and detectable realization are considered. It is assumed that the state dimension is even, the input dimension is half the state dimension, and the plant is strongly stabilizable and detectable. It is assumed that the sample rate is too short, such that all the signals are close enough to the continuous-time signals. the separation principle is applied to design a dynamic output control in a discrete-time controller-observer feedback configuration. the results for the discrete-time observer are gotten by duality. For both discrete-time controller and observer, right and left coprime factorizations of the transfer function in terms of the state space realization are proposed, right and left Diophantine equations are solved, and the controller and observer belong to set of all one parameter discrete-time stabilizing controllers. the free parameters of the stabilizing controllers are fixed solving a mixed sensitivity control problem. the results are shown through a simulation of a two cart system.

关键词： Sensitivity Observers Approximation methods Equations Mathematical model Transfer functions Aerospace electronics

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Euclidean approach to analyze graphite by image processing

Euclidean approach to analyze graphite by image processing

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international conference on methods and models in automation and robotics (MMAR)

作者： Majid Munawar Alvin P. Carlos Mehran Ahmad Kamal Yousaf Abudhabi Carnation Metal Industries Alkarrani Group Abudhabi Abudhabi Carnation Metal Industries Alkarrani Group Abudhabi UAE Dept: of Electrical Engineering GC University Lahore Pakistan Institute for Automation University of Bremen Bremen Germany

this work is particularly done in context to the manhole covers being used in the emirate of Abu Dhabi. Image processing techniques are used to analyze, calculate and display the required information about the graphite, extracted from the micrographs. Images taken from finely grinded and polished samples are used as an input. A graphical user interface is used to display the results. the image is segmented first to identify the number and location of regions containing graphite. then Euclidian and conic geometry is used in two dimensions to evaluate each region for the properties of our interest. Access to both potable and non potable water lines are secured and made possible through the ductile iron manhole covers. Ductile iron is being used as the major constituent of many products these days and metallographic analysis for ductile iron is considered to be an important parameter, while forecasting its behavior. this is done by investigating the type, population of each type, size and similar properties of the graphite in the iron. the technique is tested for items made in different environments and the results are proved to be acceptable. Matlab based graphical user interface is developed and implemented. A brief discussion about different inspection procedures, based on international standards, is also included in the discussion.

关键词： Graphite MATLAB Graphical user interfaces Image processing Iron conferences Inspection

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Improving change detection using Vertical Surface Normal Histograms and Gaussian Mixture models in structured environments

Improving change detection using Vertical Surface Normal His...

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international conference on Advanced robotics (ICAR)

作者： P. Drews L.J. Manso S.C. da Silva Filho P. Núñez Robotics and Artificial Vision Laboratory (RoboLab) University of Extremadura Intelligent Robotics and Automation Group (NAUTEC) Computational Sciences Center Universidade Federal do Rio Grande Brazil

the interest in change detection techniques for autonomous robots has increased considerably during recent years. this is partly due to the fact that changes in robot's working environments are relevant for most tasks and robotics applications. Changes or Novelties are usually detected by comparing the current data acquired by the robot with its previous knowledge (a map or any other model of its surroundings). Gaussian Mixture models (GMM) have been satisfactorily used for detecting changes in 3D point clouds. However, these methods have drawbacks such as a long computational times and strong dependence on the parameters of the algorithms. In structured environments like offices or homes, it is possible to reduce the number of points to be processed by filtering unlikely-to-change regions of the scene. this paper introduces the concept of Vertical Surface Normal Histogram (VSNH). VSNH provides a method for removing from the point clouds acquired those points associated to the main planes: ceiling, walls and floor. Removing these points decreases the size of the problem and improves the segmentation of the environment into Gaussian Mixture models. the experimental results demonstrate that the proposed method based on GMM and VSNH achieves change detection in structured indoor environments faster and more accurately than previous approaches.

关键词： Vectors Histograms Robots three-dimensional displays Measurement Change detection algorithms Gaussian mixture model

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A comparison of adaptive PID methodologies controlling a DC motor with a varying load

A comparison of adaptive PID methodologies controlling a DC ...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： Luís Osório Jérôme Mendes Rui Araújo Tiago Matias Institute for Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

this work addresses the problem of controlling unknown and time varying plants for industrial applications. To deal with such problem several Self-Tuning Controllers with a Proportional Integral and Derivative (PID) structure have been chosen. the selected controllers are based on different methodologies, and some use implicit identification techniques (Single Neuron and Support Vector Machine) while the others use explicit identification (Dahlin, Pole placement, Deadbeat and Ziegler-Nichols) based in the Least Squares Method. the controllers were tested on a real DC motor with a varying load. the results have shown that all the tested methods were able to properly control an unknown plant with varying dynamics.

关键词： Vectors DC motors Support vector machines Heuristic algorithms Neurons Process control Adaptation models

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Vehicle Dynamics Estimation using Box Particle Filter

Vehicle Dynamics Estimation using Box Particle Filter

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12th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Dandach, Hoda Abdallah, Fahed De Miras, Jerome Charara, Ali Univ Technol Compiegne CNRS Heudiasyc UMR 7253 Ctr Rech Royallieu Compiegne France

ISBN: (纸本)9781467318723;9781467318716

this article presents an application of a new approach combining the bayesian framework with interval methods over vehicle state estimation. Interval state estimation seems more guaranted than a point state estimation when the system dynamics and measurement models have interval types of uncertainties. Firstly, a brief description about the Box Particle Filter (BPF) based on interval analysis is introduced. Secondly, the model of the vehicle and the state observer are presented. the performance of the BPF is studied and compared with that of the Kalman filter. Finally, some results of the vehicle dynamic estimation with simulated data are presented and interpreted.

关键词： Kalman filters observers particle filtering (numerical methods) vehicle dynamics

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An Experimental Framework for Evaluation of Facial Feature Extraction methods

An Experimental Framework for Evaluation of Facial Feature E...

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12th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Song, Fengxi Guo, Zhongwei Chen, Qinglong New Star Res Inst Appl Tech Hefei City Dept Automat & Simulat Hefei Peoples R China

ISBN: (纸本)9781467318723;9781467318716

Facial feature extraction is one of the hottest research topics in pattern recognition. Scholars have proposed numerous facial feature extraction methods based on various discriminant criteria, models, and algorithms. Each method has its own advantages and shortcomings. Unfortunately, till now there is no sound theoretical framework to evaluate their total performance. People have to resort to their experimental results. Since recognition accuracies and computational times of a particular facial feature extraction method in a certain simulation experiment are heavily depend on many factors such as, face image database, number of training samples per class, type of cross-validation, classifier, and parameter of the classifier used in the experiment. thus, experimental design pays a key role in evaluation of their performance. In this paper we propose an experimental framework which can be used as a platform for a relatively fair comparison among facial feature extraction methods.

关键词： experimental framework feature extraction face recognition

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2011 16th international conference on methods and models in automation and robotics, MMAR 2011

2011 16th International Conference on Methods and Models in ...

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2011 16th international conference on methods and models in automation and robotics, MMAR 2011

ISBN: (纸本)9781457709128

the proceedings contain 77 papers. the topics discussed include: frequency response identification in the case of periodic disturbances;experimental parameter identification for a control-oriented model of the thermal behavior of high-temperature fuel cells;a methodology of estimating hybrid black-box -prior knowledge models of an industrial processes;an optimal sequence of tasks for autonomous learning systems;parallel computation approach to solve total cost minimization scheduling problem;local search metaheuristics for some discrete-continuous project scheduling problems with discounted cash flows;sensitivity analysis of parabolic-hyperbolic optimal control problems;local constrained controllability of second order dynamical systems with delay;spreadability, vulnerability, regional viability and protector control;and continuation method approach to trajectory planning in robotic systems.

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New Results on Robust Filtering Design for Continuous-Time Nonlinear Systems via T-S Fuzzy Affine Dynamic models

New Results on Robust Filtering Design for Continuous-Time N...

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12th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Tian, Hui Qiu, Jianbin Gao, Huijun Lu, Qiugang Harbin Inst Technol Space Control & Inertial Technol Res Ctr Harbin 150001 Heilongjiang Pr Peoples R China

ISBN: (纸本)9781467318723;9781467318716

this paper is concerned with designing a fuzzy robust H-infinity filter for a class of continuous-time nonlinear systems via Takagi-Sugeno (T-S) fuzzy affine dynamic models based on piecewise Lyapunov functions. Attention is focused on the analysis and design of an admissible full-order filter such that the filtering error dynamics is stochastically stable and a prescribed H-infinity attenuation level is guaranteed. It is assumed that the plant premise variables are not measurable so that the filter implementation with state space partition may not be synchronous with the state trajectories of the plant. Based on piecewise quadratic Lyapunov functions (PQLFs) combined with S-procedure and some matrix inequality linearization techniques, some new results are established for filtering design of the underling continuous-time T-S fuzzy affine systems. An examples is given to illustrate the effectiveness and applicability of the proposed design methods.

关键词： T-S fuzzy affine systems Piecewise quadratic Lyapunov functions filtering design

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