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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

共 1447 条记录，以下是1201-1210 订阅

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Off-line robustification of predictive control for uncertain systems a sub-optimal tractable solution

Off-line robustification of predictive control for uncertain...

引用

5th international conference on informatics in control, automation and robotics, icinco 2008

作者： Stoica, Cristina Rodríguez-Àyerbe, Pedro Dumur, Didier Department of Automatic Control Supélec 3 rue Joliot Curie F91192 Gif-sur-Yvette France

ISBN: (纸本)9789898111326

An off-line technique enabling to robustify an initial Model Predictive control (MPC) for multivariable systems via the convex optimization of a Youla parameter is presented. Firstly, a multivariable predictive controller is designed for a nominal system and then robustified towards unstructured uncertainties, while guaranteeing stability properties over a specified polytopic domain of uncertainties. This condition leads to verify a Bilinear Matrix Inequality (BMI) for each vertex of the polytopic domain. This BMI can be mathematically relaxed to semi-definite programming (SDP) using a Sum of Squares (SOS) strategy, with a significant increase of the number of scalar decision variables. To overcome this inconvenient, an alternative tractable sub-optimal solution for the BMI is proposed, based on the elaboration of a stable solution obtained by minimization of the complementary sensitivity function.

关键词： Model predictive control

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Design of neuronal network to control Spirulina aquaculture

Design of neuronal network to control Spirulina aquaculture

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5th international conference on informatics in control, automation and robotics

作者： Ponce, Ernesto Ponce, Claudio Barraza, Bernardo Tarapaca Univ Dept Mech Engn Dept Elect Engn Arica Chile

ISBN: (纸本)9789898111302

A neural network that was designed to control a Spirulina aquaculture process in a pilot plant in the north of Chile, is presented in this work. Spirulina is a super food, but is a delicate alga and its culture may be suddenly lost by rapid changes in the weather that can affect its temperature, salinity or pH. The neural network control system presented is complex and non linear, and has several variables. The previous automatic control system for the plant proved unable to cope with large climatic variations. The advantage of this new method is the improvement in efficiency of the process, and a reliable control system that is able to adapt to climatic changes. The future application of this work is related to the industrial production of food and fuel from micro algae culture, for the growing world population.

关键词： neural network Spirulina control aquaculture signal processing system

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Reduced order H_∞ synthesis using a particle swarm optimization method

Reduced order H<sub>∞</sub> synthesis using a particle swar...

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5th international conference on informatics in control, automation and robotics

作者： Sandou, Guillaume Duc, Gilles Boucher, Patrick Supelec Automat Control Dept F-91192 Gif Sur Yvette France

ISBN: (纸本)9789898111302

H-infinity controller synthesis is a well known design method for which efficient dedicated methods have been developed. However, such methods compute a full order controller which has often to be reduced to be implemented. Indeed, the reduced order H-infinity synthesis is a non convex optimization problem due to rank constraints. In this paper, a particle swarm optimization method is used to solve such a problem. Numerical results show that the computed controller has a lower H-infinity norm than the controller computed from a classical Hankel reduction of the full order H-infinity controller.

关键词： particle swarm optimization reduced-order H-infinity synthesis metaheuristics

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Stochastic control strategies and adaptive critic methods

Stochastic control strategies and adaptive critic methods

引用

5th international conference on informatics in control, automation and robotics

作者： Herzallah, Randa Lowe, David Al Balqa Appl Univ Fac Engn Jordanstown North Ireland Aston Univ NCRG Birmingham W Midlands England

ISBN: (纸本)9789898111302

Adaptive critic methods have common roots as generalizations of dynamic programming for neural reinforcement learning approaches. Since they approximate the dynamic programming solutions, they are potentially suitable for learning in noisy, nonlinear and nonstationary environments. In this study, a novel probabilistic dual heuristic programming (DHP) based adaptive critic controller is proposed. Distinct to current approaches, the proposed probabilistic (DHP) adaptive critic method takes uncertainties of forward model and inverse controller into consideration. Therefore, it is suitable for deterministic and stochastic control problems characterized by functional uncertainty. Theoretical development of the proposed method is validated by analytically evaluating the correct value of the cost function which satisfies the Bellman equation in a linear quadratic control problem. The target value of the critic network is then calculated and shown to be equal to the analytically derived correct value.

关键词： adaptive critic methods functional uncertainty stochastic control

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Prebuffering as a way to exceed the data transfer speed limits in mobile control systems

Prebuffering as a way to exceed the data transfer speed limi...

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5th international conference on informatics in control, automation and robotics

作者： Krejcar, Ondrej VSB Tech Univ Ostrava Ctr Appl Cybernet Ostrava Czech Republic

ISBN: (纸本)9789898111319

The proliferation of mobile computing devices and local-area wireless networks has fostered a growing interest in location-aware systems and services. Additionally, the ability to let a mobile device determine its location in an indoor environment supports the creation of a new range of mobile control system applications. Main area of interest is in model of radio-frequency based system enhancement for locating and tracking users of our control system inside buildings. The developed framework described here joins the concepts of location and user tracking as an extension for new control system. The experimental framework prototype uses a Wi-Fi network infrastructure to let a mobile device determine its indoor position. User location is used to data pre-buffering and pushing information from server to user's PDA. All the server data are saved as artefacts with their position info in building. These technique allow to exceed the data transfer speed limits in mobile control systems.

关键词： Wi-Fi 802.11b PDA localization framework predictive buffering

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Two-sided assembly line - Estimation of final results

Two-sided assembly line - Estimation of final results

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5th international conference on informatics in control, automation and robotics

作者： Grzechca, Waldemar Silesian Tech Univ Inst Automat Control PL-44100 Gliwice Poland

ISBN: (纸本)9789898111302

The paper considers simple assembly line balancing problem and two-sided assembly line structure. In the last four decades a large variety of heuristic and exact solutions procedures have been proposed to balance one-sided assembly line in the literature. Some heuristic were given to balance two-sided lines, too. Some measures of solution quality have appeared in line balancing literature: balance delay (BD), line efficiency (LE), line time (LT) and smoothness index (SI). These measures are very important for estimation the balance solution quality. Author of this paper modified and discussed the line time and smoothness for two-sided assembly line. Some problems, which appeared during evaluations, are mentioned.

关键词： assembly line balancing two-sided structure line time line efficiency smoothness index

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Energy model based control for forming processes

Energy model based control for forming processes

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5th international conference on informatics in control, automation and robotics

作者： Girard, Patrick Thomson, Vincent Natl Res Council Canada Inst Ind Mat 75 Blvd Mortagne Boucherville PQ J4B 6Y4 Canada

ISBN: (纸本)9789898111302

Thermoforming consists of shaping a plastic material by deforming it at an adequate deformation rate and temperature. It often exhibits abrupt switches between stable and unstable material behaviour that have neither been identified nor controlled up to now. PID control, although adequate for simple parts, has not been able to control very well the forming of complex parts and parts made of newer materials. In this paper, the state parameters that allow the development of predictive models for the forming process and the construction of control systems are identified. A robust, model based control system capable of in-cycle control is presented. It is based on a simulator continuously tuned and supported in real time by intelligent agents that incorporate diagnostic capabilities.

关键词： model based control forming energy simulation real time identification intelligent agents on-line diagnostics

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Hydrogen powered car control system

Hydrogen powered car control system

引用

icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： Vilem, Srovnal Jiri, Koziorek Bohumil, Horak George, Adam Georgia, Garani Department of Measurement and Control FEECS Technical University of Ostrava 17. listopadu 15 7083 Ostrava-Poruba Czech Republic Technological Educational Institute of Larissa Greece

ISBN: (纸本)9789898111319

The main goal of the research project was designing and realization a distributed control system of the hydrogen powered prototype car. Next goals of project were real time control, speed and final time optimizing with minimal fuel consumption and monitoring of driver biomedical parameters. The control system was realized by several mobile embedded systems and one central system. The embedded systems hardware was realized with Freescale processors and communication CAN bus. Central system hardware was realized by notebook and communication with embedded systems in car was realized by GSM communication. control system software using of multi-agent technology with dynamic mutual negotiation of mobile system parts. This task allows in a form of control system for prototype race car modelling of distributed control system. The real hardware and software model is also important motivation for extended research.

关键词： Distributed parameter control systems

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A distributed hardware-software architecture for control an autonomous mobile robot

A distributed hardware-software architecture for control an ...

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5th international conference on informatics in control, automation and robotics

作者： Britto, Ricardo S. Santana, Andre M. Souza, Anderson A. S. Medeiros, Adelardo A. D. Alsina, Pablo J. Univ Fed Rio Grande do Norte Dept Computat Engn & Automat Natal RN Brazil

ISBN: (纸本)9789898111319

In this paper, we introduce a hard ware-software architecture for controlling the autonomous mobile robot Kapeck. The Kapeck robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller-based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontroller-based boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks.

关键词： control architecture autonomous mobile robot hybrid deliberative-reactive paradigm CAN bus

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Recursive bias-compensating algorithm for the identification of dynamical bilinear systems in the errors-in-variables framework

Recursive bias-compensating algorithm for the identification...

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5th international conference on informatics in control, automation and robotics

作者： Larkowski, T. Linden, J. G. Vinsonneau, B. Burnham, K. J. Coventry Univ Control Theory & Applicat Ctr Coventry W Midlands England

ISBN: (纸本)9789898111326

The paper investigates a recursive approach for the bias compensating least squares (BCLS) technique. The method presented is applied to the problem of on-line identification of single-input single-output bilinear models in the errors-in-variables framework. Within this framework the recursive bilinear BCLS algorithm is realized when a bilinear Frisch scheme (BFS) is iteratively applied for the estimation of the parameters of an exemplary bilinear system, giving rise to the exact recursive BFS (ERBFS) method. Moreover, a further extension of the ERBFS incorporating Tikhonov regularization with variable exponential weighting is considered and this is shown to be beneficial in the initial period of the identification procedure.

关键词： bias compensation bilinear systems errors-in-variables recursive estimation regularization system identification

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