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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Anand, Madhukar Lee, Insup Pappas, George Sokolsky, Oleg Department of Computer and Information Science University of Pennsylvania

ISBN: (纸本)0780397975

In scientific applications, dimensional analysis forms a basis for catching errors as it introduces a type-discipline into the equations and formulae. Dimensions in physical quantities are measured via their standard units. However, many programming and modeling tools provide limited support for incorporating these units into the variables. Thus, it is quite difficult for a programmer to ensure dimensional consistency in the code. Different existing standards for units further complicates this problem and an incautious use could cause inconsistencies, often with catastrophic results. In this paper, we propose an extension of the basic type system in CHARON, a language for modeling of hybrid systems, to include Unit and Dynamic data types. Through a combination of indirect user-guided annotations and type-inference, we address the problem of ensuring both dimensional consistency, and consistency with respect to different unit-systems. Further, we also introduce dynamic data typing, that allows programmers to specify entities that bind at runtime. Such abstractions are particularly useful to program controllers for dynamic environments. We illustrate these benefits with an example on mobile robots. ©2006 ieee.

关键词： Dynamical systems

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Multivariable identification and controller design of an integrated flight control system

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APPLIED MATHEMATICAL MODELLING 2007年第12期31卷 2733-2743页

作者： Yau, D. T. W. Fung, E. H. K. Wong, Y. K. Liu, H. H. T. Hong Kong Polytech Univ Dept Mech Engn Hong Kong Hong Kong Peoples R China Hong Kong Polytech Univ Dept Elect Engn Hong Kong Hong Kong Peoples R China Univ Toronto Inst Aerosp Studies Toronto ON Canada

This paper investigates the multivariable identification and controller design for the longitudinal channel of a Boeing 747 transport. The transfer function matrix of the system is identified using the prediction error (PE) identification method with multivariable ARX model. An ellipsoidal parametric uncertainty set is constructed from the covariance matrix of the identified parameters. It contains the parameters of actual system at a certain probability level. The identified models and the associated uncertainty sets are validated by measuring the worst-case v-gap and then compared with the maximum value of the generalized stability margin. In automatic flight control system or autopilots, multiple specifications criteria are needed to be satisfied concurrently, such as good holding (small static altitude holding error), fast response, smooth transition (less oscillation, overshoot). The design of a Multiple Simultaneous Specifications (MSS) controller effectively and practically is a very significant and challenging job. Liu and Mills [H.H.T. Liu, J.K. Mills, Multiple specification design in flight control system, in: proceedings of the American control Conference, Chicago, Illinois, 2000, pp. 13651369] proposed a MSS controller design method using a convex combination approach. In this paper, we apply the method [H.H.T. Liu, J.K. Mills, Multiple specification design in flight control system, in: proceedings of the American control Conference, Chicago, Illinois, 2000, pp. 1365-1369;H.H.T. Liu, design combination in integrated flight control, in: proceedings of the American control Conference, Arlington, Virginia, 2001, pp. 494-499;H.H.T. Liu, Multi-objective design for an integrated flight control system: a combination with model reduction approach, in: proceedings of ieee International symposium on computer aided control system design, Glasgow, 2002, pp. 21-26] to design a MSS controller based on the identified models of the Boeing 747 transport aircraft longitud

关键词： Aircraft parts and equipment

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TORSCHE scheduling toolbox for Matlab

TORSCHE scheduling toolbox for Matlab

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Šůcha, Přemysl Kutil, Michal Sojka, Michal Hanzálek, Zdeňek Centre for Applied Cybernetics Department of Control Engineering Czech Technical University Prague

ISBN: (纸本)0780397975

This paper presents a Matlab based Scheduling toolbox TORSCHE (Time Optimization of Resources, SCHEduling). The toolbox offers a collection of data structures that allow the user to formalize various off-line and online scheduling problems. Algorithms are simply implemented as Matlab functions with fixed structure allowing users to implement new algorithms. A more complex problem can be formulated as an Integer Linear Programming problem or satisfiability of boolean expression problem. The toolbox is intended mainly as a research tool to handle control and scheduling co-design problems. Therefore, we provide an interfaces to a real-time Matlab/Simulik based simulator TrueTime and a code generator allowing to generate parallel code for FPGA. © 2006 ieee.

关键词： Scheduling algorithms

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Nearly time-optimal point to point navigation control design for power wheelchair dynamics

Nearly time-optimal point to point navigation control design...

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Atesoglu, Özgür MGEO Aselsan Inc. Turkey Microelectronics Guidance and Electro-Optics Division Aselsan Inc. Akyurt Ankara Turkey

ISBN: (纸本)0780397959

This paper focused on discrete time and nearly time-optimal point to point navigation control of an autonomous power wheelchair. Nonlinear system dynamics is modeled and a discrete time PI type controller with disturbance input decoupler (DID) is designed. The linear and angular velocities are generated by a particular nearly time optimal command generator algorithm in which only one co-state equation needs to be integrated forward with time while the others are constants. The wheelchair is directly driven by two independent brushless direct current (BLDC) motors mounted to the rear left and right wheels. Whole system with the guidance and control algorithms is simulated and the results are presented. © 2006 ieee.

关键词： Wheelchairs

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proceedings of the 2006 ieee International Conference on control Applications

Proceedings of the 2006 IEEE International Conference on Con...

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

ISBN: (纸本)0780397959

The proceedings contain 360 papers. The topics discussed include: vehicle dynamics control and controller allocation for rollover prevention;modeling and control of a four wheel drive parallel hybrid electric vehicle;trajectory generation and feedforward control for parking a car;a computational method to vibration reduction of vehicle engine-body system using Haar wavelets;transparency in the bilateral control methodology by state convergence;using force control for fidelity in low-force medical haptic simulators;transparent collaborative haptic simulation;a telerobotic manipulator system with impedance control;a new adaptive inverse control scheme for teleoperation system with varying time delay;nonlinear predictive control for real time applications;and robust model predictive control using the unscented transformation.

关键词： control theory

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Tuning of an PID based idle speed controller for heavy load rejection using a model-based optimization methodology

Tuning of an PID based idle speed controller for heavy load ...

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Böhme, Thomas Kurdi, Oubida IAV GmbH Rockwellstrasse 16 38518 Gifhorn Germany

ISBN: (纸本)0780397975

An optimization method to tune the PID based idle speed controller gains using an nonlinear engine model is presented. The introduced optimization method is especially valuable for tuning the idle speed controller gains for heavy load scenarios which can occur in the take-off situation, when the driver releases the clutch rapidly. The model-based tuning methodology is evaluated on a PID based idle speed controller embedded in a production type ECU. The experiments has been carried out on a prototype car with a 1.61, direct injection engine to optimize the take-off procedure. In order to get reproducible results a clutch robot has been used. ©2006 ieee.

关键词： Speed control

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Exergy and irreversible entropy production thermodynamic concepts for control system design: Regulators

Exergy and irreversible entropy production thermodynamic con...

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Robinett III, Rush D. Wilson, David G. Energy Infrastructure and Knowledge Systems Sandia National Laboratories P.O. Box 5800 Albuquerque NM 87185-0741 Intelligent Systems and Robotics Center Sandia National Laboratories P.O. Box 5800 Albuquerque NM 87185-1003

ISBN: (纸本)0780397959

This paper develops a novel control system design methodology that uniquely combines: concepts from thermodynamic exergy and entropy;Hamiltonian systems;Lyapunov's direct method and Lyapunov optimal analysis;electric AC power concepts;and power flow analysis. Relationships are derived between exergy/entropy and Lyapunov optimal functions for Hamiltonian systems. The methodology is demonstrated with a couple of fundamental numerical simulation examples: 1) a PID regulator control for a linear mass-spring-damper system and 2) a Duffing oscillator/Coulomb friction nonlinear model that employs PID regulator control. The control system performances are partitioned and evaluated based on exergy generation and exergy dissipation terms. This novel nonlinear control methodology results in both necessary and sufficient conditions for stability of nonlinear systems. © 2006 ieee.

关键词： control system analysis

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A new adaptive inverse control scheme for teleoperation system with varying time delay

A new adaptive inverse control scheme for teleoperation syst...

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Sha Sadeghi, M. Momeni, H.R. Amirifar, R. Ganjefar, S. Department of Electrical Engineering Tarbiat Modares University Tehran Iran Department of Electrical Engineering Bu Ali Sina University Hamedan Iran Researcher of Information Technology Institute Tarbiat Modares University Tehran Iran

ISBN: (纸本)0780397959

This paper presents a new force-reflecting teleoperation control system scheme with varying time delay. Time delay is an unavoidable factor in teleoperation. Transmission time delays are possibly destabilizing, and reduce significantly ability of teleoperation. Considering the timevarying non-deterministic characteristic of the control and delays, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ascertain that the system is robust and transparent. An elaborate and special strategy is presented to design the reference model for adapting the slave-side controller, and accordingly, drift in position tracking has been compensated in free motion status and reduced in hard contact. © 2006 ieee.

关键词： Adaptive control systems

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Networked control systems over profibus-DP: Simulation model

Networked control systems over profibus-DP: Simulation model

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Casanova, Vicente Salt, Julián J. Cuenca, Ángel Mascarós, Vicente Department of System Engineering and Control Technical University of Valencia Spain

ISBN: (纸本)0780397959

This paper deals with the problem of simulating the sequence of events in the communication through one of the most commonly used fieldbuses: Profibus-DP. control systems using a fieldbus or any other kind of shared communication medium, are known as Networked control systems. A detailed description of the operation of Profibus, when transmitting a signal in a round trip between slave and master devices, is included. This operation is characterized with a collection of parameters whose values are determined by the practical implementation of the network. A simulation model, using Matlab/Simulink is built to emulate the behavior of the real system. This model has been validated, processing the transmitted signal and using histograms to compare the results obtained from real and simulated transmission. © 2006 ieee.

关键词： control systems

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MPC for a diesel engine air path using an explicit approach for constraint systems

MPC for a diesel engine air path using an explicit approach ...

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joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Ortner, Peter Langthaler, Peter Ortiz, José Vicente García Del Re, L. Institute for Design and Control of Mechatronical Systems JKU Linz Departamento Ingenieria Mecánica y Construcción Jaume Universidad

ISBN: (纸本)0780397959

The air path of an internal combustion engine is a classical example of MIMO system with actuator constraints and high dynamic requirements. While the classical approach consists in using simple, decoupled heuristic controllers and empirical limitations, this paper proposes to state the problem in terms of an optimal control problem with input constraints and to solve it in a model based environment. To this end, a recently developed controller design - explicit MPC - is used to calculate the explicit solution of the state feedback control law offline and to store it in tables for online controller selection. The combination of plant and switched controller leads to a piecewise linear and discrete system - a special form of hybrid system. The approach has been tested on a production diesel engine yielding impressive improvements in terms of soot while compared with the basic application. © 2006 ieee.

关键词： Diesel engines

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