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Attitude control of a helicopter model by robust PID controllers

Attitude control of a helicopter model by robust PID control...

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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： Sakamoto, Tatsuya Katayama, Hitoshi Ichikawa, Akira Shinko Electric Co. Ltd. Toyohashi 441-3195 Japan Department of Electrical and Electronic Engineering Shizuoka University Hamamatsu 432 8561 Japan Department of Aeronautics and Astronautics Graduate School of Engineering Kyoto University Yoshida-Honmachi Sakyo-ku Kyoto 606-8501 Japan

ISBN: (纸本)0780397983

In this paper the attitude control, by PID controllers, of a helicopter model with two degrees of freedom is considered. Cross-coupling in the system being neglected, dynamics of elevation and azimuth are independently considered and PID controllers are designed separately. It is then shown that pairs of PID controllers can stabilize the whole system and fulfill the step tracking. Starting a PID controller thus obtained, robust PID controllers are designed iteratively based on the method of Miyamoto. Experimental results show that the final controller stabilizes the whole helicopter model and gives satisfactory performances in step tracking. © 2006 ieee.

关键词： Helicopters

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Autonomous cruise control with a minimal order quasi-linear controller

Autonomous cruise control with a minimal order quasi-linear ...

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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： Junaid, Khan M. Shuning, Wang Pervaiz, Akhter Iqbal, Rao Naveed IEEE Department of Automation Tsinghua University Beijing 100084 China Karachi Pakistan Department of Computer Science Tsinghua University Beijing China

ISBN: (纸本)0780397983

Continuous growth of population all over the world creates a great challenge to the transport management systems. The future intelligent transportation systems incorporates one important aspect of automation components which is the design of intelligent control systems that enables the system to behave autonomously, hence ensuring safety, comfort and best usage of available infrastructure. In this paper, a novel control strategy based on Quasi-linear feedback control is adopted for a longitudinal vehicle model. A third-order nonlinear system models the vehicle and power train dynamics. The system is feedback linearized and the resultant dynamics of the feedback linearized system correspond to a certain class of linear systems, which makes it attractive for the application of a simpler order feedback control designed on the basis of quasi-linear feedback theory. The designed controller not only guarantees asymptotic tracking of the desired trajectories, but also ensures safety and ride comfort under the constraints of physical limitations inherent in the system. The results are compared with the well established LQR optimal control theory, where a priori choice of the weights in the local quadratic criteria allows obtaining diverse desired overall system characteristics. The performance analysis reveals that the new quasi-linear strategy yields valid results. © 2006 ieee.

关键词： Feedback control

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Calculating method of evaluating the intelligence quality of intelligent control systems

Calculating method of evaluating the intelligence quality of...

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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： Dong, Liu Yixin, Yin Jie, Dong Xuyan, Tu Chengli, Fan School of Information Engineering University of Science and Technology Beijing 100083 China College of Automation of Beijing Unite University Beijing 100101 China School of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China

ISBN: (纸本)0780397983

In this paper we emphasize the importance of evaluating the intelligence level of intelligent control systems. We bring forward the idea that the evaluating system is composed of a three tier construction: organizing level, coordinating level and executive level, and we put the intelligence calculation in the organizing level. We also put forward the index system of the intelligence evaluating system of the ICS, which comprises 5 first grade indexes (I1), 17 second grade indexes (I2) and 52 third grade indexes (I3). And then, we give the formula to calculate the intelligent quality of the ICS. Finally we cite two examples to show the calculation of the ICS's intelligent quality. © 2006 ieee.

关键词： Intelligent control

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The changing face and role of CACSD

The changing face and role of CACSD

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ieee International symposium on Intelligent control

作者： Maciejowski, J. M. Univ Cambridge Dept Engn Cambridge CB2 1PZ England

ISBN: (纸本)9780780397989

computer aided control Engineering involves three parallel streams: Simulation and modelling, control system design (off-line), and controller implementation. In industry the bottleneck problem has always been modelling, and this remains the case - that is where control (and other) engineers put most of their technical effort. Although great advances in software tools have been made, the cost of modelling remains very high - too high for some sectors. Object-oriented modelling, enabling truly re-usable models, seems to be the key enabling technology here. Software tools to support control systems design have two aspects to them: aiding and managing the work-flow in particular projects (whether of a single engineer or of a team), and provision of numerical algorithms to support control-theoretic and systems-theoretic analysis and design. The numerical problems associated with linear systems have been largely overcome, so that most problems can be tackled routinely without difficulty - though problems remain with (some) systems of extremely large dimensions. Recent emphasis on control of hybrid and/or constrained systems is leading to the emerging importance of geometric algorithms (ellipsoidal approximation, polytope projection, etc). Constantly increasing computational power is leading to renewed interest in design by optimisation, an example of which is MPC. The explosion of embedded control systems has highlighted the importance of autocode generation, directly from modelling/simulation products to target processors. This is the 'new kid on the block', and again much of the focus of commercial tools is on this part of the control engineer's job. Here the control engineer can no longer ignore computer science (at least, for the time being).

关键词： control engineering computing control system synthesis autocode generation computer aided control engineering control system design ellipsoidal approximation geometric algorithms linear systems object-oriented modelling optimisation polytope projection s control engineering computing control systems design Object oriented modeling Geometric algorithms control system synthesis Linear system control engineering control systems Engineers

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Improved bacterial foraging strategy for controller optimization applied to robotic manipulator system

Improved bacterial foraging strategy for controller optimiza...

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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： Dos Coelho, Leandro Santos Da Costa Silveira, Camila Pontifical Catholic University of Parana PUCPR / CCET / PPGEPS / LAS Automation and System Laboratory Imaculada Conceição 1155 80215-901 Curitiba PR Brazil

ISBN: (纸本)0780397983

During the course of evolution, colonies of ants, bees, wasps, bacteria and termites have developed sophisticated behavior, intricate communication capabilities, decentralized colony control, group foraging strategies and a high degree of worker cooperation when tackling tasks. Utilizing these capabilities, any bio-inspired optimization techniques using analogy of swarming principles and social behavior in nature - swarm intelligence - have been adopted to solve a variety of engineering and robotics problems. In this paper, new approaches of bacterial colony optimization method with variable speed based on uniform, Gaussian, and Cauchy probability distribution were tested. Bacterial colony, a swarm intelligence methodology, is evaluated for a problem of optimization of a PED (proportional-integral-derivative) multivariable controller. The simulation results are compared with classical bacterial colony approach with constant velocity for a case study of control of a robotic manipulator system with two degree of freedom. © 2006 ieee.

关键词： Robotics

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Dynamic modeling for modulation of ATP concentration at the endothelial surface by viscous shear flow

Dynamic modeling for modulation of ATP concentration at the ...

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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： Qin, Kairong Xu, Zhe Zhang, Hui Xiang, Cheng Ge, Shuzhi Sam Jiang, Zonglai Institute of Mechanobiology and Medical Engineering Shanghai Jiao Tong University Shanghai 200240 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Biomechanics Fudan University Shanghai 200433 China

ISBN: (纸本)0780397983

In this paper, dynamic modeling is investigated for shear stress induced adenosine triphosphate (ATP) release from endothelial cells (ECs). The modulation of ATP concentration at the endothelial surface by viscous shear flow is extensively investigated through numerical analysis based on the release model. The simulation results demonstrate that shear stress induced ATP release, convection and diffusion of ATP, and ATP hydrolysis by ecto-ATPase synergistically determine the ATP concentration against time at endothelium-fluid interface. © 2006 ieee.

关键词： Adenosinetriphosphate

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Optimization of THD and suppressing certain order harmonics in PWM inverters using genetic algorithms

Optimization of THD and suppressing certain order harmonics ...

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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： Sayyah, A. Aflaki, M. Rezazade, A.R. IEEE Electrical Engineering Shahid Beheshti University Tehran 19839-63113 Iran Sharif University of Technology Tehran 11365-8639 Iran Faculty of Electrical Computer Engineering Department Shahid Beheshti University Tehran 19839-63113 Iran

ISBN: (纸本)0780397983

In this paper the aim is to minimize the total harmonic distortion (THD) in PWM inverters while suppressing chosen harmonics concurrently and maintaining the fundamental component of the output voltage at a required level. This is reformed as an optimization task and the optimal pulse patterns are accomplished using genetic algorithm (GA) optimization technique to minimize a predefined fitness function. The complete solutions that suppress the 5th and 7th harmonics and optimize the THD are given. A practical limitation on the determination of sequential switching angles has been considered as a set of constraints in derivation of the results. © 2006 ieee.

关键词： Harmonic distortion

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Robust D-stability analysis based on pendulum systems

Robust D-stability analysis based on pendulum systems

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2006 ieee International Conference on control Applications, CCA 2006

作者： Jialian, Wang Anke, Xue Xiaodong, Zhao Institute of Information and Control Hangzhou Dianzi University Hangzhou 310018 China

ISBN: (纸本)9780780397965

This note deals with the problem of robust Dstability analysis on pendulum systems, with respect to structured uncertainties. Sufficient conditions, which are computationally simple, and need not calculate the eigenvalues of the system, is proposed to ensure that the inverted pendulum system is D-stable, that is, all its finite poles are located within a specified disk. ©2006 ieee.

关键词： Eigenvalues and eigenfunctions

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proceedings of the 2006 ieee International symposium on Intelligent control, ISIC

Proceedings of the 2006 IEEE International Symposium on Inte...

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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)0780397983

The proceedings contain 98 papers. The topics discussed include: neural adaptive control of dynamic sandwich systems with hysteresis;robust adaptive neural control of SISO nonlinear systems with unknown nonlinear dead-zone and gain sign;piecewise robust H-infinity filtering of fuzzy systems with time-varying uncertainty;radial basis functions based iterative learning control for stochastic distribution systems;robust adaptive control for a class of perturbed strict-feedback nonlinear systems with unknown Prandtl-Ishlinskii hysteresis;global robust asymptotical stability of delayed neural networks with parameter uncertainty;development and implementation of optimized energy-delay sub-network routing protocol for wireless sensor networks;and energy-efficient approaches to coverage holes detection in wireless sensor networks.

关键词： Intelligent control

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Robust iterative learning control based on neural network for a class of uncertain robotic systems

Robust iterative learning control based on neural network fo...

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2006 ieee International symposium on Intelligent control, ISIC 2006

作者： Yanchen, Liu Yingmin, Jia Zhuo, Wang Beijing 100083 China

ISBN: (纸本)0780397983

This paper studies the problem of adaptive robust iterative learning control for trajectory-tracked task of a class of robotic systems with both structured and unstructured uncertainties. A composite control scheme is proposed in which the periodic uncertainties are approached by the learning controller, while the effect of non-periodic uncertainties on system performances is attenuated by the robust controller. In particular, by employing neural network the cone-bounded assumption on uncertain dynamics is removed. The simulation results are included. ©2006 ieee.

关键词： Robust control

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