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2009 American Control Conference (ACC 2009)

作者： Adam Mills Adrian Wills Brett Ninness School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia

ISBN: (纸本)9781424445233

In this paper, nonlinear model predictive control is applied to an inverted pendulum apparatus. The sample interval for control calculations is 25 milli-seconds and the associated non-convex constrained optimisation problem involves 61-variables with 241-constraints. Despite this being a challenging problem, it was solved on-line using a standard sequential quadratic programming approach on a modest hardware platform. The efficacy of the control algorithm is validated via experimental results.

关键词： nonlinear model predictive control pendulum meter computer algorithms sampling interval INVERTED PENDULUM Hardware Platform Clock weights Constrained optimization

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Stability Overlay for Adaptive Control Laws Applied to Linear Time-Invariant Systems

Stability Overlay for Adaptive Control Laws Applied to Linea...

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2009 American Control Conference (ACC 2009)

作者： Paulo Rosa Jeff S. Shamma Carlos Silvestre Michael Athans Institute for Systems and Robotics - Instituto Superior Tecnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Georgia Institute of Technology School of Electrical and Computer Engineering Atlanta Georgia United States of America

ISBN: (纸本)9781424445233

Two broad classes of adaptive control algorithms can be found in the literature: i) stability based, with minimal assumptions on the plant;ii) performance based, with relatively more stringent assumptions on the plant. This paper proposes a solution, referred to as Stability Overlay (SO), to enable stability guarantees in performance based algorithms. In our methodology, the performance based adaptive control laws are only responsible for designating the controller that should be selected;the SO decides whether this controller should or not be used, based upon its most recent history of utilization. We argue that using two algorithms in parallel - the SO for stability purposes and any other suitable for the performance requirements - leads to higher levels of performance while guaranteeing stability of the adaptive closed-loop for bounded (but unknown) disturbances. The SO methodology is applicable to both time-invariant and time-varying, nonlinear and linear systems. However, due to space limitations, we only consider linear time-invariant (LTI) plants in this paper. The theory is illustrated with an example.

关键词： control law Level of Performance adaptive control time-invariant computer algorithms Time invariant systems Overlay Controllers based

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Image-Based Visual Seam Tracking System for Fillet Joint

Image-Based Visual Seam Tracking System for Fillet Joint

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2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Zaojun Fang De Xu Key Laboratory of Complex Systems and Intelligence Science Institute of AutomationChinese Academy of SciencesBeijing 100190China

ISBN: (纸本)9781424447749

In this paper a compact vision-based seam tracking system is designed for fillet joint. The main consideration in developing this system is its applicability and reliability. Thus programmable logical controller (PLC) is used as the controller and smart camera as the vision sensor. To get reliable image features, laser structured light is used. Besides its hardware structure, the image processing and control algorithm are designed elaboratively. The intercepts of the two lines in the stripe image are selected as the image features to get an approximately uncoupled relationship between the change of image features and the movement of two axes in two directions. New edge detector with fine noise reduction and robust line extraction method are proposed. In addition, the controller is carefully constructed with input filtering and output verification. Finally, a series of experiments were well conducted to verify the performance of the proposed system.

关键词： Corner joints image feature Seam tracking Smart cameras vision sensors Controllers Edge detection Image processing Noise reduction computer algorithms input filter

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Robust H∞ Control for Nonlinear Systems with Uncertainties and Impulsive Effects Described by T-S Fuzzy Model

Robust H∞ Control for Nonlinear Systems with Uncertainties ...

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2009国际通信电路与系统学术会议(ICCCAS 2009)(2009 International Conference on Communications，Circuits and Systems)

作者： Qishui Zhong Hui Li Yongbin Yu Institute of Astronautics & Aeronautics University of Electronic Science and Technology of China C School of Computer Science and Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781424448869

The robust H∞ control problem for nonlinear systems with uncertainties and impulsive effects is considered. Based on the Takagi-Sugeno (T-S) fuzzy model and the parallel distributed compensation (PDC) technique, some sufficient conditions for robust H∞ stability are proposed and are expressed in terms of linear matrix inequalities (LMIs). Numerical example shows the control algorithm is feasible for practical application.

关键词： system uncertainties Nonlinear systems T-S fuzzy model Standing Orders Impulsiveness Uncertainty Robust h-infinity control computer algorithms

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Master-slave Control Strategy of Tele-Manipulator

Master-slave Control Strategy of Tele-Manipulator

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2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Zhuxin Zhang Dingxuan Zhao Changchun Institute of TechnologyJilin Changchun 130012 China Jilin University Jilin Changchun 130025 China

ISBN: (纸本)9781424447749

For the structural features of the zero-opening servo valve, the master manipulator can't drive itself actuators directly, it can only be driven by the information through the controller indirectly. This process will inevitably affect the response speed of the control system. Force differential between the master and the slave is used as the master's control signal, and the position differential and force differential are used as the slave's control signal to realize the force tele-presence. The new control structure is different from the traditional mode that the slave follows the master's movement and the master feels the force from the slave. According to the master's tracking the slave to determine whether there is interference in the slave. By using PID parameter itself-adjusting fuzzy control method as the control algorithm, the response speed of the mater-slave control system is improved. Comparative experiments show that the new control structure and control algorithm can be a reference to the theory research and practice on the bilateral control with force feeling.

关键词： Slaves Reaction Time Control Architecture Mastering computer algorithms Force control systems master-slave control bilateral control

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Specification and Planning of UAV Missions: A Process Algebra Approach

Specification and Planning of UAV Missions: A Process Algebr...

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2009 American Control Conference (ACC 2009)

作者： Sertac Karaman Steven Rasmussen Derek Kingston Emilio Frazzoli Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA Miami Valley Aerospace LLC at the Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH 45433 USA Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH 45433 USA Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge MA 02139 USA

ISBN: (纸本)9781424445233

Formal languages have recently come under attention as a powerful tool to describe in a precise and rigorous way mission specifications (i.e., mission objectives and constraints) for robotic systems, and to design planning and control algorithms that provably achieve the specifications. In this paper, we consider Process Algebras as a mission specification language for teams of UAVs. The main advantage of the proposed approach is that Process Algebra specifications are amenable to efficient planning algorithms. In particular, a tree-search algorithm is presented that computes a feasible plan in polynomial time. Branch-and-bound techniques are used to compute an optimal plan if computation time is available. Several mission specification examples are presented, and results from a numerical simulation are discussed.

关键词： Specifications process algebra Unmanned Aerial Vehicle Formal languages Planning computer algorithms computational time drone honey bees Teams Religious Missions numerical simulation branch-and-bound techniques

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SCENE CHANGE ADAPTATION FOR SCALABLE VIDEO CODING

SCENE CHANGE ADAPTATION FOR SCALABLE VIDEO CODING

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European signal processing conference

作者： Tea Anselmo Daniele Alfonso Advanced System Technology Labs. STMicroelectronics Via Olivetti 2 20041 Agrate Brianza Italy

ISBN: (纸本)9781617388767

This document presents a Scene Change Adaptation method for the Scalable Video Coding extension ofH.264/AVC. Our method is based on a scene change detection algorithm that identifies transitions in video sequences by using the motion information provided by the pre-analysis phase of a Fast Motion Estimation algorithm based on spatial-temporal motion correlation. Intra coding picture is imposed at the end of the Group Of Pictures containing the scene change, thus dynamically adapting the sequence structure to the scene content and preventing the propagation of the prediction error due to scene change. The proposed algorithm has been also combined with a Buffer-Based Constant Bit-Rate control algorithm, which ensures HRD buffer compliance and target bit-rate requirements. Simulation results show that the SCD algorithm can improve the global coding efficiency and the local visual quality when a scene change occurs.

关键词： Videotapes Change detection algorithms Error of prediction computer algorithms picture scalable video scalable video coding

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The Study on DC/DC Converter based on Fixed-frequency Sliding Mode Control Method

The Study on DC/DC Converter based on Fixed-frequency Slidin...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Lusheng Ge Yan-Fei Liu Wenjuan Wang Department of Electrical Information Anliui University of Technology

ISBN: (纸本)9781424427994

The sliding variable structural control method has been used in DC/DC converter widely and show the excellent dynamic performance and the strong robustness, but the conventional sliding mode control, whose control rule is sign function, has some shortcomings, for which switching frequency is uncertain and control result is serious influenced by the sliding surface parameters and the circuit parasitic. In this paper, a novel fixed-frequency sliding mode control is proposed for control rule changed with duty cycle. The proposed method can make system worked at a fixed frequency, having better dynamic characteristics than the traditional sliding control. It is easy to realize with digital circuit after analysis. The correctness and validity of proposed control algorithm are proved by simulation results.

关键词： fixed frequency Variable structure systems dynamic characteristics control rule computer algorithms digital circuits Converters

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GreenWave Distributed Traffic Intersection Control 09

GreenWave Distributed Traffic Intersection Control

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International Conference on Autonomous Agents and Multiagent Systems

作者： Dominic Greenwood Branislav Burdiliak Ivan Trencansky Hartmut Armbruster Christian Dannegger Whitestein Technologies AG Whitestein Technologies s.r.o. Whitestein Technologies GmbH

ISBN: (纸本)9781615673346

This demonstration proposal is for a distributed traffic intersection traffic-light control called GreenWave. The solution couples camera sensors with a novel collaborative multiagent goal-oriented control algorithm to outperform both conventional and theoretical approaches. The system is designed for real use, although simulated traffic data will be used for the demonstration.

关键词： Distributed Multiagent traffic intersection phase control Emergent green wave Video camera sensor Traffic data Intersection Controls computer algorithms optical control Traffic Real number Distribute Traffic lights

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'Quantum random walks: an introductory overview' (2003) by J. Kempe

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CONTEMPORARY PHYSICS 2009年第1期50卷 337-337页

作者： Plenio, Martin Univ London Imperial Coll Sci Technol & Med London SW7 2AZ England

Plenio comments on Julia Kempe's Quantum random walks: an introductory overview. Quantum mechanics is intrinsically random and it was therefore quite natural for researchers in quantum information theory to explore how random walks and their use in algorithms may be generalized to the quantum mechanical setting. This is where Julia Kempe's article begins, explaining the history of quantum random walks. It explains the historical background of quantum random walks, their basic principles and recent developments in a particularly clear fashion that makes the article accessible to a broad readership. At the same time the article offers much to the experts and aims to stimulate novel research by identifying open questions and possible routes for further development.

关键词： QUANTUM theory INFORMATION science QUANTUM computers RANDOM walks (Mathematics) computer algorithms EDITORIALS

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