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检索条件"主题词=Computer Algorithms"

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A Tale of Three Actuators: How Mechanics, Business Models and Position Sensing Affect Different Mechatronic Servo Problems

A Tale of Three Actuators: How Mechanics, Business Models an...

引用

2009 American Control Conference (ACC 2009)

作者： Daniel Y. Abramovitch Nanotechnology Group at Agilent Laboratories 5301 Stevens Creek Blvd. M/S: 4U-SB Santa Clara CA 95051 USA

ISBN: (纸本)9781424445233

Students studying control problems often learn a lot of wondrous algorithms that impart near mythical properties to the systems that they are applied to. At least this is how it works in theory and simulation. In practice, however, a thorough understanding of the system, the use model, and the market is often far more important than the differences between any two optimization algorithms. Knowing when and where a particular algorithm is useful is typically at the heart of real control problems. This paper will focus on three servo systems with which the author has had considerable experience: hard disks, optical disks, and atomic force microscopes. By examining how the particulars of these three systems affect the use of control algorithms, the author will try to extract some general lessons.

关键词： Optimization algorithms Position Sense Atomic Force Microscopy Servo systems computer algorithms Microelectromechanical devices Servo actuators mechanic Mechanics Writers Compact disc Students

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Real-Time Fault Tolerant Control of a Reverse Osmosis Desalination Plant Based on a Hybrid System Approach

Real-Time Fault Tolerant Control of a Reverse Osmosis Desali...

引用

2009 American Control Conference (ACC 2009)

作者： Adrian Gambier Nikolaus Blumlein Essameddin Badreddin Automation Laboratory Institute of Computer Engineering Heidelberg University B6 26 68131 Mannheim Germany

ISBN: (纸本)9781424445233

Many applications of Reverse Osmosis desalination plants (RO plants) require a fault tolerant system, in particular when human life depends on the availability of the plant for producing fresh water. However, RO plants are little studied from the control engineering point of view: modeling, design of control algorithms and real-time experiments are scarcely reported in the literature. The present work is a study on a real RO plant in order to discover possible faults, to analyze potential methods for Fault-Tolerant Control (FTC) and the real-time experimentation. In order to implement model based control, the plant is identified in several operating points. Model Predictive Control (MPC) is used as control law and a hybrid supervisor is proposed to combine different methods, which perform better for different kind of faults. Satisfactory results are obtained for the real-time operation.

关键词： hybrid systems computer algorithms fault-tolerant control DESALINATION PLANTS Reverse osmosis plants REPORTABLE QUANTITIES REAL TIME OPERATION control law

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Output Feedback Controller Design for LTI Systems with Heat PDE Actuator Dynamics and Periodic Disturbances

Output Feedback Controller Design for LTI Systems with Heat ...

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American Control Conference

作者： Cemal Tugrul Yilmaz Halil Ibrahim Basturk Bogazici University Bebek Istanbul 34342 Turkey

ISBN: (纸本)9781538679012;9781538679265

This paper focuses on rejection of unknown periodic disturbances in a known LTI system with diffusion PDE actuator dynamics by using output feedback. Firstly, the disturbance is parametrized and written as a boundary of heat PDE. Then, the problem is reformulated as an adaptive controller design for an uncertain ODE-PDE couple. Thirdly, an adaptive observer is designed to estimate the ODE system states and unknown disturbance. After that, to cancel the disturbance and compensate the input dynamics, an infinite dimensional backstepping procedure is applied. Finally, an observer based adaptive control algorithm is proposed and stability of the closed loop system equilibrium is confirmed. It is proven that the system states and observer error states converge to zero exponentially. The performance of the controller is validated with a numerical simulation.

关键词： controller design periodic disturbance LTI Output feedback disturbance computer algorithms actuators Periodic dynamics

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Event-based GPC for multivariable processes

Event-based GPC for multivariable processes

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International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP)

作者： A. Pawlowski J. L. Guzmán M. Berenguel J. E. Normey-Rico S. Dormido Department of Computer Sciences and Automatic Control UNED Madrid Spain Department of Informatics University of Almería Almería Spain Department of Systems and Automation UFSC Florianopolis Brazil

ISBN: (纸本)9781467378895

In this work, a practical event-based framework for multivariable processes is introduced. The developed control algorithm is based on a Generalized Predictive Control (GPC) algorithm suitable for MIMO systems. The most important advantage of the proposed control scheme is the adaptability of control actions to process disturbances and process interactions. Moreover, event-based approach allows prioritizing selected control variables, paying more attention to important variables (often related to security or costs) while neglecting non-critical ones. This is possible through adjusting the sensor deadband value, making feasible a tradeoff between control effort and control performance. Using this approach, it is possible to keep less relevant variables within the established limits, focusing the control system attention on those critical for process operation. The analyzed event-based control technique for multivariable systems is tested through a simulation study and considering an industrial stirred tank reactor process. The obtained results show several benefits regarding event-based control application, keeping all properties of event-based approach as well as model predictive control ones.

关键词： Event-Based GPC Multivariable Processes control actions Event-based multiple input multiple output systems control action computer algorithms GYPC gene Multivariable Control technology

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Closed-Loop Nonlinear Smooth Robust Control of Anti-angiogenic Tumor Therapy

Closed-Loop Nonlinear Smooth Robust Control of Anti-angiogen...

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American Control Conference

作者： Ugur Hasirci Timothy C. Burg Richard E. Groff Duzce University Duzce 81620 Turkey. Currently he is a visiting professor at Clemson University SC 29634 USA Electrical and Computer Engineering Department of Clemson University

ISBN: (纸本)9781479901777

This paper presents a smooth robust controller for anti-angiogenic treatment of a tumor growth. The proposed control algorithm directly aims to drive the carrying capacity of the vascular support network to a desired trajectory that reduces overall tumor volume. For this aim, we present a closed-loop smooth robust controller that ensures the asymptotic tracking of a time-varying carrying capacity profile, despite the model uncertainties. A Lyapunov-based analysis approach is used to determine stability and performance results. Numerical simulation results are presented to demonstrate the performance and feasibility of the proposed approach. Simulation studies also examine some practical issues regarding the clinical application of the proposed dosing algorithm. Finally, the paper provides some basics for real-time implementation of the overall system.

关键词： Anti-angiogenic Tumor Therapy tumor growth carrying capacity CARRYING CAPACITY tumor growth Tumor Volume asymptotic tracking Robust controllers model uncertainty Robust control computer algorithms Simulation results

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PV integrated UPQC for sensitive Load

PV integrated UPQC for sensitive Load

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Emerging Trends in Information Technology and Engineering (ic-ETITE), Conference on

作者： S.S. Dheeban N.B. Muthu Selvan AAA College of Engineering and Technology Sivakasi India SSN College of Engineering Chennai India

ISBN: (数字)9781728141428

ISBN: (纸本)9781728141435

Unified Power Quality Conditioner system used on the distribution side of power system can be improvised by integrating with renewable energy resources like the photovoltaic system. Photo Voltaic (PV) integrated UPQC compensates for real (P) and reactive power (Q). PV-UPQC system consists of back to back series and shunt compensators interlinked by a common DC link capacitor powered by the photovoltaic system. The reactive power compensation is achieved by shunt compensator of PV-UPQC system. The voltage fluctuations like voltage sag/swell are compensated by the series compensator. The nonlinear sensitive loads like induction motor loads can introduce harmonics and distort the stability of the power system. The harmonics introduced by the induction motor load can be mitigated by PV-UPQC system. This paper involves the modelling of the PV-UPQC system in MATLAB. The synchronous reference frame control algorithm is used for the control of sensitive load. The PV system is coupled with an MPPT control algorithm and the boost converter is designed to provide power to the DC-Link. The induction motor load characteristics are analysed under various voltage fluctuating conditions.

关键词： Synchronous reference frame SRF Photo-Voltaic Total Harmonic Distortion Unified Power Quality Conditioner UPQC Voltage sag Voltage swell synchronous reference frame voltage swell Total harmonic distortion voltage sags self-resonance frequency dc-link capacitor computer algorithms Polydnaviridae LOAD power systems Power system stability boost converters induction motors

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Nonuniform Coverage and Cartograms

Nonuniform Coverage and Cartograms

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2010 49th IEEE Conference on Decision and Control

作者： Francois Lekien Naomi Ehrich Leonard Ecole Polytechnique Universite Libre de Bruxelles B-1050 Brussels Belgium Department of Mechanical and Aerospace Engineering Princeton University Princeton NJ 08544 USA

ISBN: (纸本)9781424477456

In this paper, we summarize our investigation of nonuniform coverage of a planar region by a network of autonomous, mobile agents. We derive centralized nonuniform coverage control laws from uniform coverage algorithms using cartograms, transformations that map nonuniform metrics to a near Euclidean metric. We also investigate time-varying coverage metrics and the design of control algorithms to cover regions with slowly varying, nonuniform metrics. Our results are applicable to the design of mobile sensor networks, notably when the coverage metric varies as data is collected such as in the case of an information metric. The results apply also to the study of animal groups foraging for food that is nonuniformly distributed and possibly changing.

关键词： computer algorithms Nonuniform Coverage Mobile agents ANIMAL GROUPS

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Mixed H2/Sliding Mode Controller Design for Human Swing Leg System

Mixed H2/Sliding Mode Controller Design for Human Swing Leg ...

引用

Scientific Conference of Electrical Engineering (SCEE)

作者： Hazem I. Ali Mustafa J. Kadhim Control and Systems Engineering Dept. University of Technology – Iraq Baghdad Iraq

ISBN: (纸本)9781728115887;9781728115870

Humans walking seems simple, but this process is naturally complicated with extremely nonlinear dynamics as a pendulum links represent the thigh and the shank of the human. The upper body will attach to the thigh by hip, the knee will attach thigh to the shank. To acquire a complete motion of all muscles, it is required to accomplish two control actions applied at the joints. Two control approaches which are sliding mode control and H 2 control are combined in this work to control the human swing leg system. The proposed mixed H 2 Sliding Mode Controller (H 2 /SMC) is a new control algorithm conducted to give better performance than if only one of them is used. The results show that the proposed controller can effectively achieve more desirable performance and robustness.

关键词： adaptive control biomechanics control system synthesis legged locomotion muscle nonlinear control systems pendulums variable structure systems Variable structure systems Clock weights Biped locomotion control system synthesis Nonlinear control systems adaptive control Thigh Biomechanics muscles computer algorithms Human wobbling control action

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Circumnavigation of an Unknown Target Using UAVs with Range and Range Rate Measurements

Circumnavigation of an Unknown Target Using UAVs with Range ...

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IEEE Annual Conference on Decision and Control

作者： Yongcan Cao Jonathan Muse David Casbeer Derek Kingston Control Sci. Center of Excellence Air Force Res. Lab. Wright-Patterson AFB OH USA|c|

ISBN: (纸本)9781467357159

This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to drive the UAV toward the tangent of prescribed orbit when the UAV is outside or on the orbit, and (ii) apply zero control input if the UAV is inside the desired orbit. The algorithms differ in that, the first algorithm is smooth and unsaturated while the second algorithm is non-smooth and saturated. By analyzing properties associated with the bearing angle of the UAV relative to the target and through proper design of Lyapunov functions, it is shown that both algorithms produce the desired orbit for an arbitrary initial state. Two examples are provided as a proof of concept.

关键词： Unmanned Aerial Vehicle computer algorithms drone honey bees Eye Sockets Orbits algorithms zero control Voyages around the world Rate measurement, NOS Ranging measurements Targets Tangent line

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Design of a network-based mobile gait rehabilitation system

Design of a network-based mobile gait rehabilitation system

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IEEE International Conference on Robotics and Biomimetics

作者： Wenlong Zhang Xiuming Zhu Song Han Nancy Byl Aloysius K. Mok Masayoshi Tomizuka Department of Mechanical Engineering University of California Berkeley CA USA Department of Computer Science University of Texas Austin TX USA Department of Physical Therapy and Rehabilitation Science University of California San Francisco CA USA

ISBN: (纸本)9781467321259

In this paper, a network-based mobile gait rehabilitation system is proposed for improved mobility and tele-rehabilitation. In this system, an Internet-based body sensor network is employed for health monitoring and a local highspeed wireless network is developed to achieve precise control of the gait rehabilitation device, which is a compact rotary elastic actuator (cRSEA). A new wireless protocol called MBStarPlus is proposed to achieve a high sampling rate and real-time communication. To deal with packet loss in the wireless network, a modified linear quadratic Gaussian (LQG) controller is combined with a disturbance observer (DOB) to control the cRSEA over the wireless network. Successful system integration and promising experimental results validate both the system design and proposed control algorithm. The plan for clinical testing with the proposed system is discussed.

关键词： cRSEA LQG DOB Wireless networks Telerehabilitation Locomotion Body sensor networks Gait Lake Restoration Rehabilitation Systems Integration Packet loss accuracy control computer algorithms Mobile Linear quadratic Gaussian controllers

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