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检索条件"主题词=Computer algorithms"

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On the minimum attention and anytime attention problems for nonlinear systems

On the minimum attention and anytime attention problems for ...

引用

2010 49th IEEE Conference on Decision and Control

作者： Adolfo Anta Paulo Tabuada Dept. of Electrical Engineering University of California Los Angeles

ISBN: (纸本)9781424477456

The current convergence of control, communication and computation opens the door to new avenues for the applicability of control systems, but it also leads to new constraints and requirements. The traditional quadratic cost function has become too plain to represent the diverse performance indices of today's complex applications. For instance, the implementation cost of a control law has become a major factor, sincee resources are frequently shared among different tasks. Implementation costs of control laws depend on a wide range of factors: computation complexity, sensor accuracy, required bandwidth, actuation speed, or sampling rates, to name a few. In this paper we focus on the notion of attention, that is, how often the loop needs to be closed in order to achieve a desired perfrormance. We propose two attention-aware control laws: first, a technique to construct minimum attention control laws that maximizes the open loop operation of a nonlinear control system;and second, a control algorithm that permits the system run in open loop for a pre-scheduled amount of time.

关键词： control law OPEN-LOOP Nonlinear control systems control systems performance indicators computer algorithms DOOR Cost functions

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Proportional Integral Retarded Control of Second Order Linear Systems

Proportional Integral Retarded Control of Second Order Linea...

引用

IEEE Annual Conference on Decision and Control

作者： Adrian Ramirez Sabine Mondie Ruben Garrido Departamento de Control Automatico CINVESTAV-IPN Av. IPN 2508 San Pedro Zacatenco Mexico DF 07360

ISBN: (纸本)9781467357159

This study presents a derivative-free control algorithm called Proportional Integral Retarded (PIR) controller, and its application to second order linear systems. Using a frequency domain analysis, the stability map of the closed loop system is constructed;moreover, the exploration of the regions where stability switches occur leads to a tuning strategy assigning a triple real dominant root that corresponds to the maximum achievable exponential decay. The paper also presents an analysis of the main PIR controller properties. Finally, the proposed control law is compared to a proportional integral derivative controller using an experimental platform.

关键词： Linear system Closed loop systems computer algorithms control law

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Control of Two Contact Point Sheet Registration Devices for Xerographic Printers

Control of Two Contact Point Sheet Registration Devices for ...

引用

American Control Conference

作者： Martin Krucinski Xerox Research Center Webster Xerox Corporation 800 Phillips Road MS:0147-11B Webster NY 14580 USA

ISBN: (纸本)9781424474264

Xerographic printers printing on pre-cut sheets need to register (align) each sheet with its corresponding image before image transfer. There exists a variety of sheet registration devices that perform this function, utilizing different actuator and sensor configurations. A majority of these devices have three or more degrees of freedom and contact the sheet at two points during registration. A control algorithm for this class of devices has been developed. The main contribution of the proposed control approach is that it avoids explicitly dealing with the non-holonomic constraints of the combined sheet and registration device system. This simplifies the control design compared to other approaches [1] [2]. The proposed control algorithm comprises of two parts: a generic part for two contact point devices and a registration device specific part which depends on the actuator configuration and kinematics of the registration device. It can also incorporate active control of the buckle that may form in the sheet portion between the two contact points during registration, hereby minimizing the possibility of sheet damage and jams.

关键词： computer algorithms Registration Standing Orders catch active control Contact Information design control

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Stability and Performance Analysis of a Congestion Control Algorithm for Networks

Stability and Performance Analysis of a Congestion Control A...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 919-1382

作者： Muyi Yang Yuanwei Jing Georigi M. Dimirovski Nannan Zhang Faculty of Information Science and Engineering Northeastern University Shenyang China Faculty of Engineering Computer Engg.Dept Dogus University Istanbul Turkey

ISBN: (纸本)9781424414970;1424414970

In this paper, we show that max-min fair congestion control methods with a stable symmetric Jacobian remain stable under arbitrary feedback delay and the stability condition of such methods does not involve any of the delays. To demonstrate the practicality of the obtained result, we change the original algorithm in Kelly's work to become robust under random feedback delay and fixed constants of the control equation. The performance analysis shows that it offers smooth sending rate, exponential convergence to efficiency, and fast convergence to fairness, all of which make it be meaningful for future high-speed networks.

关键词： computer algorithms Steady state Network High-speed networks stalls(animals) Feedback Converge delay Control Methods

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A framework for simulation and control of hybrid energy networks

A framework for simulation and control of hybrid energy netw...

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IEEE International Energy Conference

作者： Davy Geysen Paul Booij Cor Warmer VITO - Energy technology TNO Den Haag Warmer Smart Grids

ISBN: (纸本)9781479924509

For the built environment it is envisaged that in the next decades the total annual energy demand, both thermal and electric, could be covered by renewable sources generated within the built environment. An increasing number of thermoelectric elements, such as heat pumps and thermal storage, will enable conversion from heat to electricity and vice versa. Control in this environment therefore requires an integral management of both the heat network and the electricity network. In this paper we present a simulation framework which is able to simulate and coordinate multi-commodity flows on a district level using a wide variety of appliance models, taking into account different types of business objectives (e.g. time of use tariffs, peak shaving, etc.). To manage these flows a market-based multi-commodity algorithm, for integrated coordination of electricity and heat flows, was developed and integrated in the simulation framework. The algorithm is an enhancement of the PowerMatcher concept and thus inherits its advantages such as scalability and user autonomy. An example is given to demonstrate the use of both the simulation framework and integrated control algorithm.

关键词： Electricity simulating Power grids Built environment thermoelectric element Frameworks heat heat storage heat pumps computer algorithms Time of use Energy requirements Scalability

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Patient Simulator Using Wearable Robot: Representation of Invariant Sitting-down and Standing-up Motions of Patients with Knee-OA

Patient Simulator Using Wearable Robot: Representation of In...

引用

Annual Conference of the IEEE Industrial Electronics Society

作者： Ryu Kubo Shogo Okamoto Shogo Nezaki Naomi Yamada Yasuhiro Akiyama Yoji Yamada Nagoya University

ISBN: (纸本)9781479917631

It is ethically problematic to engage people with impaired motor functions in experiments, wherein they may face severe pain and unacceptable risk of injuries. We developed a wearable robot for healthy adults and its control algorithm to simulate the behaviors of patients with knee osteoarthritis. We focused on invariant motions, which are typically presented for avoiding knee pain. In order to simulate patient movements by a healthy person wearing a robot, we formulated a model motion that represented invariant patient motions. We then determined the output torque of the exoskeletal knee robot such that the wearer's motion followed the model motion. The effectiveness of the method was testified for standing-up and sitting-down motions, and some characteristic impaired motions such as body inclination to the healthy side and imbalanced right and left knee angles were manifested by the simulator.

关键词： Robot output torque Wearable Invariant Patients Knee pain severe pain Knee osteoarthritis computer algorithms

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Minimum Entropy Approach For Robot Manipulator

Minimum Entropy Approach For Robot Manipulator

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IEEE Conference on Decision and Control

作者： Zakwan Skaf Ahmad Al-Bayati Hong Wang Control Systems Center School of Electrical and Electronic Engineering Sackville Street Building University of Manchester Manchester M60 1QD UK Zakwan Control Systems Center School of Electrical and Electronic Engineering Sackville Street BuildingUniversity of Manchester Manchester M60 1QD UK

ISBN: (纸本)9781612848006

In this paper, a new algorithm for an adaptive PI controller for nonlinear systems subject to stochastic non-Gaussian disturbance is studied. The minimum entropy control is applied to decrease the closed-loop tracking error on an ILC basis. The key issue here is to divide the control horizon into a number of equal time intervals called batches. Within each interval, there are a fixed number of sample points. The design procedure is divided into two main algorithms, within each batch and between any two adjacent batches. A D-type ILC law is employed to tune the PI controller coefficients between two adjacent batches. However, within each batch, the PI coefficients are fixed. A sufficient condition is established to guarantee the stability of the closed-loop system. An analysis of the ILC convergence is carried out. Two-link robot manipulator example is included to demonstrate the use of the control algorithm, and satisfactory results are obtained.

关键词： Robot Manipulator PI control control horizon design process computer algorithms Time intervals entropy Random number sampling BATCHES

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Attitude Control of Rigid Body Dynamics From Biased IMU Measurements

Attitude Control of Rigid Body Dynamics From Biased IMU Meas...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 919-1382

作者： Paul Pounds Tarek Hamel Robert Mahony Faculty of Engineering and Information Technology Australian National University Canberra ACT Australia Informatique Signaux et Systemes de Sophia Antipolis University of Nice France

ISBN: (纸本)9781424414970;1424414970

Commercially viable aerial robotic vehicles require low-cost attitude stabilisation systems that are robust to noise and sensor bias. A typical attitude stabilisation system consists of MEMs accelerometers, gyroscopes linked to separate attitude estimator and attitude controller algorithms. This paper proposes a non-linear attitude stabiliser for low-cost aerial robotic vehicles that combines attitude and bias estimation with control. The attitude control algorithm is based on a non-linear control Lyapunov function analysis derived directly in terms of the rigid-body attitude dynamics and measurement signals.

关键词： attitude control computer algorithms Gyroscopes Attitude Rigid bodies attitude dynamics vehicle Biased ANTENNA attitude controllers Rigid

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Determination of load schedules and load shifting potentials of a high number of electrical consumers using mass simulation

Determination of load schedules and load shifting potentials...

引用

International Conference and Exhibition on Electricity Distribution

作者： Johannes BRAUNAGEL Petrit VUTHI Wolfgang RENZ Hans SCHAFERS Hojat ZARIF Holger WIECHMANN Center for Demand Side Integration University of Applied Sciences Hamburg EnBW Vertrieb GmbH

ISBN: (纸本)9781629931333

The massive growth in the usage of renewable, but fluctuating energy sources in connection with the energy turnaround calls for a similar growth of the integration of flexible loads. This seems to be a vital aspect to maintain the balance between production and consumption in the transportation grid as well as in the distribution grid at low voltage level. In this regard the question of how to achieve a flexible and cost efficient mass integration of low power demand facilities like domestic heat pumps is of special interest. The Center for Demand Side Integration at the University of Applied Sciences Hamburg and Energie Baden-Wurttemberg (EnBW, the 3rd largest utility in Germany) developed and tested control algorithms in a simulation project in order to integrate a large number of distributed consumers (several 10.000) into an integrated system. The behaviour of the system was analysed with regard to load prediction, scheduling and shifting potentials.

关键词： Power grids load dispatching Load shifting voltage level DNA Integration integration Energy sources Caste determination Sex Determination Processes heat pumps Consumers Consumers computer algorithms FLEXIBLE LOAD

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Adaptive Trajectory Control of Autonomous Robots using Decoupled Fuzzy-Neural PID Controllers

Adaptive Trajectory Control of Autonomous Robots using Decou...

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ANNA '18;Advances in Neural Networks and Applications 2018

作者： Sevil Ahmed Michail Petrov Control Systems Department Technical University of Sofia

ISBN: (纸本)9783800747566

Various types of autonomous mobile robots have found their place in many applications related with surveillance, transportation, inspection, and other problems. This paper is focused on the design of an algorithm for decoupling multivariable systems based on adaptive fuzzy-neural control and its application to control of autonomous mobile robots. Adaptive tuned Takagi-Sugeno fuzzy-neural PID controller for compensation of friction and disturbance effects during the trajectory tracking control of a non-holonomic mobile robot is proposed. The parameters of the adaptive controller are updated according the introduced on-line learning algorithm. Performed simulation experiments demonstrate the effect of the developed control algorithm on the trajectory tracking performance of a mobile robot.

关键词： Mobile robots Trajectory tracking Adaptive control Fuzzy-neural PID controller Friction and uncertainty compensation Mobile robots trajectory tracking Proportional Integral Derivative Control trajectory control adaptive control autonomous mobile robot computer algorithms Autonomous robots DECOUPLING learning algorithms adaptive controller Self tuning

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