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International Conference on Power System Technology (POWERCON)

作者： A. Al-Hinai Assistant Professor at the Department of Electrical & Computer Engineering Sultan Qaboos University Muscat Sultanate of Oman

In this paper the dynamics of a single machine connected to infinite bus power system is analyzed. Such analysis requires a certain level of system modeling. The main system components models are the synchronous machine, excitation system and the Power System Stabilizer. The Matlab/Simulink is used as a programming tool to analyze the system performance. According to the system performance a proper design for the Power System Stabilizer (PSS) using Genetic Algorithm (GA) is carried out. Then the designed PSS is implemented in the model and the dynamic system response is analyzed. Since the simulation results without PSS showed unacceptable system response, the system response with the PSS has improved and the PSS succeeded to stabilize an unstable system. The designed PSS has been implemented in a microcontroller. Finally, the system response with PSS-microcontroller has been tested and compared with the simulation results.

关键词： Biological system modeling Voltage control Gallium Biological cells

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Fault Detection and Isolation of an Aircraft Using Set-Valued Observers *

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IFAC Proceedings Volumes 2010年第15期43卷 398-403页

作者： Paulo Rosa Carlos Silvestre Jeff S. Shamma 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 USA M. Athans is also Professor of EECS (emeritus) M.I.T. USA

Abstract This paper describes an application of a new fault detection and isolation (FDI) technique based on set-valued observers (SVOs) to a linear parameter varying (LPV) longitudinal aircraft dynamic model. The FDI strategy adopted herein computes and uses the set-valued estimates of the SVOs to eliminate models of the plant that are not compatible with the set of observations provided by the aircraft sensor suite and actuation data. The design of the SVOs takes into account model uncertainty and disturbances, thus avoiding false alarms due to such perturbations. The behavior of the proposed solution is assessed in simulation, by deliberately generating hard and soft sensor/actuator faults. The results show that the faults take, in general, only a few iterations to be detected and isolated, therefore paving the way for the use of the proposed methodology in practical applications.

关键词： Fault Detection and Isolation Uncertain Linear Systems Linear Time-Varying Systems

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Bilayer metamaterial lens breaks the diffraction limit

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LASER FOCUS WORLD 2009年第9期45卷 35-38页

作者： Liu, Huikan Webb, Kevin J. Graduate Research Assistant Purdue University West Lafayette IN 47907 Professor of Electrical and Computer Engineering Purdue University West Lafayette IN 47907

The quest for subwavelength imaging through anisotropic metamaterials has produced a design for a bilayer lens that can restore a nearly perfect image.

关键词： Metamaterials Optical materials Imaging systems Anisotropy Optical diffraction Wavelengths

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On Maximum Stability Margin Design of Nonlinear Uncertain Systems: Fuzzy Control Approach

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Asian Journal of Control 2008年第3期3卷

作者： Chung-Shi Tseng Bor-Sen Chen Huey-Jian Uang the Department of Electrical Engineering of Ming Hsin Institute of Technology Hsin Chu Taiwan. the Department of Electrical Engineering of National Tsing Hua University Hsin Chu Taiwan. Huey-Jian:Uang received the B.S. degree from the Department of Electrical Engineering Feng-Chia University Taichung Taiwan and the M.S. degree and Ph.D. degree from National Tsing-Hua University Hsin-Chu Taiwan all in electrical engineering. He is now an Assistant Professor at the Ming Hsin Institute of Technology and Commerce Hsin-Chu Taiwan. His current research interests include robotics robust control and fuzzy systems.

This paper studies the maximum stability margin design for nonlinear uncertain systems using fuzzy control. First, the Takagi and Sugeno fuzzy model is employed to approximate a nonlinear uncertain system. Next, based on the fuzzy model, the maximum stability margin for a nonlinear uncertain system is studied to achieve as much tolerance of plant uncertainties as possible using a fuzzy control method. In the proposed fuzzy control method, the maximum stability margin design problem is parameterized in terms of a corresponding generalized eigenvalue problem (GEVP). For the case where state variables are unavailable, a fuzzy observer-based control scheme is also proposed to deal with the maximum stability margin for nonlinear uncertain systems. Using a suboptimal approach, we characterize the maximum stability margin via fuzzy observer-based control in terms of a linear matrix inequality problem (LMIP). The GEVP and LMIP can be solved very efficiently via convex optimization techniques. Simulation examples are given to illustrate the design procedure of the proposed method.

关键词： Maximum stability margin fuzzy control GEVP and LMIP

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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MODELING AND CONTROL OF ELEVATORS BY STATECHARTS

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Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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Design Tradeoffs for Electrothermal Microgrippers

Design Tradeoffs for Electrothermal Microgrippers

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mohammad Mayyas Ping Zhang Woo H. Lee Panos Shiakolas Dan Popa Automation and Robotics Research Institute (APRI) University of Texas Arlington Fort Worth TX USA Automation and Robotics Research Institute (ARRI) University of Texas at Arlington Fort Worth TX 76118 USA. Automation and Robotics Research Institute (ARRI) University of Texas at Arlington Fort Worth TX 76118 USA Assistant Professor Electrical Engineering. e-mail: popa@arri.uta.edu

Microgrippers based on electrothermal actuation were designed and fabricated using the deep reactive ion etching (DRIE) process with 100mum thick silicon on insulator (SOI) wafer. The design requirements are restricted to basic manipulation tasks such as pick and place, and nonprehensile manipulation. This paper explores several electrothermal end-effectors which have been fabricated for serial and parallel microassembly. The end-effectors include three main building blocks: 1) Integrated and symmetrical actuators of V and U shapes. The symmetrical expansions on Chevron and hot arms allow combination of forward translations that amplify angular motion at the tips of a gripper. 2) A joule heating element based on a resistive V-shape electrothermal actuator. In 3D microassembly, the joining of a micropart is essentially performed by providing an integrated microheater device. 3) A force or position feedback sensing block based on self-straining or electrostatic principle. The integrated sensor can be calibrated for both position and force measurements. Serial heterogeneous assembly of meso and micro-scale objects is demonstrated using a 3D microassembly station. Black-box dynamical models for microgrippers are derived using experimentally obtained data, and performance variations due to the way the microgrippers are mounted onto the robot are discussed.

关键词： Electrothermal effects Grippers Microassembly Silicon on insulator technology Actuators Force feedback Etching Shape Arm Heating

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The Design and Development of a Through-the-Road Parallel Diesel Electric Hybrid

The Design and Development of a Through-the-Road Parallel Di...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Matthew Young G. Marshall Molen David Oglesby Kyle Crawford Kennabec Walp Ron Lewis Christopher Whitt Stephen Phillips Department of Electrical and Computer Engineering and research assistants at the Center for Advanced Vehicular Systems Mississippi State University Starkville MS USA DTI Ergon Distinguished Professor of Electrical and Computer Engineering and the Leader for Vehicular Systems Integrationat the Center for Advanced Vehicular Systems Mississippi State University Starkville MS USA Mechanical Engineering coteam leaders of the Mississippi State University Challenge X team and are research assistants at the Center for Advanced Vehicular Systems Mississippi State University Starkville MS USA Chemical Engineering and a research assistant at the Center for Advanced Vehicular Systems Mississippi State University Starkville MS USA

Mississippi State University students in their third year of Challenge X competition have transformed a 2005 Chevrolet Equinox into a diesel-electric hybrid at a 99% buy-off vehicle readiness level. The vehicle, configured in a charge sustaining, through-the-road parallel architecture, offers significant improvements over the stock vehicle with a 45% increase in fuel economy and a 3.5% increase in 0-60 mph acceleration, while maintaining a Tier 2 Bin 8 EPA emissions rating with an impressive towing capacity of 2500 lbs. The MSU Equinox utilizes a 1.9 L diesel engine burning B20 biodiesel fuel with a six-speed manual transmission that is augmented by an ac induction electric motor-transaxle assembly. A nickel metal hydride (NiMH) battery pack provides sufficient energy storage to accomplish peak shaving so that the engine operates in its most efficient regime. Optimal vehicle performance was achieved with the powertrain system analysis toolkit (PSATtrade) and MATLABtrade that facilitated the design of an advanced vehicle architecture and control strategy to reduce energy consumption and emissions. Simulation results are compared with actual experimental data obtained on a four-wheel chassis dynamometer and road tests so as to validate the mathematical model. These studies together with several documented vehicle improvements bring the MSU Equinox to a 99% buy-off readiness level so as to comply with competition requirements.

关键词： Vehicles Diesel engines Parallel architectures Fuel economy Acceleration Biofuels Assembly Nickel Batteries Energy storage

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR CONTROL

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Asian Journal of Control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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