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

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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The Mimo Predictive Pid Controller Design

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Asian Journal of Control 2008年第4期4卷

作者： M.H. Moradi M.R. Katebi M.A. Johnson Department of Electronic and Electrical Engineering University of Strath-clyde Glasgow GI 1QE UK. Dr. Moradi is a Lecturer in the Department of Electronic and Electrical Engineering University of Bu-Ali Sina in Iran. He obtained the BSc and MSc in 1991 and 1993 from the Sharif University of Technology and Tarbiat Modarres University respectively. Dr. Moradi joined the Bu-Ali Sina University in 1993. In 2002 he obtained his PhD degree from the University of Strath-clyde Glasgow Scotland. His theoretical research interests include predictive PID control advanced classical control generalised predictive control system identification and fault monitoring robust control design computer networks and more recently control through networks. His industrial interests are in the areas of large-scale systems especially power systems and power plant modelling and control supervisory control and process control. Dr. Moradi has published a number of Journal and Conference papers. Dr. Katebi is a senior lecturer in the Department of Electronic and Electrical Engineering University of Strathclyde. His theoretical research interests are currently focused on Non-linear Control and Filtering for Complex Systems Autonomous Control Design System integration and Fault monitoring and Reconfiguration Plant Monitoring through the Internet Discrete Event Simulation Process Optimisation and Robust Control Design. The industrial research interests are in the area of Hot and Rolling for Steel and Aluminium Power Plant Modelling and Control Marine Control Systems Process Control and Wastewater Treatment Control. Dr Katebi is the author/co-author of four books and more than 150 papers and industrial reports. Professor Johnson's academic education began at Coventry University (1969) and continued under the supervision of Professor Greyham Bryant in the field of Control Systems at Imperial College London. He obtained the DIC MSc and PhD from Imperial College leaving for industry in 1978. Subsequent experience was in the

This paper is concerned with the design of Multi-Inputs and Multi-Outputs (MIMO) predictive PID controllers, which have similar performance to that obtainable from model-based predictive controllers. A new PID control structure is defined which incorporates the prediction of future outputs and uses future set point. A method is proposed to calculate the optimal values of the PID gains from generalised predictive control results. A decentralized version of the predictive PID controllers is presented and the stability of the closed loop system is studied. Simulation studies demonstrate the superior performance of the proposed controller compared with a conventional PID controller. The results are also compared with generalised predictive control solutions.

关键词： PID control design predictive PID MIMO controller optimisation

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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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Exploring the Synergism of a Multiple Auction-Based Task Allocation Scheme for Power-Aware Intrusion Detection in Wireless Ad-Hoc Networks

Exploring the Synergism of a Multiple Auction-Based Task All...

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International Conference on Communication Systems

作者： T. Srinivasan R. Chandrasekar Vivek Vijaykumar V. Mahadevan A. Meyyappan M. Nivedita Department of Computer Science and Engineering Assistant Professor Department of Information Technology Department of Information Technology Sri Venkateswara College of Engineering Sriperumbudur India Department of Computer Science and Engineering Sri Venkateswara College of Engineering Sriperumbudur

In this paper we propose a multiple auction-based task allocation scheme for identifying and distributing network-monitoring and decision-making tasks amongst the various nodes in a wireless ad-hoc network for performing power-aware intrusion detection. By iteratively performing this scheme we show that a power-optimal solution can be reached in a bandwidth constrained and energy-preserving network with only the nodes capable of supporting the various tasks chosen. We also demonstrate that simultaneous localized auctions have a lesser overhead than a single auction based scheme that was a subject of our previous work. Our scheme also serves to distribute the intrusion detection tasks according to the needs and constraints of a large and dynamic network. We have compared the performance of our scheme with the existing power-aware intrusion detection approaches in terms of various performance metrics and have demonstrated its associated low overhead

关键词： Intrusion detection Ad hoc networks Peer to peer computing Monitoring Bandwidth Batteries Power engineering and energy Power system modeling computer science Wireless application protocol

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Adaptive robust attitude tracking control of spacecraft

Adaptive robust attitude tracking control of spacecraft

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IEEE Conference on Control Technology and Applications (CCTA)

作者： R.B. Motlagh M.R.J. Motlagh Electrical Engineering Department Iran University of Science and Technology Iran Assistant Professor of controls in Computer Engineering Department Iran University of Science and Technology Tehran Iran

A nonlinear adaptive-robust scheme is presented to control a class of nonlinear systems. It effectively combines the design techniques of adaptive and robust control to improve performance by retaining the advantages of both techniques. It enhances transient performance and eliminates robustness problems compared to a parameter adaptive control. It also improves tracking performance by reducing modeling uncertainty and optimizes control effort by estimating bound uncertainty compared to a deterministic robust control. The controller is applied to a spacecraft making the body frame track a reference orientation, when there are parametric uncertainty, modeling errors, and external disturbances

关键词： Programmable control Adaptive control Robust control Attitude control Space vehicles Uncertainty Nonlinear control systems Control systems Nonlinear systems Error correction

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A High Performance IP Lookup for IPv6 using Parallel Computation Models

A High Performance IP Lookup for IPv6 using Parallel Computa...

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The 19th International Teletraffic Congress-ITC19

作者： D.Diwakar Srinivasan.T Department of Computer Science and Engineering Sri Venkateswara College of Engineering Sriperumbudur India.M.E.Final Year Department of Computer Science and Engineering Sri Venkateswara College of Engineering Sriperumbudur India.Assistant Professor

One of the key design issues for the next generation routers is the IP Lookup mechanism. IP address lookup is the challenging because it requires a longest matching prefix lookup. It is compounded by increasing routing table size, increased traffic and migration to IPv6 addresses. Existing solutions like BSD radix Tries, scale poorly when traffic in router increases or when employed for the IPv6 addresses. In our paper we describe a parallel computation models based lookup for the routing table. This mechanism provides lookup for a maximum of n*16 IPv6 addresses simultaneously, where n represents the number of processors. We propose a parallel binary trie search technique for the lookup to facilitate concurrent insertions and searching on the routing table. Using the proposed technique a router can achieve a much higher packet forwarding rate and throughput.

关键词： IPv6, Parallel Computation, IP Lookup

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AFOPT algorithm for multilevel databases

AFOPT algorithm for multilevel databases

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International Symposium on Symbolic and Numeric Algorithms for Scientific Computing (SYNASC)

作者： R. Gyorodi C. Gyorodi M. Pater O. Boc Z. David Assistant professor Phd. Engineering Department of Computer Science Faculty of Electrotehnics and Informatics University of Oradea Oradea Romania Lecturer Engineering Phd. Student Department of Computer Science Faculty of Electrotehnics and Informatics University of Oradea Oradea Romania MSc student Department of Computer Science Faculty of Electrotehnics and Informatics University of Oradea Oradea Romania

With the widespread computerization in business, government, and science, the efficient and effective discovery of interesting information from large databases becomes essential. Previous studies on data mining have been focused on the discovery of knowledge at single conceptual level, either at the primitive level or at a rather high conceptual level. This paper presents an algorithm based on the AFOPT algorithm for multilevel databases that uses the benefits of multileveled databases, by using the information gained by studying items from one concept level for the study of the items from the following concept levels.

关键词： Itemsets Data mining Transaction databases computer science Informatics Government Machine learning Association rules Performance gain Pattern matching

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Damage Detection and Correlation-Based Localization Using Wireless Mote Sensors

Damage Detection and Correlation-Based Localization Using Wi...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： E.H. Clayton Bong-Hwan Koh Guoliang Xing Chien-Liang Fok S.J. Dyke Chenyang Lu Graduate Research Assistant in the Department of Civil Engineering Washington University of Saint Louis Saint Louis MO USA Postdoctoral Research Associate in the Department of Civil Engineering Washington University of Saint Louis Saint Louis MO USA Edward C. Dicke Professor of Civil Engineering Washington University of Saint Louis Saint Louis MO USA Computer Science and Engineering Washington University of Saint Louis Saint Louis MO USA

This study focuses on an experimental damage detection and correlation-based localization demonstration using wireless sensors. A simple cantilever beam has been constructed in the laboratory to serve as a test bed for measuring acceleration responses with these devices. The goal of this preliminary investigation is to test the feasibility and functionality of a wireless sensor network (WSN) to detect and localize damage utilizing current wireless mote technology

关键词： Wireless sensor networks Testing Civil engineering Accelerometers Sensor arrays Sensor systems computer science Micromechanical devices Power engineering computing Power engineering and energy

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Increasing of DGPS Accuracy Using Recurrent Neural Networks

Increasing of DGPS Accuracy Using Recurrent Neural Networks

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第七届国际信号处理会议

作者： M.R.Mosavi Z.Habibi F.Hosseini Assistant Professor Department of Electrical Engineering Behshahr University of Science and Technology Behshahr 48518-78413 Iran BSc. St udents Department of Computer Engineering Behshahr University of Science and Technology Behshahr Iran BSc. St udents Department of Computer Engineering Behshahr University of Science and Technology Behshahr Iran

Differential GPS (DGPS) is used for improving of accuracy in GPS position and velocity estimations. Measurements in DGPS can be obtained as real time with a high level of accuracy. This paper pres

关键词： Differential GPS, Error Prediction, Recurrent Neural Network

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Microwave reflection tomographic array for damage detection of civil structures

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IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION 2003年第11期51卷 3022-3032页

作者： Kim, YJ Jofre, L De Flaviis, F Feng, MQ Assistant Professor Department of Electrical and Computer Engineering University of California Irvine

Microwave tomographic imaging technology using a bifocusing operator has been developed in order to detect the internal voids/objects inside concrete structures. The imaging system consists of several cylindrical or planar array antennas for transmitting and receiving signals, and a numerical focusing operator is applied to the external signals both in transmitting and in receiving fields. An imaging algorithm using numerical focusing operator was developed, which allows the recovery of a two-dimensional object from its scattered field. Numerical simulation demonstrated that a subsurface image can be successfully reconstructed by using the proposed tomographic imaging technology. For the experimental verification, a prototype planar antenna array was fabricated and tested on a concrete specimen.

关键词： damage detection imaging reflection tomography

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