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作者： Lombardi, Warody Olaru, Sorin Lazar, Mircea Bitsoris, Georges Niculescu, Silviu-Iulian Automatic Control Department France LSS - Laboratory of Signals and Systems SUPELEC CNRS Gif-sur-Yvette France Department of Electrical and Computer Engineering University of Patras Patras Greece Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)9783902661937

In this paper the concept of set invariance for time-delay systems is introduced with a specific attention to the linear discrete-time case. We are interested in the definition of a D(elay)-invariant set with respect to a bounded polyhedral subset of the state-space. D-invariance conditions are derived based on the Minkowski addition in a first stage, and subsequently translated in feasibility-based tests in order to obtain an efficient computation time. © 2011 IFAC.

关键词： Time delay

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An anti-slip predictive controller for a V-PRA vehicle

An anti-slip predictive controller for a V-PRA vehicle

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作者： Cochior, Carmen De Keyser, Robin Lazar, Corneliu Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

ISBN: (纸本)9783902661937

In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller. © 2011 IFAC.

关键词： Vehicles

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Lane Keeping control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject ...

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American control Conference

作者： Changfang Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecom-munications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

关键词： Wheels Vehicles Roads Tires Friction Aerodynamics Vehicle dynamics

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COMPLEXITY ANALYSIS OF NETWORK-BASED DYNAMICAL systems

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Journal of systems Science & Complexity 2011年第3期24卷 413-432页

作者： Guofeng ZHANG Long WANG Tongwen CHEN School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China. Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing 100871 China Department of Electrical and Computer Engineering University of Alberta Edmonton Alberta T6G 2V4 Canada

This paper investigates the nonlinear dynamics of network-based dynamical systems where network communication channels of finite data rates are inserted into the closed loops of the control systems. The authors analyze the bifurcation and chaotic behavior of the non-smooth dynamical systems. The authors first prove that for almost all system parameters there are no periodic orbits. This result distinguishes this type of non-smooth dynamical systems from many others exhibiting border-collision bifurcations. Next, the authors show analytically that the chaotic sets are separated from the region containing the line segment of all fixed points with a finite distance. Finally, the authors employ a simple model to highlight that both the number of clients sharing a common network channel and fluctuations in the available network bandwidth have significant influence on the performance of such dynamical systems.

关键词： Bifurcation feedback network-based dynamical system non-convexity periodicity.

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Comparison Study between a Simple Sensorless Method and Adaptive Observer for DTC-SVM Five-Phase Induction Motor Drive

Comparison Study between a Simple Sensorless Method and Adap...

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IEEE Interantional Conference on Industrial Technology

作者： B. S. Khaldi H. Abu-Rub A. Iqbal R. Kennel M. O. Mahmoudi D. Boukhetala Department of Electrical Engineering Faculty of Science and Engineering Djelfa University Algeria Department of Electrical & Computer Engineering Texas A&M University at Qatar Doha Qatar Department of Electrical Engineering College of Engineering Qatar University Qatar Institute for Electrical Drive Systems and Power Electronics Technische Universitat Munchen Munich Germany Laboratory of Process Control National Polytechnic School Algiers Algeria

ISBN: (纸本)9781467303408;9781467303422

This paper highlights the differences between a simple sensorless method and an adaptive flux and speed observer for a five-phase induction motor control. The drive is controlled using space vector modulation direct torque control (DTC- SVM) approach. The power measurement used for speed computation is simple, with a minimum processor time and memory, and relatively robust against parameters variation when compared with the adaptive observer based approach. Simulation verification and real time implementation are presented in the paper.

关键词： direct torque control (DTC) space vector modulation (SVM) Five-phase induction machine speed sensorless power measurement adaptive observer

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High accuracy visual odometry using multi-camera systems

High accuracy visual odometry using multi-camera systems

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6th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing systems: Technology and Applications, IDAACS'2011

作者： Netramai, Chayakorn Roth, Hubert Sachenko, Anatoly Institute of Automatic Control Engineering Department of Electrical Engineering and Computer Science University of Siegen Hölderlinstr. 3 57076 Siegen Germany Department for Information Computer Systems and Control Ternopil National Economic University Peremoga Square Ternopil 46004 Ukraine

ISBN: (纸本)9781457714238

This work proposed an improvement for the visual odometry based on a new hardware design concept. Generally, a visual odometry system relies on one stereo camera to detect the 3D features which are used as input for the ego motion estimation process. However, such design usually faced with the motion ambiguity problem resulting in poor estimation of the ego motion. The proposed multi-camera system solves this problem using an intuitive hardware design that enables a simple yet effective way to eliminate the motion ambiguity problems. Experiment results show that the proposed system yields better ego motion estimation compared to the conventional single camera system. © 2011 IEEE.

关键词： Motion estimation

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Continuous control of blood glucose in TIDM using fuzzy logic controller in insulin pump: A simulation study

Continuous control of blood glucose in TIDM using fuzzy logi...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Maleki, Ali Geramipour, Arezou Semnan University Electrical and Computer Engineering Faculty Biomedical Engineering Department Iran Amirkabir University of Technology Biomedical Engineering Faculty Biological Systems Control Laboratory Iran

ISBN: (纸本)9781467316903

This paper presents a closed-loop control system for regulating blood glucose level in type-1 diabetic patients. The goals of designing controller are 1. avoidance of hypoglycemia (blood glucose concentrations should be above 3mmol/l) and 2. reduction in the blood glucose level (average blood glucose should be less than 7mmol/l) in diabetic patients. An intensive therapy for these patients is described by a continuous subcutaneous insulin infusion pump which mimics the natural insulin secretion in healthy person. The control algorithm uses experience of physicians to treat this disease by using Mamdani-type fuzzy logic controller (FLC). Robustness of this controller is tested by a group of diabetic patients models. Then to assess the performance and capabilities of fuzzy controller, the results of FLC were compared to PID controller for each diabetic patient. The results showed that FLC has a more stable response in presence of uncertainty in system parameters which can vary from patient to patient. © 2011 IEEE.

关键词： controllers

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On positive invariance for delay difference equations

On positive invariance for delay difference equations

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作者： Lombardi, Warody Olaru, Sorin Lazar, Mircea Niculescu, Silviu-Iulian Automatic Control Department DISCO Team INRIA France Laboratory of Signals and Systems SUPELEC-CNRS Gif-sur-Yvette France Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)9781457700804

In this paper a new concept of set invariance, called D-invariance, is introduced for dynamical systems described by delay difference equations. We will be interested in the definition and computation of such invariant sets in a specified bounded region of the state-space. The Minkowski algebra will be used to define mappings over the set of compact sets in direct relationship with the invariance of time-delay systems. Set-iterates based on these mappings can be used for the construction of a non-decreasing sequence of D-invariant sets. © 2011 AACC American automatic control Council.

关键词： Mapping

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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Knowledge-based diagnosis of process systems using procedure HAZID information

Knowledge-based diagnosis of process systems using procedure...

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Lecture Notes in computer Science

作者： Werner-Stark, Ágnes Németh, Erzsébet Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary School of Chemical Engineering University of Queensland Brisbane QLD Australia Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

ISBN: (纸本)9783642238536

Earlier investigations show that the results of hazard identification (HAZID) and analysis (e.g. HAZOP or FMEA) can effectively be used for knowledge-based diagnosis of complex process systems in their steady-state operation. In order to extend this approach for transient operating conditions controlled by operating procedures, the notion of nominal input-output event sequences of qualitative signals has been introduced, and the deviations used in the procedure HAZID analysis have been defined therefrom. The diagnosis can then be performed algorithmically by matching the deviation sequences of the observed input-output event sequences and the nominal ones generated by qualitative dynamic models. The concepts and methods are illustrated using a simple case study consisting of a simple tank, controlled by an operating procedure. © 2011 Springer-Verlag.

关键词： Hazards

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