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IEEE Conference on Decision and control

作者： S. Syafiie F. Tadeo E. Martinez Department of System Engineering and Automatic Control Faculty of Sciences University of Valladolid Prado de la Magdalena s/n 47011 Valladolid Spain (email: syam@autom.uva.es). Department of System Engineering and Automatic Control University of Valladolid Valladolid Spain Consejo Nacional de Investigaciones Cientificas y Technicas Santa Fe Argentina

ISBN: (纸本)0780395670

MFIC (Model-Free Intelligent control) is a technique, based on Reinforcement Learning, previously proposed by the authors to control processes without needing a precalculated model. In standard reinforcement learning algorithms (including MFIC), the interaction between an agent and the environment is based on a fixed time scale: during learning, the agent can select several primitive actions depending on the system state. This creates the problem of selecting a suitable fixed time scale to select control actions, to trade off accuracy in control against learning complexity and flexibility. A novel solution to this problem is presented in this paper: Macro-actions, that incorporate a general closed-loop policy and temporal extended actions. The application of macro actions on a laboratory plant of pH process shows that the proposed MFIC learns to control adequately the neutralization process, with reduced computational effort.

关键词： Intelligent control Learning Process control Size control Laboratories Signal processing Stochastic processes systems engineering and theory automatic control Iron

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Self Calibrating Procedure for a 3D Force Observer

Self Calibrating Procedure for a 3D Force Observer

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IEEE Conference on Decision and control

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University. Campus Las Lagunillas Jaen Spain Dept. of Automatic Control Lund University Lund Sweden System Engineering and Automation Department Jaen University Jaen Spain

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Manipulator dynamics Robot sensing systems Service robots Force measurement Torque measurement Wrist End effectors Fuses Accelerometers

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control OF POWER systemS WITH FACTS DEVICES CONSIDERING DIFFERENT LOAD CHARACTERISTICS

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IFAC Proceedings Volumes 2005年第1期38卷 239-244页

作者： Ingo Winzenick Michael Fette Joachim Horn Helmut-Schmidt-University / University of the Federal Armed Forces Hamburg Department of Electrical Engineering Institute of Automatic Control Engineering Holstenhofweg 85 D–22043 Hamburg Germany System & Dynamik Beratungsunternehmen Tempelhoferstraße 37 D–33100 Paderborn Germany

Power systems form one of the largest and most complex technical systems. Changes of load parameters may lead to so called bifurcations, resulting in nonlinear phenomena like voltage collapse or interarea oscillations. Special software tools are able to simulate these systems and to identify bifurcations. This paper presents a systematic approach to determine gain factors of Flexible AC Transmission Devices (FACTS) considering changes of load parameters. This approach is applied to two different power system models.

关键词： Nonlinear systems Power systems Load Model Voltage Collapse Critical Points Hopf Bifurcation

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DYNAMIC MODELLING FOR CONDITION MONITORING OF GAS TURBINES: GENETIC ALGORITHMS APPROACH

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IFAC Proceedings Volumes 2005年第1期38卷 739-742页

作者： T.V. Breikin G.G. Kulikov V.Y. Arkov P.J. Fleming Control System Centre School of Electrical and Electronic Engineering University of Manchester Manchester M60 1QD UK Department of Automated Control Systems Ufa State Aviation Technical University K. Marx Street 12 Ufa 450000 Russia Department of Automatic Control & Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK

The problem of model-based condition monitoring of aero gas turbine engines is considered. Genetic algorithms are applied for the dynamic modelling of aero engines by estimating parameters of the linear reduced-order model. The use of genetic algorithms affords flexibility in the choice of performance metrics. Real engine data is used to investigate the performance genetic algorithms and this approach is compared with traditional modelling techniques used in industry.

关键词： Aero engines genetic algorithms condition monitoring

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Sensor fusion of force and acceleration for robot force control

Sensor fusion of force and acceleration for robot force cont...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Gámez García, J. Robertsson, A. Gómez Ortega, J. Johansson, R. Department of Automatic Control Lund University Lund Sweden System Engineering Department Jaen University Jaen Spain

ISBN: (纸本)0780384636

In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncertain models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. A model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force control

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Clearance of flight control laws using linear fractional transformations

Clearance of flight control laws using linear fractional tra...

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Collection of Technical Papers - AIAA Guidance, Navigation, and control Conference

作者： Gunnarsson, Karin Ståhl Hansson, Jörgen Karlsson, Fredrik Hansson, Anders Wallin, Ragnar Saab AB SE-581 88 Linköping Sweden Linköping University SE-581 83 Linköping Sweden Flight Control System Department Division of Automatic Control Department of Electrical Engineering

ISBN: (纸本)1563476703

The problem of flight clearance of linear stability requirements in the complete flight envelope is studied. The approach is to use μ-analysis of linear fractional transformations description of the systems dynamics augmented with an uncertainty model of the clearance criteria. Two methods to derive the linear fractional transformations are used and compared: the Trends and Bands method and rational approximations. The two approaches are applied to a DAY demonstrator model. The resulting models are analyzed by μ-sensitivities in order to demonstrate how this can be used to reduce the order of the linear fractional transformations description. A number of algorithms to compute upper and lower bounds on n are also compared. Results from applying the clearance criteria to the UAV demonstrator model are given.

关键词： Flight dynamics

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Robust static output feedback for discrete-time systems - LMI approach

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Periodica Polytechnica Electrical engineering 2004年第3-4期48卷 151-163页

作者： Rosinová, D. Veselý, V. Department of Automatic Control System Slovak University of Technology Faculty of Electrical Engineering and IT Bratislava Slovakia

Two novel linear matrix inequality (LMI) based procedures to receive a stabilizing robust output feedback gain are presented, one of them being a modification of previous results of OLIVEIRA et al., [5]. The proposed robust control law stabilizes the respective uncertain discrete-time system described by a polytopic model with guaranteed cost. The obtained results are compared with other LMI results from literature and illustrated on an example.

关键词： Discrete time control systems

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Optimizing the structure of hierarchical mixture of experts using genetic algorithms

Optimizing the structure of hierarchical mixture of experts ...

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2004 2nd International IEEE Conference 'Intelligent systems' - Proceedings

作者： Karras, Dimitrios A. Vlitakis, Constantinos E. Boutalis, Yiannis S. Mertzios, Basil G. Chalkis Institute of Technology Dept. Automation Hellenic Open University Rodou 2 Ano Iliupolis Athens 16342 Greece Democritus University of Thrace Dept. Electrical Engineering 67100 Xanthi Greece Department of Automation Thessaloniki Inst. Technol. Thessaloniki Hellas Democritus University Lab. of Automatic Control System Xanthi Hellas

ISBN: (纸本)0780382781

This study is an effort to give a practical solution in the problem of optimizing the structure of the Hierarchical Mixture of Experts model, which is a natural extension of the Associative Gaussian Mixture of Experts system. We present two novel methods for optimizing such structures using Genetic Algorithms. Special concern is taken for reducing the computational time so as to efficiently allow the structure to "grow" while it evolves with the Genetic Algorithm. The main contribution of the paper lies on the efficient, topologically oriented, representations of such architectures so as to be optimized through involving genetic algorithms.

关键词： Expert systems

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Investigation of Genetic Algorithms On-Line Application for Aero Engine Modelling and Condition Monitoring

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IFAC Proceedings Volumes 2004年第6期37卷 1043-1047页

作者： T.V. Breikin G.G. Kulikov V.Y. Arkov H.A. Thompson P.J. Fleming Automatic Control and System Engineering Department The University of Sheffield Mappin Str. Sheffield SI 3JD. UK Department of Automated Control Systems Ufa State Aviation Technical University K. Marx Street 12 Ufa 450000 Russia.

In this paper an application of genetic algorithms for on-line multi-objective optimisation is considered. Two different multi-objective evolutionary computational techniques are implemented for optimal selection of gas turbine engine real-time model structure. The real engine data was used for identification and optimisation of the engine model parameters. The results of genetic algorithm application for engine model on-line optimisation are discussed.

关键词： aerospace optimisation genetic algorithms

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The Displacement of Quatrupedal Walking Robots

The Displacement of Quatrupedal Walking Robots

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第十一届IFTOMM世界大会

作者： Ion Ion Ion Simionescu Adrian Curaj Technology of Machine Manufacturing Dept.POLITEHNICA University Splaiul Independentei no. 313 Bucharest Romania Mechanism and Robot Theory Dept POLITEHNICA University Splaiul Independentei no. 313 Bucharest Romania Automatic Control and System Engineering Department POLITEHNICA University Splaiul Independentei no. 313 Bucharest Romania

The main characteristic of the walking robots is that they are able to move away on not arranged, horizontal and rough terrain. The movement of the walking robots can be divided in two modes: - under condition of the static stability, - under condition of the dynamic stability. The loss of static or quasi-static stability may be produced in two cases, namely: - the vertical projection of the gravity center is out of support polygon, - one or more tangential components of reaction forces from support points are greater than the friction forces. The movement of the walking robot under dynamical stability conditions may be realized when the forward average speed is greater than a certain limit. In the work are analyzed the possibilities of determination of the limit conditions for the stable displacement of the quadrupedal walking robots.

关键词： Walking robot, Force distribution in walking robot structure, Stability of walking robot

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