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IEEE International Conference on systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots Robotics and automation Humans Graphics Virtual environment Machine vision Computer science Augmented virtuality

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IMPLEMENTATION OF CONSTRAINED PREDICTIVE OUTER-LOOP controlLERS: APPLICATION TO A BOILER control SYSTEM

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IFAC Proceedings Volumes 2002年第1期35卷 145-150页

作者： Fernando Tadeo Teresa Alvarez Mike Grimble Ramon Vilanova Departamento de Ingenieria de Sistemas y Automática Facultad de Ciencias. Universidad de Valladolid. 47011 Valladolid Spain Tlf:+34 983 423566 Fax:+34 983 423161 Industrial Control Centre Strathclyde University United Kingdom Automatic Control and Systems Engineering Group Dept. of Computer Science Universitat Autonoma de Barcelona 08193 Bellaterra – Barcelona Spain

This paper addresses the problem of implementing predictive controllers for supervisory level control systems. In this configuration the manipulated variables calculated by the Predictive controller are used as command signals for the Distributed control systems, which provide references to the operator-tuned local PID controllers that act on the physical system. This structure introduces the problem of loosing of performance if the inner-loop controllers are re-tuned. The paper discusses the solution to this problem based on the use of a two-degrees-of-freedom structure in the inner loop, that separates open and closed-loop properties. Both design guidelines and robustness issues are discussed.

关键词： Supervisory control Predictive control

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Intelligent switching control of nonlinear non-minimum phase relative degree two systems 6

Intelligent switching control of nonlinear non-minimum phase...

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6th European control Conference, ECC 2001

作者： Mareczek, Jörg Hecker, Simon Buss, Martin Institute of Automatic Control Engineering Technische Universität München Germany Control Systems Group Technical University Berlin Germany

ISBN: (纸本)9783952417362

In this paper we extend earlier results on Invariance control to the special class of nonlinear control input affine systems with relative degree two. A switching strategy for control parameters and an easy to calculate invariance region together form an intelligent switching Invariance controller, achieving asymptotic stability for the controlled dynamics and positive invariance of a prescribed bounded state space region. Experiments with an underactuated robot show the applicability of the proposed theory. © 2001 EUCA.

关键词： Switching

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Rollover avoidance for steerable vehicles by invariance control 6

Rollover avoidance for steerable vehicles by invariance cont...

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6th European control Conference, ECC 2001

作者： Wollherr, Dirk Mareczek, Jörg Buss, Martin Schmidt, Günther Control Systems Group Technical University Berlin Sekr. EN 11 Einsteinufer 17 BerlinD-10587 Germany Institute of Automatic Control Engineering Technische Universität München MünchenD-80290 Germany

ISBN: (纸本)9783952417362

In this paper we address the problem of vehicle rollover avoidance control by applying the novel control method of Invariance control which allows a nonlinear and non smooth controller design together with a formal proof of stability. The presented strategy leaves a maximum degree of freedom for steering to the driver. In addition a time-discrete rollover avoidance controller suitable for implementation is derived, which is both, robust and real-time computable. We validate the proposed approach by hardware-in-the-loop simulations of the nonlinear vehicle with a human driver in the loop, using a force feedback steering device. © 2001 EUCA.

关键词： Automobile steering equipment

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Intelligent switching control of nonlinear non-minimum phase relative degree two systems

Intelligent switching control of nonlinear non-minimum phase...

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European control Conference (ECC)

作者： Jörg Mareczek Simon Hecker Martin Buss Institute of Automatic Control Engineering Technische Universität München Control Systems Group Technical University Berlin

关键词： Switches Trajectory Asymptotic stability Aerospace electronics Joints Robots

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Rollover avoidance for steerable vehicles by invariance control

Rollover avoidance for steerable vehicles by invariance cont...

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European control Conference (ECC)

作者： Dirk Wollherr Jörg Mareczek Martin Buss Günther Schmidt Control Systems Group Technical University Berlin Berlin Germany Institute of Automatic Control Engineering Technische Universität München München Germany

关键词： Vehicles Vehicle dynamics Wheels Load modeling Switches Dynamics

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Invariance control of normal forms with input driven internal dynamics

Invariance control of normal forms with input driven interna...

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American control Conference (ACC)

作者： J. Mareczek M. Buss M.W. Spong Institute of Automatic Control Engineering Technische Universität München Munchen Germany Control Systems Group Technische Universität Berlin Berlin Germany University of Illinois Urbana-Champaign Urbana-Champaign IL USA

This paper addresses the problem of making a given state space region positively invariant while guaranteeing global exponential stability for a class of systems with reduced relative degree in normal form where the control variable appears in the internal dynamics. The linear subsystem is globally exponentially stabilized by a dissipativity approach. This allows the freedom to switch one control parameter at arbitrary times which is used to control a state space region positively invariant. A design method for the resulting invariance controller and the state space region is presented. The presented theory is evaluated by simulations of a peaking system.

关键词： control systems State-space methods Stability automatic control Switches Linear feedback control systems Nonlinear control systems systems engineering and theory Design methodology Input variables

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Initial Design of a Virtual Machine to Play Grafcet Models

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IFAC Proceedings Volumes 2000年第17期33卷 41-46页

作者： Xoán C. Pardo Martínez Ramón Ferreiro García Systems Engineering & Automatic Control Group Electronics & Systems Department. University of A Coruña E.S. Marina Civil Paseo de Ronda 5. 15011 A Coruila

This paper introduces the architecture of a virtual machine designed to play Grafcet models. The architecture proposed is highly flexible and can be used to implement different types of Grafcet players. In addition, many of the variable aspects considered when playing a Grafcet can be completely redefined, even changed dynamically. An object-oriented static meta-model for the Grafcet language is also introduced.

关键词： design patterns discrete event dynamic systems (DEDS) Grafcet object oriented meta-model unified modeling language (UML) virtual machine (VM)

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An Object-Oriented Static Meta-Model for Sequential Function Charts

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IFAC Proceedings Volumes 2000年第24期33卷 113-118页

作者： Xoan C. Pardo Martlnez Ramon Ferreiro Garcia Systems Engineering & Automatic Control Group. University of A Coruña E.S. Marina Civil Paseo de Ronda 51. 15011 A Coruña

This paper introduces an object oriented static meta-model for Sequential Function Charts (SFC). This meta-model is being implemented as part of a visual programming tool for the development of distributed control sof... 详细信息

关键词： grafcet object oriented meta-model sequential function charts (SFC)

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Maximum likelihood estimation of models with unstable dynamics and nonminimum phase noise zeros

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IFAC Proceedings Volumes 1999年第2期32卷 3784-3789页

作者： Urban Forssell Håkan Hjalmarsson Division of Automatic Control Department of Electrical Engineering Linköping University S-581 83 Linköping Sweden Signal Processing Group Department of Signals Sensors and Systems Royal Institute of Technology S-100 44 Stockholm Sweden

Maximum likelihood estimation of single-input single-output linear time-invariant dynamic models requires that the model innovation (the nonmeasurable white noise source that is assumed to be the source of the randomness of the system) can be computed from the observed data. For many model structures, the prediction error and the model innovation coincide and the prediction error can be used in maximum likelihood estimation. However, when the model dynamics and the noise model have unstable poles which are not shared or when the noise dynamics have unstable zeros this is not the case. One such example is an unstable output error model. In this contribution we show that in this situation the model innovation can be computed by noncausal filtering. Different implementations of the model innovation filter are also studied.

关键词： Identification Output error identification Prediction error methods Maximum likelihood estimators Innovation Spectral factorization

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