检索结果-内蒙古大学图书馆

Robust H ∞ observers for uncertain time-delay systems: (II) the discrete-time case

IFAC Proceedings Volumes 1999年第2期32卷 3432-3437页

作者： Zidong Wang Biao Huang H. Unbehauen Systems and Control Group Department of Mathematics University of Kaiserslautern P.O. Box 3049 D-67653 Kaiserslautern Fax: ++49/631 205 3052 Germany Department of Chemical and Materials Engineering University of Alberta Edmonton Alberta T6G 2G6 Canada Automatic Control Laboratory Faculty of Electrical Engineering Ruhr-University Bochum D-44780 Bochum Germany

In this note we consider the problem of H ∞ observer design for a class of uncertain linear discrete-time systems with delayed state and parameter uncertainties. The goal of this problem is to design a linear state observer such that, for the positive integer state time-delay and all admissible norm-bounded parameter uncertainties, the observation process remains robustly stable and the transfer function from exogenous disturbances to error state outputs meets the prespecified H ∞ norm upper bound constraint. The observer structure does not depend on the parameter uncertainties. A simple, effective algebraic methodology is developed to derive the conditions for the existence of the desired robust H ∞ observers, and the analytical expression of these observers is then characterized in terms of the matrix Riccati-like equations/inequalities. We provide a numerical example to demonstrate the validity and the applicability of the proposed approach.

关键词： Linear systems Uncertainty Time-delay Observers H-infinity control Robust stability

来源：评论

学校读者我要写书评

暂无评论

Robust H ∞ observers for uncertain time-delay systems: (I) the continuous-time case

引用

IFAC Proceedings Volumes 1999年第2期32卷 3426-3431页

作者： Zidong Wang Biao Huang H. Unbehauen Systems and Control Group Department of Mathematics University of Kaiserslautem P.O. Box 3049 D-67653 Kaiserslautern Fax: ++49/631 205 3052 Germany Department of Chemical and Materials Engineering University of Alberta Edmonton Alberta T6G 2G6 Canada Automatic Control Laboratory Faculty of Electrical Engineering Ruhr-University Bochum D-44780 Bochum Germany

This note deals with the problem of H ∞ observer design for a class of uncertain linear systems with delayed state and parameter uncertainties. This problem aims at designing the linear state observers such that, for all admissible parameter uncertainties, the observation process remains robustly stable and the transfer function from exogenous disturbances to error state outputs meets the prespecified H ∞ on norm upper bound constraint, independently of the time-delay. The time-delay is assumed to be small but unknown, and the parameter uncertainties are allowed to be norm-bounded and appear in all the matrices of the state-space model. An effective matrix inequality methodology is developed to solve the proposed problem. We derive the conditions for the existence of the desired robust H ∞ observers, and then characterize the analytical expression of these observers. A numerical example demonstrates the validity and applicability of the present approach.

关键词： Linear systems Uncertainty Time-delay Observers H-infinity control Robust stability

来源：评论

学校读者我要写书评

暂无评论

Multivariable controller tuning

Multivariable controller tuning

引用

1998 American control Conference, ACC 1998

作者： Johansson, Karl H. James, J. Ben Bryant, Greyham F. Åström, Karl J. Department of Automatic Control Lund Institute of Technology Box 118 S-221 00 Lund Sweden Exposure Management Bank of America Elmfield Road Bromley London 113277 United Kingdom Industrial Systems Group Centre for Process Systems Engineering Imperial College of Science Technology and Medicine Exhibition Road London SW7 BT United Kingdom

ISBN: (纸本)0780345304

The problem of tuning individual loops in a multivari-able controller is investigated. It is shown how the performance of a specific loop relates to a row in the controller matrix. Several interpretations of this relation are given. An algorithm is also presented that estimates the model required for the tuning via a relay feedback experiment. The algorithm does not need any prior information about the system or the controller. The results are illustrated by an example. © 1998 AACC.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Adaptivity in Human-Computer Interface systems: Identifying User Profiles for Personalised Support

引用

IFAC Proceedings Volumes 1998年第26期31卷 407-412页

作者： M. Dimitrova G. Johannsen H.A. Nour Eldin J. Zaprianov M. Hubert Institute of Control and System Research Bulgarian Academy of Sciences PB 79 1113 Sofia Bulgaria Laboratory for Systems Engineering and Human-Machine Systems (IMAT-MMS) University of Kassel D-34109 Kassel Germany Group of Automatic Control and Technical Cybernetics atk D-42097 Wuppertal Germany

Adaptivity for user "personalised" support is viewed as complementary to systems for cognitive support and is related to the following aspects of user modelling: individual user profile, user style/state diagnosis, context of work and mental workload prediction. The paper reports the results of an empirical study revealing a particular kind of contextual influences on user behaviour, namely, the freedom to choose the set of operations to be performed from a larger set of tasks, valid for all users at the basic skill level of performance. Stability of patterns was found on the level of minimal reaction times (RTs), but not on the level of mean RTs. Neural networks successfully generalised the minimal RT profiles across contexts.

关键词： User interfaces human-centered design mental workload interface adaptation monitoring neural networks

来源：评论

学校读者我要写书评

暂无评论

Multivariable controller tuning

Multivariable controller tuning

引用

American control Conference (ACC)

作者： K.H. Johansson B. James G.F. Bryant K.J. Astrom Department of Automatic Control Lund Institute of Technology Lund Sweden Exposure Management Bank of America London UK Industrial Systems Group Centre for Process Systems Engineering Imperial College of Science Technology and Medicine London UK

The problem of tuning individual loops in a multivariable controller is investigated. It is shown how the performance of a specific loop relates to a row in the controller matrix. Several interpretations of this relation are given. An algorithm is also presented that estimates the model required for the tuning via a relay feedback experiment. The algorithm does not need any prior information about the system or the controller. The results are illustrated by an example.

关键词： Relays automatic control control systems Tuning Electrical equipment industry Industrial control Feedback Costs Industrial economics Performance gain

来源：评论

学校读者我要写书评

暂无评论

Thermal influence on mild steel behaviour during a crash event

引用

International Journal of Crashworthiness 1998年第2期3卷 163-190页

作者： Ducrocq, P. Markiewicz, E. Harmand, S. De Luca, P. Drazetic, P. Mustrial and Human Automatic control Mechanical Engineering Laboratory Mechanical Engineaing Research Group France Mechanical and Energetical Design Systems Research Group URA CNRS D1775 University of Valenciennes Valenciennes B.P. 311 - 59304 France ESI GROUP Rungis 94578 20 rue Saarinen SILIC 270 France

Large dynamic plastic strain processes induce increase in temperature in materials. Strain rates are estimated by dynamic uniaxial tensile tests on mild steel using the heat equation and an infrared video camera which detects increase in temperature. The results given by different measuring technologies are in good correlation A thermo-viscoplastic constitutive model is proposed and implemented in the FE PAM-CRASH™ code. The parameters of this thermo-viscoplastic constitutive model are determined and the numerical implementation is checked by comparing experimental results and numerical simulation. The thermal influence on the mechanical behaviour is studied from dynamic axial crushing of thin-walled structures. © 1998 Taylor and Francis group LLC.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A genetic approach to motion planning of redundant mobile manipulator systems considering safety and configuration

引用

Journal of Field Robotics 1998年第7期14卷

作者： Mingwu Chen Ali M. S. Zalzala Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

This article presents a genetic algorithm approach to multi-criteria motion planning of mobile manipulator systems. For mobile robot path planning, traveling distance and path safety are considered. The workspace of a mobile robot is represented as a grid by cell decomposition, and a wave front expansion algorithm is used to build the numerical potential fields for both the goal and the obstacles. For multi-criteria position and configuration optimization of a mobile manipulator, least torque norm, manipulability, torque distribution and obstacle avoidance are considered. The emphasis of the study is placed on using genetic algorithms to search for global optimal solutions and solve the minimax problem for manipulator torque distribution. Various simulation results from two examples show that the proposed genetic algorithm approach performs better than the conventional methods.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Dynamic modelling and genetic-based trajectory generation for non-holonomic mobile manipulators

引用

control engineering PRACTICE 1997年第1期5卷 39-48页

作者： Chen, MW Zalzala, AMS Robotics Research Group Department of Automatic Control and Systems Engineering The University of Sheffield UK

An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for the mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented method.

关键词： robotics trajectory planning genetic algorithms dynamics obstacle avoidance

来源：评论

学校读者我要写书评

暂无评论

A nonlinear GPC algorithm (NLGPC) for muscle relaxant anaesthesia 4

A nonlinear GPC algorithm (NLGPC) for muscle relaxant anaest...

引用

4th European control Conference, ECC 1997

作者： Mahfouf, M. Linkens, D.A. Dynamics and Control Group Manchester School of Engineering University of Manchester Oxford Road ManchesterM13 9PT United Kingdom Intelligent Systems Group Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldSI 3JD United Kingdom

ISBN: (纸本)9783952426906

The popular Generalised Predictive control (GPC) algorithm is used to derive a discrete-time nonlinear predictive controller for muscle relaxant anaesthesia, in a Wiener structure form, and which exhibits strong nonlinearities as well as varying dead-time and dynamics due to patient-topatient variability. The proposed controller minimises the GPC quadratic performance index taking into account the nonlinear output predictions obtained using linear predictions of the linear part inferred using the inverse of the nonlinear function. The minimisation problem is solved using numerical search methods such as Genetic Algorithms. Moreover, variations in the model dynamics are estimated using a Recursive Least-Squares estimation algorithm (RLS). The proposed scheme is shown to be superior to the linear GPC algorithm even in the case of a significant mismatch between the assumed model nonlinearity and that in the actual process.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Evolutionary Optimisation for Robot Motion

引用

IFAC Proceedings Volumes 1997年第3期30卷 179-184页

作者： A.S. Rana A.M.S. Zalzala Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield SI 3JD UK

This paper presents a detailed analysis of a motion planner based on genetic algorithms for collision free motion planning of robotic manipulators through simulation. The problem is formulated for a 2-DOF planar manipulator moving in the presence of a static circular obstacle in its operational space. The algorithm is then extended to 3-DOF planar manipulator moving among multiple static obstacles.

关键词： Genetic algorithms robotic manipulators optimised collision free motion planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：