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Adaptive fuzzy sliding-mode control for non-minimum phase overload system of zmissile

作者： Bao, Yongping Du, Wenchao Tang, Daquan Yang, Xiuzhen Yu, Jinyong School of Mathematics and Information Lu Dong University Yantai 264001 China Graduate Students' Brigade Naval Aeronautical Engineering Institute Yantai 264001 China Special Missiles Representatives Office Beijing of Military Representatives Bureau of NED in Tianjin Beijing 100076 China School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100083 China Department of Automatic Control Engineering Naval Aeronautical Engineering Institute Yantai 264001 China

ISBN: (纸本)3540372555

An adaptive fuzzy logic system is incorporated with the Varibale Structure control (VSC) system for the purpose of improving the performance of the control system. A sliding surface with an additional tunable parameter is defined as a new output based on the idea of output redefinition, as a result the overload system of missile with the characteristic of non-minimum phase can be transformed into minimum-phase system by tuning the parameters of the sliding surface, and a sliding-mode controller can be designed. For the existence of uncertainty of the parameters, a fuzzy logic system is used to approximate it, thus the chattering effects can be alleviated. Finally, the simulation results have been given to show the effectiveness of the proposed control scheme. © Springer-Verlag Berlin/Heidelberg 2006.

关键词： Fuzzy logic

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Robust Motion/Force control of Holonomic Constrainted Nonholonomic Mobile Manipulators using Hybrid Joints

Robust Motion/Force Control of Holonomic Constrainted Nonhol...

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World Congress on Intelligent control and automation (WCICA)

作者： Jun Luo Zhijun Li Aiguo Ming Shuzhi Sam Ge School of Mechatronics Engineering & Automation Shanghai University Shanghai China Department of Mechanical & Control Engineering University of Electro-Communications Tokyo Japan Department of Electrical & Computer Engineering National University of Singapore Singapore

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. Robust controls are proposed based on a simplified dynamic model, the defined reference signals and the mixed tracking errors. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Constraint force control is developed, which does not utilize force feedback control but is based on the passivity of hybrid joint. Experiment results validate not only the states of the system asymptotically converge to the desired trajectory but also the constraint force asymptotically converges to the desired force

关键词： Robust control Force control Manipulator dynamics Uncertainty control systems Trajectory Neural networks Motion control Adaptive control Uncertain systems

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Timed Petri Nets Modelling of High-Throughput Screening process for Fault Study

Timed Petri Nets Modelling of High-Throughput Screening Proc...

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Annual Conference of Industrial Electronics Society

作者： Tao Hong Mo-Yuen Chow Advanced Diagnosis Automation and Control Lab Electrical & Computer Engineering Department North Carolina State University Raleigh NC USA

To perform fault studies (e.g., fault detection, diagnosis, and mitigation) via Internet for a remote automation line, operation time is an important feature/symptom for human supervisors. This paper introduces the application of timed Petri nets (TPN) to model a high-throughput screening (HTS) process, and extends the timed transition based on the dynamics of the automated process. This paper describes the design methodologies of TPN to model the dynamics of the HTS process with and without anomalies. Finally, both healthy and faulty conditions of an automated biological/chemical screening line are simulated in Matlab/Simulink to demonstrate the effectiveness of the proposed TPN modelling

关键词： Petri nets Mathematical model Biological system modeling High temperature superconductors Fault detection Fault diagnosis Internet automation Humans Design methodology

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Plant-wide (BSM2) evaluation of reject water treatment with a SHARON-anommox process

Plant-wide (BSM2) evaluation of reject water treatment with ...

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作者： Volcke, Eveline I.P. Gernaey, K.V. Vrecko, Darko Jeppsson, Ulf Van Loosdrecht, M.C.M. Vanrolleghem, Peter A. BIOMATH Department of Applied Mathematics Biometrics and Process Control Ghent University Coupure Links 653 B-9000 Gent Belgium Department of Industrial Electrical Engineering and Automation Lund University PO Box 118 SE-22100 Lund Sweden Department of Chemical Engineering Technical University of Denmark Building 229 DK-2800 Kgs. Lyngby Denmark Department of Systems and Control Jožef Stefan Institute Jamova 39 SI-1000 Ljubljana Slovenia Department of Biochemical Engineering Delft University of Technology Julianalaan 67 NL-2628 BC Delft Netherlands ModelEAU Département de Génie Civil Université Laval Pavillon Pouliot Québec QC G1K 7P4 Canada

ISBN: (纸本)1843395835

In wastewater treatment plants (WWTPs) equipped with sludge digestion and dewatering systems, the reject water originating from these facilities contributes significantly to the nitrogen load of the activated sludge tanks, to which it is typically recycled. In this paper, the impact of reject water streams on the performance of a WWTP is assessed in a simulation study, using the Benchmark Simulation Model no. 2 (BSM2), that includes the processes describing sludge treatment and in this way allows for plant-wide evaluation. Comparison of performance of a WWTP without reject water with a WWTP where reject water is recycled to the primary clarifier, i.e. the BSM2 plant, shows that the ammonium load of the influent to the primary clarifier is 28% higher in the case of reject water recycling. This results in violation of the effluent total nitrogen limit. In order to relieve the main wastewater treatment plant, reject water treatment with a combined SHARON-Anammox process seems a promising option. The simulation results indicate that significant improvements of the effluent quality of the main wastewater treatment plant can be realized. An economic evaluation of the different scenarios is performed using an Operating Cost Index (OCI). © IWA Publishing 2006.

关键词： Wastewater treatment

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ANALYSIS OF FRACTIONAL - ORDER ROBOT AXIS DYNAMICS

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IFAC Proceedings Volumes 2006年第11期39卷 367-372页

作者： J.M. Rosario D. Dumur J.A. Tenreiro Machado Laboratory of Automation and Robotics - Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 – Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics.

关键词： Mechatronics Robotics Simulation Dynamics control Fractional calculus

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Editorial Special Issue on Life Science automation

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IEEE Transactions on automation Science and engineering 2006年第2期3卷 137-140页

作者： M. Zhang R.A. Felder E.S. Kim B. Nelson B.L. Pruitt Y.F. Zheng D. Meldrum Agilent Technologies Palo Alto CA USA Medical Automation Research Center University of Virginia Health System Charlottesville VA USA Department of Electrical Engineering University of Southern California Los Angeles CA USA Department for Mechanical and Process Engineering ETH Zürich Zürich Switzerland Department of Mechanical Engineering Stanford University Stanford CA USA Department of Electrical and Computer Engineering The Ohio State University Columbus OH USA Department of Electrical Engineering University of Washington Seattle WA USA

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Multi-agent-based Auctions for Multi-robot Exploration

Multi-agent-based Auctions for Multi-robot Exploration

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World Congress on Intelligent control and automation (WCICA)

作者： Xia Ma Fang Meng Yibin Li Weidong Chen Yugeng Xi Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiaotong University Shanghai China Centre for Robotics Department School of Control Science and Engineering Shandong University Jinan Shandong China

Aiming at improving the efficiency of the multi-robot exploration, this paper presents a novel auction algorithm based on the contact net protocol of the multi-agent theory. On the basis of the analysis of the limitations of the usual auction methods to the multi-robot exploration, the contract net protocol in the multi-agent theory is presented to design a completely distributive structure for the multi-robot exploration in order to increase the tolerance and reliability of the whole system. Then an improved multi-round single-item auction algorithm is presented to assign the frontiers to the multiple robots effectively. The theoretical analysis and the simulation experiments prove that the algorithm can lead to the effective coordination of multi-robot exploration with the decreasing computation compared to the combinatorial auctions

关键词： Robot kinematics Protocols Robustness Robotics and automation Computational modeling Educational robots Automatic control control engineering education Contracts Reliability theory

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Comparison of linear and non-linear PLS methods for soft-sensing of an SBR for nutrient removal

Comparison of linear and non-linear PLS methods for soft-sen...

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3rd Biennial Meeting of the International Environmental Modelling and Software Society: Summit on Environmental Modelling and Software, iEMSs 2006

作者： Villez, K. Lee, D.S. Rosen, C. Vanrolleghem, P.A. BIOMATH Department of Applied Mathematics Biometrics and Process Control Ghent Univeristy Coupure Links 653 B-9000 Gent Belgium Department of Environmental Engineering Kyungpook National University Sankyuk-dong Buk-gu Daegu 702-701 Korea Republic of IEA: Department of Industrial Electrical Engineering and Automation Lund University LTH SE-221 00 Lund Sweden ModelEAU: Département de Génie Civil Pavillon Pouliot Université Laval Québec QC G1K 7P4 Canada

ISBN: (纸本)1424308526

Despite of promising results in research, advanced control strategies fail to gain trust in wastewater treatment practice. Due to the sensitivity of the biological processes to disturbances, operators are often unable to find the causes of faults due to the lack of effective real-time on-line monitoring. Strategies for on-line monitoring are therefore essential to enhance biological process control. Therefore, a suitable multivariate soft-sensor is desired for fault detection and control for a pilot-scale sequencing batch reactor (SBR) system to allow effluent quality to be estimated well before off-line analysis is finished. For this purpose, several multivariate methods are available, including (linear) partial least squares (PLS), Neural Net PLS (NNPLS) and Kernel PLS (KPLS). While non-linear extensions of PLS such as NNPLS require fitting of non-linear functions, KPLS does not. KPLS is based on a non-linear transformation of the process data, followed by the fitting of a linear PLS model between the transformed inputs and outputs. PLS, NNPLS and KPLS were compared regarding their ability to predict effluent quality data and their computational requirements. While (linear) PLS and NNPLS lead to acceptable prediction, KPLS results in poor model performance. Moreover, the computational requirement of KPLS were large compared to PLS and NNPLS. When comparing PLS and NNPLS to each other, it was found that NNPLS leads to the best possible prediction given the experimental data set, while the extra computational requirements are minimal.

关键词： Neural networks

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Towards an Approach for the Verification of Downtimeless System Evolution

Towards an Approach for the Verification of Downtimeless Sys...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Christoph Sunder Bernard Favre-Bulle Valeriy Vyatkin Automation and Control Institute (ACIN) University of Technology Vienna Vienna Austria Department of Electrical and Computer Engineering University of Auckland Auckland New Zealand

This paper presents ongoing work focused on dynamic reconfiguration of industrial automation systems as a part of their total life cycle. Modification of the control logic has to be enabled at runtime and without any disturbances of related applications. The epsivCEDAC engineering cycle for dynamic system evolution is based on the use of an IEC 61499 reconfiguration application responsible for the dynamic transformation of the program during its execution. The verification of this evolution step takes the central role in this engineering cycle. The paper discusses the general requirements for this kind of verification. Especially the capabilities of the automation system - the used hardware and software - form a major point. The paper describes the basic concepts and ongoing work regarding the verification of downtimeless system evolution.

关键词： IEC standards Automatic control control systems electrical equipment industry Industrial control Reconfigurable logic Runtime Hardware Manufacturing automation Systems engineering and theory

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Observer-based direct adaptive fuzzy-neural control for anti-lock braking systems

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International Journal of Fuzzy Systems 2006年第4期8卷 208-218页

作者： Chen, Guan-Ming Wang, Wei-Yen Lee, Tsu-Tian Tao, C.W. Institute of Automation Technology National Taipei University of Technology Taipei Taiwan Department of Electrical and Control Engineering National Chiao Tung University Taipei Taiwan National Taipei University of Technology Taipei Taiwan Department of Electrical Engineering National I-Lan University I-Lan Taiwan

In this paper, an observer-based direct adaptive fuzzy-neural controller (ODAFNC) for an anti-lock braking system (ABS) is developed under the constraint that only the system output, i.e., the wheel slip ratio, is measurable. The main control strategy is to force the wheel slip ratio to well track the optimal value, which may vary with the environment. The observer-based output feedback control law and update law for on-line tuning of the weighting factors of the direct adaptive fuzzy-neural controller are derived. By using the strictly-positive-real (SPR) Lyapunov theory, the stability of the closed-loop system can be guaranteed. Simulation results demonstrate the effectiveness of the proposed control scheme for ABS control. © 2006 TFSA.

关键词： Fuzzy control

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