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5th International Conference on control and Automation, ICCA'05

作者： Ashari, Alireza Esna Sedigh, Ali Khaki Yazdanpanah, Mohammad Javad Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical and Electronics Engineering Department K. N. Toosi University Tehran Iran

ISBN: (纸本)0780391381

This paper proposes a reconfigurable controller design method for multivariable systems, which is capable of dealing with order-change problems that may occurs in an after-fault system. A new method is proposed to recover the nominal closed-loop performance after a fault occurrence in the system. This approach uses the eigenstructure assignment. Unlike the previously developed approaches, the new method can be implemented in the case when the fault leads to order change of the after-fault model. Also, it can be used to solve the problems in which the set of after-fault open-loop and closed-loop eigenvalues have common elements, especially when the system becomes uncontrollable or unobservable due to the fault. The method guarantees the stability of the reconfigured closed-loop system in the presence of output feedback. Finally, simulation results are provided to show the effectiveness of the proposed method for an aircraft model. © 2005 IEEE.

关键词： control theory

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System of systems - From definition to architecture to simulation to space applications

System of systems - From definition to architecture to simul...

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2006 IEEE International Conference on Information Reuse and Integration, IRI-2006

作者： Jamshidi, Mo Department of Electrical and Computer Engineering and Autonomous Control Engineering ACE Center University of Texas San Antonio TX United States IEEE ASME AAAS TWAS NYAS HAE University of Texas San Antonio TX United States Department of Electrical and Computer Engineering Department of Manufacturing Engineering UNM

ISBN: (纸本)0780397886

One of the main challenges of any related paradigms in systems engineering is being able to handle complex systems under unforeseen uncertainties. A system may be called complex if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is so uncertain that classical techniques cannot easily handle the problem. A system of systems (SoS) is a "super system," or an integration of complex systems coordinated together in such a way as to achieve a wider set of goals with possible higher significance such as global warming, Mars missions, air traffic control, global earth observation system, etc. computational Intelligence or Soft Computing, a consortium of fuzzy logic (approximate reasoning), neuro-computing (learning), genetic algorithms and genetic programming (optimization), has proven to be a powerful set of tools for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. In this presentation, paradigms using soft computing approaches are utilized to design autonomous controller with controller reuse for a number of space applications. The notion of adaptation in autonomous controller reuse can be handled via intelligent tools to add on additional capabilities in real-time scenarios. Learning from past experience is but one such scenario for the reuse of autonomous controllers. These applications include satellite array formations, robotic agents and the Virtual Laboratory (V-LAB®) for multi-physics modeling and simulation. A view of the future activities of the NASA JPL for space exploration will also be given. SoS concepts will be described and a few testbed cases will be introduced, including a robotic swarm with dynamic sensor networks for homeland security at UTSA ACE center. Some animated and experimental implementation movies will be shown.

关键词： Systems engineering

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Development of portable wireless brain computer interface with embedded systems

Development of portable wireless brain computer interface wi...

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IEEE 2006 Biomedical Circuits and Systems Conference Healthcare Technology, BioCAS 2006

作者： Lin, Chin-Teng Hsieh, Hung-Yi Ko, Li-Wei Lin, May Liang, Sheng-Fu IEEE Department of Electrical and Control Engineering / Computer Science National Chiao-Tung University Hsin-Chu Taiwan Department of Electrical and Control Engineering/Brain Research Center National Chiao-Tung University Hsin-Chu Taiwan Department of Computer Science and Information Engineering National Cheng-Kung University Taiwan Taiwan

ISBN: (纸本)1424404371

In this paper, we propose an embedded multi-task scheduling system to make the wireless brain computer interface to real-time receive electroencephalogram signal more accurate. This method we propose also can increase the flexibility of the system. Base on the method, we can change the peripheral devices easily. And the tasks are taken as modules, so it also can increase the flexibility of system programs. The proposed system integrates electroencephalogram signal amplifier technique, wireless transmission technique, and embedded real-time system. The OMAP (Open Multimedia Architecture Platform) is used as a development platform and an embedded operating system is also used. © 2006 IEEE.

关键词： Brain computer interface

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Reconfigurable sliding-mode control design using genetic algorithms and eigenstructure assignment

Reconfigurable sliding-mode control design using genetic alg...

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5th International Conference on control and Automation, ICCA'05

作者： Ashari, Alireza Esna Yazdanpanah, Mohammad Javad Sedigh, Ali Khaki Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical and Electronics Engineering Department K. N. Toosi University Tehran Iran

ISBN: (纸本)0780391381

This paper proposes a reconfigurable control system design methodology using the sliding-mode control. The advantage of the proposed sliding-mode reconfigurable control methodology is that it is more robust than the simple static reconfigurable feedback. An approach is suggested to redesign the sliding surface for the after-fault variable structure controller using the genetic algorithms. So, the new sliding-mode controller is capable of preserving much of the dynamics of the original unfailed system. Simulation results are provided to show the effectiveness of the proposed method. © 2005 IEEE.

关键词： Sliding mode control

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On the conceptualization of total disturbance and its profound implications

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Science China(Information Sciences) 2020年第2期63卷 221-223页

作者： Sen CHEN Wenyan BAI Yu HU Yi HUANG Zhiqiang GAO Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Beijing Aerospace Automatic Control Institute Center for Advanced Control Technologies Department of Electrical Engineering and Computer ScienceCleveland State University

Dear editor,How to deal with uncertainties and/or disturbances is a central issue pushing the development of both control science and control technology. Among various approaches, the active disturbance rejection control (ADRC) has been successfully implemented in various industrial practices because of its uniqueness in concepts, simplicity

关键词： ESO On the conceptualization of total disturbance and its profound implications

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Adaptive control for revolute joints robot manipulator with uncertain/unknown dynamic parameters and in presence of disturbance in control input 2017

Adaptive control for revolute joints robot manipulator with ...

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3rd International Conference on Mechatronics and Robotics engineering, ICMRE 2017

作者： Sakha, Masoud Seyed Shaker, Hamid Reza Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iranc Iran Center for Energy Informatics University of Southern Denmark Odense Denmark

ISBN: (纸本)9781450352802

This paper presents an effective adaptive controller for revolute joints robot manipulator where the control input is accompanied with a random disturbance (with unknown PSD). It is clear that, disturbance can compromise the overall performance of the system. To cope with this problem, a control technique is proposed which uses the concept of exponential practical stability. Unlike other counterparts, the proposed method does not need information such as the physical parameters of robot and gravitational acceleration. The results show that the proposed controller achieves an excellent performance clearly seen from the tracking error and its derivatives. © 2017 Association for Computing Machinery.

关键词： controllers

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Nonlinear control system design via dynamic order reduction

Nonlinear control system design via dynamic order reduction

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IEEE Conference on Decision and control

作者： R. Ghanadan Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

In this paper we present a design scheme for output tracking of nonlinear systems that are subject to regular perturbations. We show that applications of singular perturbation theory to the input-output feedback linearization technique provides a systematic method to identify the slow "dominant" states and fast "negligible" states. Similar to the backstepping design technique, a suitable state variable is converted into a "control like" variable which in the steady state is forced to approach the desired tracking control law for the reduced order system. We show that this design achieves stable approximate tracking of reasonable reference trajectories for nonlinear systems that are "dominantly" minimum phase. The order of approximation can be arbitrarily improved by addition of correction terms in the control law. The main advantage of this approach is that the design is often performed for a much simpler model which is linear in the new control variable and describes the dominant part of the original system by ignoring some of the fast states that are forced to have little effect on the steady state performance.< >

关键词： Nonlinear control systems Nonlinear dynamical systems Nonlinear systems Steady-state Force control State feedback Linearization techniques Backstepping control systems Reduced order systems

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A "Throw-and-Catch" Hybrid control Strategy for Robust Global Stabilization of Nonlinear Systems

A "Throw-and-Catch" Hybrid Control Strategy for Robust Globa...

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American control Conference (ACC)

作者： Ricardo G. Sanfelice Andrew R. Teel Electrical and Computer Engineering Department Center for Control Engineering and Computation University of California Santa Barbara CA USA

We present a control strategy that combines local state feedback laws and open-loop schedules to robustly globally asymptotically stabilize a compact subset (typically a point) of the state space for a nonlinear system. The control algorithm is illustrated on the problem of global stabilization of the upright position of the pendubot and implemented in a hybrid controller containing logic variables and logic rules with hysteresis. We also present the design procedure of the hybrid controller for general nonlinear systems. Recent results in the literature on robustness of asymptotic stability in hybrid systems are used in establishing that the closed-loop system is robust to measurement noise and other external disturbances.

关键词： Nonlinear control systems control systems Robust control Nonlinear systems Open loop systems Logic Noise robustness Robust stability State feedback State-space methods

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Nominally robust model predictive control with state constraints

Nominally robust model predictive control with state constra...

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IEEE Conference on Decision and control

作者： G. Grimm M.J. Messina S.E. Tuna A.R. Teel Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We present robust stabilization results for constrained, discrete-time, nonlinear systems using a finite-horizon model predictive control (MPC) algorithm that does not require any particular properties for the terminal cost. We introduce a property that characterizes the robustness properties of the MPC optimization problem. Assuming the system has this property (for which we give sufficient conditions), we make two further key assumptions. These are that the value function is bounded by a K/sub /spl infin// function of a state measure (related to the distance of the state to some target set) and that this measure is detectable from the stage cost used in the MPC algorithm. We show that these assumptions lead to stability that is robust to sufficiently small disturbances and measurement noise. While in general the results are semiglobal practical, when the detectability and upper bound assumptions are satisfied with linear K/sub /spl infin// functions, the stability and robustness is global with respect to the feasible set. We discuss algorithms employing terminal equality or inequality constraints. We provide two examples, one involving a terminal equality constraint and the other involving a nonrobustness-inducing state constraint.

关键词： Robust control Predictive models Predictive control Robust stability Noise robustness Nonlinear systems Prediction algorithms Sufficient conditions Cost function Noise measurement

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Tools and procedures for robust control of nonlinear systems

Tools and procedures for robust control of nonlinear systems

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IEEE Conference on Decision and control

作者： R.A. Freeman P.V. Kokotovic Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We review some of the existing results on the Lyapunov design of robustly stabilizing feedback laws for uncertain nonlinear systems. Using the concept of a robust control Lyapunov function, we present robust backstepp... 详细信息

关键词： Robust control Nonlinear systems Lyapunov method Feedback control systems Force control Asymptotic stability Nonlinear control systems control engineering control engineering computing

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