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IEEE International Symposium on Intelligent control (ISIC)

作者： K.J. Hintz J.J. Spofford Center of Excellence in Command Control Communications and Intelligence Department of Electrical and Computer Engineering School of Information Technology George Mason University Fairfax VA USA

Although artificial neural networks have been shown to be effective in the computation of solutions to difficult problems a general theory has not yet been developed to provide guidance in their design and implementation. Genetic algorithms have also been shown to be effective in evolving solutions to optimization problems which involve objective functions that are not 'nice'. The approach presented here is the utilization of genetic algorithms to evolve the number of neurons in an artificial neural network, the weights of their interconnects, and the interconnect structure itself. With this approach, no a priori assumptions about interconnect structure, weights, number of layers. or to which neurons the inputs or outputs are connected need to be made. A combined neural network evaluation and genetic algorithm evaluation program has been written in C on a Sun workstation. The method has been successfully applied to the 9*9 bit character recognition problem.< >

关键词： Neural networks Artificial neural networks Neurons computer networks Evolution (biology) Communication system control Artificial intelligence Intelligent control Intelligent networks Information technology

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Petri net analysis of a transfer-line protocol

Petri net analysis of a transfer-line protocol

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International Conference on computer Integrated Manufacturing

作者： B.H. Krogh W.L. Genter Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Process Control and Manufacturing Technology Division Alcoa Technical Center Alcoa Center PA USA

Petri nets are applied to the bottom-up design of a handshaking protocol for transferring parts through a sequence of workstations. The authors illustrate the application of Petri-net theory to verify properties of the complete system behavior based on the structure of the Petri-net model. It is shown that communication between local controllers is modeled by places corresponding to upstream and downstream messages. Consistency in the interconnection of the subsystem models is guaranteed by the identification of these communication places. To analyze the properties of the complete system, results on liveness and place invariants for Petri nets are applied to the Petri-net model.< >

关键词： Protocols Workstations Petri nets Power system modeling Communication system control Algorithm design and analysis computer aided manufacturing Virtual manufacturing computational modeling System performance

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An expert system prototype for secure operation guidelines for electric power system line-overloads

An expert system prototype for secure operation guidelines f...

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IEEE International Symposium on Intelligent control (ISIC)

作者： S.J. Ranade M. Uraguchi P. Tan Department of Electrical & Computer Engineering New Mexico State University Las Cruces NM USA Department of Water and Power Energy Control Center Los Angeles CA USA

The development of a prototype expert system for developing strategic operating guidelines and for advising electric power system operators of control action required to ensure security with respect to line overloads is described. The heuristics of the problem map into an object-oriented architecture wherein the properties of the objects define security constraints. These properties are defined/updated through power-flow analysis. The reasoning involved in security assessment and the determination of control action is modeled by rules. The key point is that expert systems used in security analysis must necessarily be flexible and able to reorganize knowledge bases as system structure changes. Security assessment and control aspects of power-system operation are explored, and an overview of the expert-system structure is provided. The operation and use of the system are discussed, and the need for and possibility of making the system even more autonomous are considered.< >

关键词： Expert systems Prototypes Guidelines Power system security Power system modeling control systems Real time systems Power system analysis computing Power system control Power systems

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Simultaneous H2/H∞ optimal control with state feedback

Simultaneous H2/H∞ optimal control with state feedback

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American control Conference (ACC)

作者： Mario A. Rotea Pramod P. Khargonekar Center for Control Sciences and Dynamical Systems University of Minnesota Minneapolis MN USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

In this paper we consider a mixed H 2 /H ∞ -optimal control problem. It is assumed that the plant as well as the feedback controller are finite-dimensional and linear time-invariant, and that the plants state is available for feedback. More specifically, among all the state-feedback controllers that minimize the H 2 -norm of a closed loop transfer matrix, we give necessary and sufficient conditions for the existence of a controller that also satisfies a prescribed H ∞ -norm bound on some other closed loop transfer matrix. When these conditions are satisfied, the solution to the above problem is also a global solution to the constrained optimization problem of minimizing an H 2 -norm performance measure subject to an H ∞ -norm constraint. We also give state-space formulae for computing the solutions. An example is given in which all solutions to the constrained optimization problem are necessarily dynamic, i.e, there is no static gain solution even though plant state is available for feedback. A conclusion of this work is that a priori assumptions on the structure of the solutions to mixed H 2 /H ∞ problems could turn out to be conserative.

关键词： Optimal control Hydrogen State feedback Sufficient conditions Performance evaluation Gain measurement Tellurium Performance gain Ice Robustness

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Trends in shop floor control: modularity, hierarchy, and decentralization

Trends in shop floor control: modularity, hierarchy, and dec...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T.L. Johnson A.D. Baker Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department Electrical & Computer Engineering Rensselaer Polytechnic Institute Troy NY USA

computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National Institute of Standards and Technology's Automated Manufacturing Research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >

关键词： computer integrated manufacturing Hardware Power capacitors Local area networks Subcontracting Debugging Workstations Programmable control Cost function Software packages

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Learning control system design based on 2D theory-an application to parallel link manipulator

Learning control system design based on 2D theory-an applica...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Z. Geng J.D. Lee R.L. Carroll L.H. Haynes Department of Electrical Engineering and Computer Science George Washington University Washington D.C. DC USA Guidance and Control Branch NASA''s Goddard Space Flight Center Greenbelt MD USA Intelligent Automation Inc. Rockville MD USA

An approach to iterative learning control system design based on 2D system theory is presented. A 2D model for the iterative learning control system which reveals the connections between learning control systems and 2D system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by 2D stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by computer simulation results.< >

关键词： control systems Iterative algorithms control system synthesis Iterative methods Convergence Stability Trajectory Parallel robots Manipulators computer simulation

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Manipulability and stability of a tentacle based robot manipulator

Manipulability and stability of a tentacle based robot manip...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J.S. Pettinato H.E. Stephanou Center for Robotics and Control Department of Electrical and Computer Engineering George Mason University Fairfax VA USA

A massively redundant, tentacle-based robot manipulator is proposed as an alternative to dextrous manipulation by an arm/hand combination. The tentacle is advantageous because it is an all-in-one arm and gripping device capable of a wide variety of configurations and grasps, while maintaining the mechanics of serial manipulators. A method for evaluating the forces and velocities imparted to an arbitrary object by a robot hand is reviewed and extended to include the case where several serial manipulators each come in contact with an object at multiple joints. From this analysis, a quantitative evaluation of grasp manipulability and stability is developed that accounts for multiple object contacts for each serial manipulator in the system. A method of applying both precision and power grasps to three-dimensional objects using a tentacle is presented that allows for easy transition between the two by merely curling or uncurling links from around the object. This method helps reduce the number of complexity of grasp configurations. Numerical simulations of different tentacle manipulators and grasps are given.< >

关键词： Manipulators Robot control Stability analysis Numerical simulation Grasping Wrapping Fingers Instruments Friction

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Discrete periodic controller for multivariable linear systems

Discrete periodic controller for multivariable linear system...

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IEEE Conference on Decision and control

作者： C. Zhang R.J. Evans Center of Industrial Control Sciences Department of Electrical Engineering and Computer Science University of Newcastle Newcastle NSW Australia

The authors provide some unification of the results on various types of periodic and multirate sampling controllers by showing that properties of these controllers can be achieved by a single type of controller, i.e. the discrete periodic controller. The wideband and high-gain-like characteristic of this controller is addressed, and ways in which it may deteriorate system performance are described.< >

关键词： control systems Linear systems Sampling methods Poles and zeros Industrial control Performance gain Output feedback Robust control Optimal control Radio access networks

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Nonlinear controller Design for Flight control Systems *

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IFAC Proceedings Volumes 1989年第3期22卷 385-390页

作者： J. Hauser S. Sastry G. Meyer Department of Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 USA Flight Control Systems NASA Ames Research Center Moffett Field CA 94305 USA

There has been a great deal of excitement recently over the development of a theory for explicitly linearizing the input-output response of a nonlinear system using state feedback. One shortcoming of this theory is the inability to deal with non-minimum phase nonlinear systems. Highly maneuverable jet aircraft, such as the V/STOL Harrier, belong to an important class of a slightly non-minimum phase nonlinear systems. The non-minimum phase character of these aircraft is clue in part to a slight coupling between rolling moments and lateral accelerations. In this paper, we show that, while straightforward application of the linearization theory to a non-minimum phase system results in a system with a linear input-output response but unstable internal dynamics, designing a feedback control based on a minimum phase approximation to the true system results in a system with desirable properties such as bounded tracking and asymptotic stability.

关键词： Aerospace control nonlinear control systems linearization techniques nonlinear non-minimum phase systems

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H∞ identification of stable LSI systems: a scheme with direct application to controller design

H∞ identification of stable LSI systems: a scheme with dire...

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American control Conference (ACC)

作者： A. J. Helmicki C. A. Jacobson C. N. Nett Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA

In this paper several techniques are given for the identification of stable LSI discrete time systems from input-output data. Explicit H ∞ norm error bounds are given and convergence in the noise free and the uniformly bounded deterministic noise case are established. The assumptions made on the unknown system are minimal and are limited throughout the paper to a lower bound on the decay rate of the unknown system and an upper bound on the gain of the unknown system. Given this information an experiment and a construction are specified: the experiment involves obtaining a specified number of frequency measurements of the unknown systems at a set of specified frequencies; the construction uses this experimental data to generate an identified model with prescribed H ∞ norm error tolerance to the unknown system. The resulting model identification process is highly efficient from a computational point of view.

关键词： Large scale integration control systems control system synthesis Robust control Research and development Jacobian matrices Error correction Convergence Frequency Taylor series

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