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29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.10

作者： Chin-Teng Lin Shang-Wen Chuang Yu-Chieh Chen Li-Wei Ko Sheng-Fu Liang Tzyy-Ping Jung Department of Electrical and Control Engineering the Department of Computer Science Brain Research Center Hsinchu Taiwan The Department of Computer Science Brain Research Center Hsinchu Taiwan Department of Electrical and Control Engineering Brain Research Center Hsinchu Taiwan Department of Computer Science and Information Engineering National Cheng Kung University Tainan Taiwan Institute for Neural Computation University of California San Diego CA USA

The Electroencephalogram (EEG) dynamics which relate to motion sickness are studied in this paper. Instead of providing visual or motion stimuli to the subjects to induce motion sickness, we employed a dynamic virtual-reality (VR) environment in our research. The environment consisted of a 3D surrounding VR scene and a motion platform providing a realistic situation. This environment provided the advantages of safety, low cost, and the realistic stimuli to induce motion sickness. The Motion Sickness Questionnaire (MSQ) was used to assess the sickness level, and the EEG effects on the subjects with high sickness levels were investigated using the independent component analysis (ICA). The fake-epoch extraction was then applied to the nausea-related independent components. Finally we employed the Event-Related Spectral Perturbation (ERSP) technology on the fake-epochs in order to determine the EEG dynamics during motion sickness. The experimental results show that most subjects experienced an 8-10Hz power increase to their motion sickness-related phenomena in the parietal and motor areas. Moreover, some subjects experienced an EEG power increase of 18-20Hz in their synchronized responses recorded in the same areas. The motion sickness-related effects and regions can be successfully obtained from our experimental results.

关键词： Electroencephalography Virtual reality Layout Vehicle dynamics Computer science Safety Motion analysis Independent component analysis control engineering Costs

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Subtleties in Robust Stability of Discrete-time Piecewise Affine Systems

Subtleties in Robust Stability of Discrete-time Piecewise Af...

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American control Conference (ACC)

作者： M. Lazar W.P.M.H. Heemels A.R. Teel University of California Santa Barbara Santa Barbara CA US Department of Mechanical Engineering Eindhovan University of Technology Eindhoven Netherlands Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara USA

In this paper we consider (inherent) robustness of discrete-time piecewise affine (PWA) systems. We demonstrate, via examples, that globally exponentially stable discrete-time PWA systems may have no robustness. More precisely, we show that the exponential stability property cannot prevent that arbitrarily small additive disturbances keep the state trajectory far from the origin. Mathematically speaking, this means that the system is not input-to-state stable with respect to arbitrarily small disturbances. The non-robustness property is related to the absence of a continuous Lyapunov function. These results indicate that one should be careful with existing stability analysis and synthesis methods for PWA systems that rely on discontinuous Lyapunov functions, as no robustness might be present. However, as the search for Lyapunov functions for discrete-time PWA systems often employs discontinuous Lyapunov functions (e.g. piecewise quadratic ones), robustness tests based on discontinuous Lyapunov functions are needed. Such tests are proposed in this article.

关键词： Robust stability Lyapunov method Robustness Asymptotic stability control system synthesis control systems Additives Stability analysis System testing Biological system modeling

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Decentralized Algorithms for Stochastic and Dynamic Vehicle Routing with General Demand Distribution

Decentralized Algorithms for Stochastic and Dynamic Vehicle ...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 5971-6447

作者： Marco Pavone Emilio Frazzoli Francesco Bullo Laboratory for Information and Decision Systems Department of Aeronautics and Astronautics Massachusetts Institute of Technology Cambridge USA Center for Control Engineering and Computation University of California슠Santa Barbara USA

ISBN: (纸本)9781424414970;1424414970

We present decentralized algorithms for a class of stochastic and dynamic vehicle routing problems, known as the multiple-vehicle Dynamic Traveling Repairperson Problem (m-DTRP), in which demands arrive randomly over time and their locations have an arbitrary distribution, and the objective is to minimize the average waiting time between the appearance of a demand and the time it is visited by a vehicle. The best previously known control algorithms rely on centralized, a-priori task assignment, and are therefore of limited applicability in scenarios involving large ad-hoc networks of autonomous vehicles. By combining results from geometric probability and locational optimization, we provide a policy that solves, providing a constant-factor approximation to the optimal achievable performance, the decentralized version of the m-DTRP;such policy (i) does not rely on centralized and a priori task assignment, (ii) is spatially distributed, scalable to large networks, and adaptive to network changes. Simulation results are presented and discussed.

关键词： Vehicle routing Stochastic Decentralized Autonomous Vehicles Waiting time Computer algorithms Policies algorithms Scalability

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control algorithms along relative equilibria of underactuated Lagrangian systems on Lie groups

Control algorithms along relative equilibria of underactuate...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 460-918

作者： Nikolaj Nordkvist Francesco Bullo Department of Mathematics Technical University of Denmark Lyngby Denmark Mechanical Engineering Department and with the Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA

ISBN: (纸本)9781424414970

We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation analysis and the design of inversion primitives and composition methods. We illustrate the algorithms on an underactuated planar rigid body and on a satellite with two thrusters.

关键词： control systems Lagrangian functions Mechanical systems Iterative algorithms Force control Satellites Velocity control USA Councils Actuators Automatic control

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UNITING LOCAL AND GLOBAL OUTPUT FEEDBACK controlLERS

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IFAC Proceedings Volumes 2007年第12期40卷 492-497页

作者： Christophe Prieur Andrew R. Teel LAAS–CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems & Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560

We consider control systems for which we know two stabilizing output feedback controllers. One is globally asymptotically stabilizing, while the other one is only locally asymptotically stabilizing. We look for a composite output feedback control law that is equal to the local feedback on a neighborhood of the origin and that is globally asymptotically stabilizing. We insist on using only output feedback controllers to solve this uniting problem. Since we want some robustness with respect to measurement noise, actuator errors and external disturbances, we consider hybrid output feedback controllers, following recent developments in the literature on robustness in hybrid systems. Under an input-output-to-state stability assumption, we exhibit a solution of this uniting problem by means of a dynamic hybrid output feedback controller.

关键词： hybrid systems global stabilization local performance output feedback robustness

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Filtering of discrete linear repetitive processes with ∞ and 2-∞ performance

Filtering of discrete linear repetitive processes with ∞ an...

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2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007

作者： Ligang, Wu Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 IBJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory

This paper considers the general filtering problem for a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, known as discrete linear repetitive processes which are of both system-theoretic and applications interest. In particular, new results on the design of filters with guaranteed levels of performance are developed. These take the form of algorithms for the design of an ∞ and 2-∞ dynamic output feedback filter which guarantees that the resulting filtering error process is stable and has prescribed disturbance attenuation performance as measured by ∞ and 2- ∞ norms. © 2007 IEEE.

关键词： Signal filtering and prediction

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RELAXED CHARACTERIZATIONS OF SMOOTH PATCHY control LYAPUNOV FUNCTIONS

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IFAC Proceedings Volumes 2007年第12期40卷 486-491页

作者： Rafal Goebel Christophe Prieur Andrew R. Teel Department of Mathematics University of Washington Seattle WA 98195-4350 LAAS–CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems & Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560

A smooth patchy control Lyapunov function for a nonlinear control system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy a certain arrangement property. In contrast to (Goebel et al., IEEE CDC, 2006), on each intersection of the domains, we do not impose a decrease condition of the local control Lyapunov functions when the index increases. We show a construction, based on such a patchy control Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise. Copyrighte 2007 IFAC

关键词： hybrid systems control Lyapunov function stabilization

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Hybrid Dynamical Systems: Robust Stability and control

Hybrid Dynamical Systems: Robust Stability and Control

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第二十六届中国控制会议

作者： Goebel Rafal Sanfelice Ricardo G. Teel Andrew R. 3518 NE 42 St. SeattleWA 98105USA Center for Control Dynamical Systemsand ComputationDepartment of Electrical and Computer Engineering University of CaliforniaSanta BarbaraCA 93106-9560USA

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are *** tools are useful for the development of hybrid control algorithms.

关键词： Hybrid systems stability control

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Fuzzy controlled STATCOM for Improving the Power System Transient Stability

Fuzzy Controlled STATCOM for Improving the Power System Tran...

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Annual North-American Power Symposium

作者： A. Ghafouri M. R. Zolghadri M. Ehsan O. Elmatboly A. Homaifar Power Engineering Consultants- Moshanir Tehran Iran. a.ghafori@*** School of Electrical Engineering Sharif University of Technology Tehran Iran. zolghadr@sharif.edu School of Electrical Engineering Sharif University of Technology Tehran Iran Department of ECE Autonomous Control & Information Technology Center NCA&TSU USA Duke Energy Eminent Professor Department of ECE Autonomous Control & Information Technology Center NCA&TSU USA

This paper presents the application of a fuzzy logic controlled Static Compensator (STATCOM) to improve the transient stability of the power system. The nonlinear fuzzy logic controller is used to overcome the problems generated by different uncertainties existing in power systems when designing electromechanical oscillation damping controllers. Generator speed and its derivative are used to design the controller. Proposed method is implemented in the 9 Bus IEEE network and simulation results are presented to confirm the performance of the controller to increase the damping of the system. stability [4]. STATCOM is one of the parallel FACTS devices that are usually used for voltage regulation. It is also used to improve power system stability by injecting or absorbing reactive power. This function of STACOM needs some more supplementary input signals [4]. Several controllers have been used to perform this control strategy such as conventional PI controller [5], rule based controller [6] and energy function based controller [7]. Uncertainty exists in almost every physical system. It can be the result of different phenomena according to system nature, lake of information or measurements. Power systems are large scale systems with high nonlinearity, so there is a considerable uncertainty in every part of them. Fuzzy logic performs as a powerful tool to confront these uncertainties [8]. This paper presents a fuzzy logic based control strategy for STATCOM to improve power system stability and performance. The fuzzy logic approach provides a model-free method for STATCOM control and can be effective over a wide range of power system changes. Fuzzy logic

关键词： Fuzzy control Fuzzy systems control systems Automatic voltage control Power system transients Power system stability Fuzzy logic Power system simulation Nonlinear control systems Damping

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Approach Lighting System Lightning Mitigation and Individual control Cabinet Protection

Approach Lighting System Lightning Mitigation and Individual...

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Annual North-American Power Symposium

作者： James A. Momoh Nadir Wade Arunsi Chuku Lateef L. Baruwa Center for Energy Systems and Control CESaC Howard University College of Medicine Washington D.C. DC USA Center for Energy Systems and Control (CESaC) Howard University Washington DC USA Center for Energy Systems and Control CESaC Department of Electrical and Computer Engineering ECE Howard University College of Medicine USA Dept. of Electrical and Computer Engineering (ECE) Howard University. Air Traffic Systems Division Federal Aviation Administration (FAA) Washington DC USA

The mitigation of the impact of lightning and the individual control cabinet (ICC) protection of an approach lighting system (ALS) against over-voltage is the focus of this paper. It is the objective of this paper to evaluate three proposed ALS topologies and select the grounding configuration which optimally mitigates the high voltage and current levels caused by lightning, as well as to assess the over-voltage reduction capability of a metal-oxide varistor and its ability to provide protection to the individual control cabinet to prevent damage. Simulation of the grounding system of each ALS topology using a sensitivity study, which incorporates changes in conductor and environmental characteristics, is performed to determine the robustness of each ALS topology. Performance of a hands-on destructive test is also carried out to obtain practical results to compare with simulation results. This paper provides the foundation for improving the current ALS grounding and protective measures by updating standards and specifications to promote increased reliability and safety, as well as reduced equipment cost.

关键词： Lightning Lighting control control systems Protection Topology Grounding Varistors Optimal control Voltage control Conductors

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