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control of Discrete Linear Repetitive Processes with H and l2 - l Performance

Control of Discrete Linear Repetitive Processes with H and l...

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American control Conference (ACC)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Galkowski Eric Rogers Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin China Department of Mechanical Engineering University of Hong Kong Hong Kong China Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK

This paper considers the control of discrete linear repetitive processes, which are a distinct class of two-dimensional (2-D) discrete linear systems, i.e. information propagation in two independent directions, which are of both system-theoretic and applications interest. In this paper we report new results on the design of control laws with guaranteed levels of performance. In particular, develop algorithms for the design of an H infin and lscr 2 - lscr infin dynamic output feedback controller which guarantees that the resulting controlled process is stable and has prescribed disturbance attenuation performance as measured by H infin and lscr 2 - lscr infin norms.

关键词： control systems Linear systems Algorithm design and analysis Space technology Iterative algorithms Process control Optimal control Stability analysis Convergence Cities and towns

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H∞ Filtering for a class of 2D systems

H∞ Filtering for a class of 2D systems

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European Signal Processing Conference (EUSIPCO)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Gałkowski Eric Rogers Anton Kummert Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China Department of Mechanical Engineering The University of Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65–246 Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Department of Electronics and Computer Science University of Southampton Southampton U.K. Information and Media Engineering University of Wuppertal Faculty of Electrical

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required.

关键词： Stability analysis Asymptotic stability Process control Signal processing Linear systems Filtering State-space methods

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On the dubins traveling salesperson problems: Novel approximation algorithms 2nd

On the dubins traveling salesperson problems: Novel approxim...

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2nd International Conference on Robotics Science and Systems, RSS 2006

作者： Savla, Ketan Frazzoli, Emilio Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara United States Mechanical and Aerospace Engineering Department University of California Los Angeles United States

ISBN: (纸本)9780262693486

In this paper we study minimum-time motion planning and routing problems for the Dubins vehicle, i.e., a nonholonomic vehicle that is constrained to move along planar paths of bounded curvature, without reversing direction. Motivated by autonomous aerial vehicle applications, we consider the Traveling Salesperson Problem for the Dubins vehicle (DTSP): given n points on a plane, what is the shortest Dubins tour through these points and what is its length? Specifically, we study a stochastic version of the DTSP where the n targets are randomly sampled from a uniform distribution. We show that the expected length of such a tour is of order at least n2/3 and we propose a novel algorithm yielding a solution with length of order n2/3 with high probability. Additionally, we study a dynamic version of the DTSP: given a stochastic process that generates target points, is there a policy which guarantees that the number of unvisited points does not diverge over time? If such stable policies exist, what is the minimum expected time that a newly generated target waits before being visited by the vehicle? We propose a novel stabilizing algorithm such that the expected wait time is provably within a constant factor from the optimum.

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Suboptimal contractive predictive control for a class of hybrid systems

Suboptimal contractive predictive control for a class of hyb...

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CIMCA 2006: International Conference on computational Intelligence for Modelling, control and Automation, Jointly with IAWTIC 2006: International Conference on Intelligent Agents Web Technologies and International Commerce

作者： Habibi, Jalal Moshiri, Behzad Sedigh, Ali Khaki IEEE University of Tehran ECE Department Control and Intelligent Processing Center of Excellence North Amirabad Tehran Iran K.N. Toosi University of Technology Department of Electrical Engineering Tehran Iran

ISBN: (纸本)0769527310

Current state-of-the-art approaches for control of hybrid systems face with two main important challenging problems which are guaranteeing the stability and the computational complexity. In this article a new approach has been proposed to guarantee the closed loop stability of a class of hybrid systems while reducing the complexity of control problem by introducing some level of suboptimality. It has been shown that using contraction constraint on the objective function results in asymptotically stable closed loop system. It has also been described that since only feasibility is sufficient for stability in the proposed approach, suboptimal control could be used to reduce the computational complexity. © 2006 IEEE.

关键词： Hybrid computers

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On the Continuity of Asymptotically Stable Compact Sets for Simulations of Hybrid Systems

On the Continuity of Asymptotically Stable Compact Sets for ...

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IEEE Conference on Decision and control

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

ISBN: (纸本)1424401704;9781424401703

We propose a hybrid model for simulations of hybrid systems and we establish conditions on its data so that the asymptotically stable sets observed in simulations are continuous. The most important components of the hybrid model for simulations are a discrete integration scheme for the computation of the flows and an approximated jump mapping for the computation of the jumps. Our main result is built on the facts that, on compact hybrid time domains, every simulation to a hybrid system is arbitrarily close (in the graphical sense) to some solution to the actual hybrid system, and that asymptotically stable compact sets of hybrid systems are semiglobally practically asymptotically stable compact sets for the hybrid model for simulations. We present these results and illustrate them in simulations of the bouncing ball system

关键词： computational modeling Differential equations State-space methods Numerical simulation Analytical models Military computing USA Councils Standards development control systems Packaging

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Lyapunov Analysis of Sample-and-Hold Hybrid Feedbacks

Lyapunov Analysis of Sample-and-Hold Hybrid Feedbacks

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IEEE Conference on Decision and control

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

ISBN: (纸本)1424401704;9781424401703

For hybrid closed-loop systems arising from hybrid control of nonlinear systems, we show that the sample-and-hold implementation of the hybrid controller preserves (semiglobally and practically) the stability properties of the closed-loop system. We provide a general model for the hybrid closed-loop system where the hybrid controller is implemented digitally and it is interfaced to the nonlinear system through sample and hold devices. We model the sample device and the digital controller/hold device as single asynchronous hybrid systems with independent timing constants and data. The main result is established by means of a Lyapunov function for the hybrid closed-loop system resulting from the interconnection of its hybrid and nonlinear subsystems

关键词： Feedback control systems Nonlinear control systems Nonlinear systems Digital control Stability analysis Emulation control system synthesis Military computing Asymptotic stability

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Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points

Robust hybrid controllers for continuous-time systems with a...

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American control Conference (ACC)

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

We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings

关键词： Robust control control systems Noise robustness Noise measurement State feedback Time measurement Hysteresis Differential equations Military computing Nonlinear control systems

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Distributed algorithms for polygonal approximation of convex contours

Distributed algorithms for polygonal approximation of convex...

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IEEE Conference on Decision and control

作者： Sara Susca Sonia Martinez Francesco Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara USA Mechanical and AeroSpace Engineering Department University of California San Diego USA

ISBN: (纸本)1424401704;9781424401703

We propose algorithms that compute polygon approximations for convex contours. This geometric problem is relevant in interpolation theory, data compression, and has potential applications in robotic sensor networks. The algorithms are based on simple feedback ideas, on limited nearest-neighbor information, and amount to gradient descent laws for appropriate cost functions. The approximations are based on intuitive performance metrics, such as the area of the inner, outer, and "outer minus inner" approximating polygons

关键词： Distributed algorithms Robot sensing systems Interpolation Data compression Measurement Force feedback Atomic force microscopy USA Councils Approximation algorithms Distributed computing

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Using novel MEMS EEG sensors in detecting drowsiness application

Using novel MEMS EEG sensors in detecting drowsiness applica...

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

作者： Chiou, Jin-Chern Ko, Li-Wei Lin, Chin-Teng Hong, Chao-Ting Jung, Tzyy-Ping Liang, Sheng-Fu Jeng, Jong-Liang Department of Electrical and Control Engineering National Chiao-Tung University Hsin-Chu Taiwan Brain Research Center National Chiao-Tung University Hsin-Chu Taiwan Institute for Neural Computation University of California San Diego San Diego CA United States Department of Biological Science and Technology National Chiao-Tung University Hsin-Chu Taiwan

ISBN: (纸本)1424404371

Electroencephalographic (EEG) analysis has been widely adopted for the monitoring of cognitive state changes and sleep stages because abundant information in EEG recording reflects changes in drowsiness, arousal, sleep, and attention, etc. In this study, Micro-Electro-Mechanical Systems (MEMS) based silicon spiked electrode array, namely dry electrodes, are fabricated and characterized to bring EEG monitoring to the operational workplaces without requiring conductive paste or scalp preparation. An isotropic/anisotropic reactive ion etching with inductive coupled plasma (RIE-ICP) micromachining fabrication process was developed to manufacture the needle-like micro probes to pierce the stratum corneum of skin and obtain superior electrically conducting characteristics. This article reports a series of prosperity testing and evaluations of continuous EEG recordings. Our results suggest that the dry electrodes have advantages in electrode-skin interface impedance, signal intensity and size over the conventional (wet) electrodes. In addition, we also developed an EEG-based drowsiness estimation system that consists of the dry-electrode array, power spectrum estimation, Principal Component Analysis (PCA)-based EEG signal analysis, and multivariate linear regression to estimate driver's drowsiness level in a virtual-reality-based dynamic driving simulator to demonstrate the potential applications of the MEMS electrodes in operational environments. ©2006 IEEE.

关键词： Electrodes

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Management of Wireless Sensor Networks Using the Theory of Auctions

Management of Wireless Sensor Networks Using the Theory of A...

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IEEE/ACS International Conference on Pervasive Services (ICPS)

作者： Danak Rahimi-Kian Moshiri Control and Intelligent Processing Center of Excellence (CIPCE) Department of Electrical and Computer Engineering University of Tehran Tehran Iran CIPCE Department of ECE University of Tehran Tehran Iran

As an emerging technology, many researches have been focused on enhancing sensor networks in the recent years. For improving the quality of service, researchers have concentrated on the notion of mobility as a means to change the network topology. Considering each node as an intelligent agent, and using the concepts of the theory of auctions, this paper introduces a novel game theoretical approach to the sensor management problem. By obviating unnecessary communication among the nodes, and offering task changing capability to them the new method addresses more network compatibility to uncertain tasks

关键词： Wireless sensor networks Intelligent sensors Quality of service Game theory Sensor phenomena and characterization Technology management Network topology Intelligent agent Mobile communication Data processing

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