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2003 10th IEEE International Conference on Electronics, Circuits, and Systems, ICECS 2003

作者： Jalili-Kharaajoo, Mahdi Rouhani, Hossein Control and Intelligent Processing Center of Excellence ECE Department University of Tehran P.O. Box 14395/515 Tehran Iran Mechanical Engineering Department University of Tehran Iran Young Researchers Center Azad University Iran

ISBN: (纸本)9780780381636;0780381637

A robust nonlinear control strategy based on sliding mode control algorithm is applied to traction control for an electric vehicle (EV) with four separate wheel drives. The proposed algorithm is implemented in terms of a hierarchical architecture, which incorporates all new known vehicle systems ABS (Anti-lock Brake System), ASR (Anti Slip Regulation), ESP (Electronic Stability Program). Simulation results demonstrate the satisfactory robust performance of the proposed control algorithm. © 2003 IEEE.

关键词： Traction control

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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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Industrial assessment of horticultural products' quality using image data fusion

Industrial assessment of horticultural products' quality usi...

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International Conference on Information Fusion

作者： B. Majidi B. Moshiri ECE Department Faculty of Engineering University of Tehran Iran Control and Intelligent Processing Center of Excellence ECE Department Faculty of Engineering University of Tehran Iran

ISBN: (纸本)0972184457

In this article a computer vision system for classification of pomegranate, pear and apple, using high level fusion of various visual features is presented. Due to this fact that in real applications orientation of the fruit with respect to camera is completely random and fruits such as pear and some kinds of pomegranate don't have symmetrical shapes, the estimation of fruits volume in this project is done -with aid of a neural network that was trained with simple features of fruit's profile images. For surface defect detection, the processing system must inspect the whole area of the fruit. In our approach, the inspection of fruit surface defects is based on fusing of fruit's side images. The blobs of this image are extracted and fruit is classified according to these blobs. Meanwhile a set of basic color parameters of fruit surface are extracted and finally the fruit is classified using high level fusion of these visual features.

关键词： Cameras Shape Neural networks Image fusion Humans Image color analysis Image analysis Layout Data engineering Computer vision

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Optimal nonlinear transient controller for a single machine-infinite bus power system

Optimal nonlinear transient controller for a single machine-...

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IEEE Conference on control Technology and Applications (CCTA)

作者： M. Jalili-Kharaajoo K. Moezzi-Madani Control & Intelligent Processing Center of excellence ECE Department University of Tehran Tehran Iran Electrical Engineering Department University of Amirkabir Tehran Iran

In this paper an optimal nonlinear controller for stabilization of a power system is presented. In order to the design of the controller an approximate solution of the HJB equation using Taylor's series expansion is used. The advantages of the nonlinear feedback controller in some grounds like increasing the region of asymptotic stability of the system or in the other words increasing the domain of validity will be shown. Also, the fault tolerance of the system under the controller is investigated. Simulation results reveal the effectiveness of the proposed approach.

关键词： Power system transients Optimal control Nonlinear control systems control systems Power system stability Nonlinear equations Taylor series Adaptive control Asymptotic stability Fault tolerant systems

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Notice of Violation of IEEE Publication Principles: Robust nonlinear control applied to traction control of electric vehicles

Notice of Violation of IEEE Publication Principles: Robust n...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： M. Jalili-Kharaajoo H. Rouhani Young Researchers Center Islamic Azad University슠 Iran Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Tehran Iran Mechanical Engineering Department University of Tehran Iran

Notice of Violation of IEEE Publication Principles "Robust Nonlinear control Applied to Traction control of Electric Vehicles" by Mahdi Jalili-Kharaajoo and Hossein Rouhani in the Proceedings of the 10th IEEE International Conference on Electronics, Circuits and Systems,. ICECS 2003, December 2003 After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles. This paper was found to be a near verbatim copy of the papers cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper titles) and without permission. Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following articles: "Modeling and Simulation of a Traction control Algorithm for an Electric Vehicle with Four Separate Wheel Drives" by R. Pusca, Y. Ait-Amirat, A. Berthon, J.M. Kauffmann, in the Proceedings of the 2002 IEEE 56th Vehicular Technology Conference, VTC 2002-Fall, pp. 1671-1675 "A Comparison of Sliding Mode Fuzzy controller and Fuzzy Sliding Mode controller" by Song Feijun, S.M. Smith, in the Proceedings of the 19th International Conference of the North American Fuzzy Information Processing Society, 2000. NAFIPS, July 2000, pp 480-484 A robust nonlinear control strategy based on sliding mode control algorithm is applied to traction control for an electric vehicle (EV) with four separate wheel drives. The proposed algorithm is implemented in terms of a hierarchical architecture, which incorporates all new known vehicle systems ABS (Anti-lock Brake System), ASR (Anti Slip Regulation), ESP (Electronic Stability Program). Simulation results demonstrate the satisfactory robust performance of the proposed control algorithm.

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Output maneuvering for a class of nonlinear systems 15th

Output maneuvering for a class of nonlinear systems

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15th World Congress of the International Federation of Automatic control, 2002

作者： Skjetne, Roger Fossen, Thor I. Kokotović, Petar Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimN-7491 Norway Center for Control Engineering and Computation University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9783902661746

The output maneuvering problem involves two tasks. The first, which is the geometric task, is to force the output to converge to a desired path parametrized by a continuous scalar variable 6. The second task is to satisfy a desired speed assignment along the path. The main concern is to satisfy the geometric task. However, the speed assignment will ensure that the output follows the path with sufficient speed. A recursive control design technique is developed for nonlinear plants in vectorial strict feedback form of any relative degree. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. An extra degree of freedom is provided for an operator to specify the speed 6. A computer simulation with a marine vessel is performed to illustrate the design. Copyright © 2002 IFAC.

关键词： Speed

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Convexity in zero-sum differential games

Convexity in zero-sum differential games

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IEEE Conference on Decision and control

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

A new approach to two-player zero-sum differential games with convex-concave cost function is presented. It employs the tools of convex and variational analysis. A necessary and sufficient condition on controls to be an open-loop saddle point of the game is given. Explicit formulas for saddle controls are derived in terms of the subdifferential of the function conjugate to the cost. Existence of saddle controls is concluded under very general assumptions, not requiring the compactness of control sets. A Hamiltonian inclusion, new to the field of differential games, is shown to describe equilibrium trajectories of the game.

关键词： Cost function Open loop systems Sufficient conditions Differential equations control engineering control engineering computing Integral equations

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OUTPUT MANEUVERING FOR A CLASS OF NONLINEAR SYSTEMS

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IFAC Proceedings Volumes 2002年第1期35卷 501-506页

作者： Roger Skjetne Thor I. Fossen Petar Kokotović Department of Engineering Cybernetics Norwegian University of Science and Technology N-7491 Trondheim Norway Center for Control Engineering and Computation University of California Santa Barbara CA 93106 USA

The output maneuvering problem involves two tasks. The first, which is the geometric task, is to force the output to converge to a desired path parametrized by a continuous scalar variable θ. The second task is to satisfy a desired speed assignment along the path. The main concern is to satisfy the geometric task. However, the speed assignment will ensure that the output follows the path with sufficient speed. A recursive control design technique is developed for nonlinear plants in vectorial strict feedback form of any relative degree. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. An extra degree of freedom is provided for an operator to specify the speed θ. A computer simulation with a marine vessel is performed to illustrate the design.

关键词： Output maneuvering Path following Backstepping Nonlinear control Marine vessels

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Nonlinear maneuvering with gradient optimization

Nonlinear maneuvering with gradient optimization

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IEEE Conference on Decision and control

作者： R. Skjetne A.R. Teel P.V. Kokotovic Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Center for Control Engineering and Computation University of California Santa Barbara USA

The maneuvering problem involves two tasks. The first one, called the geometric task, is to force the system states to converge to a desired parametrized path. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. The desired geometric path /spl xi/ is viewed as a target set /spl Xi/ which is parametrized by a scalar variable /spl theta/. The proposed dynamic controller consists of a stabilization algorithm that drives the state x(t) to the point /spl xi/(/spl theta/(t)), and a smooth dynamic optimization algorithm that selects the point /spl xi/(/spl theta/) in the set /spl Xi/ that minimizes the weighted distance between x and /spl xi/. Choosing a gain /spl mu/ large in the optimization algorithm, induces a two-time scale behavior or a closed-loop plant. In the fast time-scale /spl theta/(t) rapidly converges to the minimizer, and in the slow time-scale x(t) converges to /spl Xi/. Two motivational examples illustrate the design and the achieved performance of the closed-loop.

关键词： Vehicle dynamics Lyapunov method Trajectory Backstepping Nonlinear dynamical systems Heuristic algorithms Performance gain Force control Robot control Vehicles

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An extension of Matrosov's theorem with application to stabilization of nonholonomic control systems

An extension of Matrosov's theorem with application to stabi...

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IEEE Conference on Decision and control

作者： A. Loria E. Panteley D. Popovic A.R. Teel Laboratoire de Signaux et Systèmes CNRS UMR 8506 Gif-sur-Yvette France Acad. of Sciences of Russia IPME Saint Petersburg Russia Center for Control Engineering and Computation (CCEC) Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We present a result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle's invariance principle to the case of general nonlinear time-varying systems. We show the utility of our theorem by analyzing uniform asymptotic stability of the origin for nonholonomic: systems in closed loop with particular smooth time-varying feedbacks previously proposed in the literature.

关键词： control systems Asymptotic stability Nonlinear control systems Stability analysis Time varying systems Algorithm design and analysis Feedback loop Lyapunov method Collaborative work control engineering

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