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作者： Núñez, Alfredo Sáez, Doris Škrjanc, Igor De Schutter, Bart Delft Center for Systems and Control Delft University of Technology Delft Netherlands Electrical Engineering Department Universidad de Chile Santiago Chile Faculty of Electrical and Computer Engineering University of Ljubljana Slovenia

ISBN: (纸本)9783902661937

In this paper a new identification method for non-linear hybrid systems that have mixed continuous and discrete states by using fuzzy clustering and principal component analysis is described. The method first determines the hybrid characteristic of the system inspired by an inverse form of the merge method for clusters, which makes it possible to identify the unknown switching points of a process based on just input-output data. Using the switching points, a hard partition of the input-output space is obtained. Then, we propose to use Takagi-Sugeno (TS) fuzzy models with Gaussian MFs as sub-models for each partition. Thus, the overall model is hybrid-fuzzy and will include explicitly the hybrid behavior of the system (the detected switching points) by means of binary MFs, and in each partition all the other non-linearities by means of TS sub-models. An illustrative experiment on a hybrid-tank system is conducted to present the benefits of the proposed approach. © 2011 IFAC.

关键词： Principal component analysis

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On quaternion-based attitude control and the unwinding phenomenon

On quaternion-based attitude control and the unwinding pheno...

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作者： Mayhew, Christopher G. Sanfelice, Ricardo G. Teel, Andrew R. Robert Bosch Research and Technology Center 4005 Miranda Ave. Palo Alto CA 94304 United States Department of Aerospace and Mechanical Engineering University of Arizona Tucson AZ 85721 United States Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9781457700804

The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Often, quaternion-based feedbacks require an additional mechanism that lifts a continuous attitude path to the unit quaternion space. When this mechanism is memoryless, it has a limited domain where it remains injective and leads to discontinuities when used globally. To remedy this limitation, we propose a hybrid-dynamic algorithm for lifting a continuous attitude path to the unit quaternion space. We show that this hybrid-dynamic mechanism allows us to directly translate quaternion-based controllers and their asymptotic stability properties (obtained in the unit-quaternion space) to the actual rigid-body-attitude space. We also show that when quaternion-based controllers are not designed to account for the double covering of the rigid-body-attitude space by a unit-quaternion parameterization, they can give rise to the unwinding phenomenon, which we characterize in terms of the projection of asymptotically stable sets. © 2011 AACC American Automatic control Council.

关键词： controllers

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Synergistic Lyapunov functions and backstepping hybrid feedbacks

Synergistic Lyapunov functions and backstepping hybrid feedb...

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ISBN: (纸本)9781457700804

The notion of synergistic potential functions has been introduced recently in the literature and has been used as the basis for the design of hybrid feedback laws that achieve global asymptotic stabilization of a point on a compact manifold (without boundary) such as S1, S2, and SO(3). Here, synergistic potential functions are generalized - to synergistic Lyapunov functions - and are shown to be amenable to backstepping. In particular, if an affine control system admits a (weak) synergistic Lyapunov function and feedback pair then the system with an integrator added at the input also admits a synergistic Lyapunov and feedback pair. This fact enables "smoothing" hybrid feedbacks, or implementing them through a chain of integrators. In this way, hybrid control designed at a kinematic level can be redesigned for control through forces, torques, or even the derivative of these quantities. We demonstrate the backstepping procedure for attitude stabilization of a rigid body using a quaternion parametrization. © 2011 AACC American Automatic control Council.

关键词： Lyapunov functions

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On the non-robustness of inconsistent quaternion-based attitude control systems using memoryless path-lifting schemes

On the non-robustness of inconsistent quaternion-based attit...

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ISBN: (纸本)9781457700804

The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Quaternion-based feedback control laws that are inconsistent (i.e. do not have a unique value for a given attitude) require an additional mechanism that lifts a continuous attitude trajectory to the unit quaternion space. Lifting mechanisms that are memoryless, for example, selecting the quaternion having positive scalar component, have a limited domain where they remain injective and, when used globally, introduce discontinuities into the closed-loop system. We show that such discontinuities can be exploited by an arbitrarily small measurement disturbance to stabilize attitudes far from the desired attitude and destroy "global" attractivity properties. © 2011 AACC American Automatic control Council.

关键词： Closed loop systems

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control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy control with Experimental Validation

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International Scholarly Research Notices 2012年第1期2012卷

作者： Mojtaba Rostami Kandroodi Mohammad Mansouri Mahdi Aliyari Shoorehdeli Mohammad Teshnehlab Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iranut.ac.ir Department of Control Engineering Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Irankntu.ac.ir Department of Mechatronics Engineering Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Irankntu.ac.ir

A novel structure of fuzzy logic controller is presented for trajectory tracking and vibration control of a flexible joint manipulator. The rule base of fuzzy controller is divided into two sections. Each section includes two variables. The variables of first section are the error of tip angular position and the error of deflection angle, while the variables of second section are derivatives of mentioned errors. Using these structures, it would be possible to reduce the number of rules. Advantages of proposed fuzzy logic are low computational complexity, high interpretability of rules, and convenience in fuzzy controller. Implementing of the fuzzy logic controller on Quanser flexible joint reveals efficiency of proposed controller. To show the efficiency of this method, the results are compared with LQR method. In this paper, experimental validation of proposed method is presented.

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3D Surface Stagnography using Geometry Images

3D Surface Stagnography using Geometry Images

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The 6th International Conference on computer Science & Education(第六届国际计算机新科技与教育学术会议 ICCSE 2011)

作者： S. S. Iyengar Qing Huang Xin Li Department of Computer Science and Center for Computation and Technology Louisiana State University Department of Electrical and Computer Engineering and Center for Computati Computation and Technolog

This paper present presents a new 3-d data hiding scheme. By using geometry image images, we transform the 3-d data hiding problem into the 2-d image data hiding problem where here efficient algorithms can be applied applied. A modified LSB embedding approach. is proposed to embed payload in geometry images. Experimental results show that a large amount of payload can be embedded in the3-d model without causing too much deformation of the 3-d model. In the end of the paper, we propose a completely new representation of 3-d model as an application of our data hiding method.

关键词： 3-d data hiding geom geometry image LSB embedding

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Algorithms for the Traveling Salesman Problem with Neighborhoods Involving a Dubins Vehicle

Algorithms for the Traveling Salesman Problem with Neighborh...

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2011 American control Conference (ACC)

作者： Jason T. Isaacs Daniel J. Klein Joao P. Hespanha Center for Control Dynamical Systems and Computation and the Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We study the problem of finding the minimum-length curvature constrained closed path through a set of regions in the plane. This problem is referred to as the Dubins Traveling Salesperson Problem with Neighborhoods (DTSPN). Two algorithms are presented that transform this infinite dimensional combinatorial optimization problem into a finite dimensional asymmetric TSP by sampling and applying the appropriate transformations, thus allowing the use of existing approximation algorithms. We show for the case of disjoint regions, the first algorithm needs only to sample each region once to produce a tour within a factor of the length of the optimal tour that is independent of the number of regions. We present a second algorithm that performs no worse than the best existing algorithm and can perform significantly better when the regions overlap.

关键词： Approximation algorithms Approximation methods Traveling salesman problems Path planning Aircraft Vehicle dynamics Euclidean distance

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Intelligent control of human prosthetic eye movements system for the emotional support by a huggable pet-type robot via Gaussian RBF neural network based on sliding mode control

Intelligent Control of human prosthetic eye movements system...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Farivar, Faezeh Kandroodi, Mojtaba Rostami Shoorehdeli, Mahdi Aliyari Department of Mechatronics Engineering Science and Research Branch Islamic Azad University Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467316903

In this study, intelligent control of human eye movements system for the emotional support by a huggable pet type robot via Gaussian RBF neural network based on sliding mode control is presented. Despite active research and significant progress in the last three decades on control of human eye movements, it remains challenging issue due to its applications in prosthetic eyes and robotics. The geometry and model of human eye movements system are investigated and this system is considered as a nonlinear control system. The specified model may only be an academic exercise. It can have scientific importance in understanding of the human movement system in general. Also, it can be useful for robotics. By using Gaussian RBF Neural Networks Based on Sliding Mode control, the control goal can be achieved. The adaptation laws of designed controllers are obtained based on sliding mode control methodology without calculating the Jacobian of the system. The proposed method is capable to control of human eye movements system. Intelligent methods such as artificial neural networks are proposed to control the human eye movements and numerical simulations are presented. It is concluded that the intelligent controls applied to control of human eye movements system are emulated from the neural controls in biological system. © 2011 IEEE.

关键词： Sliding mode control

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Enhancement of light absorption in subwavelength plasmonic slits by optical microcavities

Enhancement of light absorption in subwavelength plasmonic s...

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Frontiers in Optics, FiO 2011

作者： Min, Changjun Yang, Liu Veronis, Georgios Center for Computation and Technology Louisiana State University Baton Rouge LA 70803 United States Department of Electrical and Computer Engineering Louisiana State University Baton Rouge LA 70803 United States

We show that a compact structure consisting of multiple optical microcavities on both the entrance and exit side of a subwavelength plasmonic slit can greatly enhance the absorption cross section of the slit. © 2... 详细信息

ISBN: (纸本)9781557529176

关键词： Plasmonics

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Fault diagnosis method combining multi-relation indexes with D-S evidence theory

Fault diagnosis method combining multi-relation indexes with...

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2011 IEEE International Conference on Automation and Logistics, ICAL 2011

作者： Han, Xiaojuan Zhang, Xilin Chen, Fang Chen, Zenan Department of Control and Computer Engineering North China Electrical Power University Beijing 102206 China Dispatching Center Changchun Power Supply Company Changchun 130012 China

ISBN: (纸本)9781457703010

The fault diagnosis method based on grey relation analysis needs choosing reference pattern vectors which have a strongly ability of classify and identifying fault, otherwise the veracity and reliability of fault diagnosis can be greatly reduced. On basis of traditional grey relation analysis, multi-samples were adopted as reference signals and the relation indexes between multi-sample reference signals and the signal to be diagnosed are calculated by grey relation analysis method and normalized as the mass or basic probability assignment function which are fused to realize fault diagnosis in term of D-S evidence theory. The method provided in this paper is applied to the fault diagnosis of some reducer case operating state. The simulation result is shown that the reliability of fault diagnosis can be improved by fusion and the uncertainty of fault diagnosis depending on single reference pattern vector can be eliminated too. © 2011 IEEE.

关键词： Failure analysis

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