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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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A genetic-fuzzy control application to ramp metering and variable speed limit control

A genetic-fuzzy control application to ramp metering and var...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Amir Hosein Ghods Ashkan Rahimi Kian Masoud Tabibi Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Civil Engineering University of Amir-Kabir Tehran Iran

This paper proposes a fuzzy control approach for the traffic-responsive ramp metering and variable speed limits control, in order to reduce the peak-hour congestion on freeways. The objective of control is to minimize the total time spent in the traffic network. To ease the calibration process of fuzzy controller and improve the overall performance of ramp metering and variable speed limits, genetic algorithm is applied for tuning the fuzzy sets parameters. In order to evaluate the controller's efficiency and applicability, a comparison is made with traditional ALINEA based controller and the fuzzy ramp metering only case by a case-study. The macroscopic traffic model METANET and its extension for dynamic speed limits are used for optimization procedure and presenting the simulation results. The paper concludes that genetic fuzzy control of ramp metering and speed limits is expected to enhance the performance of the freeway traffic network.

关键词： Traffic control Fuzzy control Communication system traffic control Electric breakdown Fuzzy logic Fuzzy sets Nonlinear control systems Velocity control Safety Fuzzy systems

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Experimental study on the Gaussian-modulated coherent-state quantum key distribution over standard telecommunication fibers

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Physical Review A 2007年第5期76卷 052323-052323页

作者： Bing Qi Lei-Lei Huang Li Qian Hoi-Kwong Lo Center for Quantum Information and Quantum Control (CQIQC) Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto Ontario Canada M5S 3G4

In this paper, we present a fully fiber-based one-way quantum-key-distribution (QKD) system implementing the Gaussian-modulated coherent-state (GMCS) protocol. The system employs a double Mach-Zehnder interferometer (MZI) configuration in which the weak quantum signal and the strong local oscillator (LO) go through the same fiber between Alice and Bob, and are separated into two paths inside Bob’s terminal. To suppress the LO leakage into the signal path, which is an important contribution to the excess noise, we implemented a scheme combining polarization and frequency multiplexing, achieving an extinction ratio of 70 dB. To further minimize the system excess noise due to phase drift of the double MZI, we propose that, instead of employing phase feedback control, one simply let Alice remap her data by performing a rotation operation. We further present noise analysis both theoretically and experimentally. Our calculation shows that the combined polarization and frequency multiplexing scheme can achieve better stability in practice than the time-multiplexing scheme, because it allows one to use matched fiber lengths for the signal and the LO paths on both sides of the double MZI, greatly reducing the phase instability caused by unmatched fiber lengths. Our experimental noise analysis quantifies the three main contributions to the excess noise, which will be instructive to future studies of the GMCS QKD systems. Finally, we demonstrate, under the “realistic model” in which Eve cannot control the system within Bob’s terminal, a secure key rate of 0.3bit∕pulse over a 5km fiber link. This key rate is about two orders of magnitude higher than that of a practical Bennett-Brassard 1984 protocol QKD system.

关键词： UNCONDITIONAL SECURITY CRYPTOGRAPHY PROOF

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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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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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control of discrete linear repetitive processes with ℋ ∞ and 2 - ∞ performance

Control of discrete linear repetitive processes with ℋ ∞ a...

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2007 American control Conference, ACC

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric 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 ul. Podgórna 50 65-246 Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

ISBN: (纸本)1424409888

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∞ and 2-∞ dynamic output feedback controller which guarantees that the resulting controlled process is stable and has prescribed disturbance attenuation performance as measured by ℋ∞ and 2-∞ norms. © 2007 IEEE.

关键词： Linear systems

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A Dynamic Decoupling control Approach and Its Applications to Chemical Processes

A Dynamic Decoupling Control Approach and Its Applications t...

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American control Conference (ACC)

作者： Qing Zheng Zhongzhou Chen Zhiqiang Gao Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA Department of Chemical Engineering University of Massachusetts Amherst MA USA

In this paper, a unique dynamic decoupling control strategy, based on the active disturbance rejection control framework, is proposed for square multivariable systems. With the proposed method, it is shown that a largely unknown square multivariable system is readily decoupled by actively estimating and rejecting the effects of both the internal plant dynamics and external disturbances. By requiring as little information on plant model as possible, the intention is to make the new method practical. Simulation results obtained on two chemical process problems show good performance in the presence of significant unknown disturbances and unmodeled dynamics.

关键词： Chemical processes MIMO control systems Uncertainty Aerospace control Chemical industry electrical equipment industry Cities and towns USA Councils Mathematical model

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Active Disturbance Rejection control of Chemical Processes

Active Disturbance Rejection Control of Chemical Processes

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhongzhou Chen Qing Zheng Zhiqiang Gao Department of Chemical Engineering University of Massachusetts Amherst Amherst MA USA The Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA

In this paper a novel control strategy, the active disturbance rejection control (ADRC), is applied to the representative process control problems. In the ADRC framework, the disturbance and unmeasured dynamics associated with chemical processes are treated as an additional state variable, which is then estimated and compensated for in real time. This reduces a normally complex, time-varying, nonlinear, and uncertain dynamic process to an approximately linear, time-invariant, cascade-integral form, where a simple proportional-derivative (PD) controller suffices. Simulation studies are performed on two nonlinear continuous stirred tank reactors (CSTR), both demonstrate very good performance in the absence of an accurate mathematical model of the process.

关键词： Process control Chemical processes control systems State estimation Proportional control PD control Three-term control Pi control Aerospace control Nonlinear dynamical systems

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Initial Rotor Position Estimation for Sensorless Brushless DC Drives

Initial Rotor Position Estimation for Sensorless Brushless D...

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International Conference on electrical Machines and Systems 2007(ICEMS2007)(第十届国际电机与系统会议)

作者： P. Champa P. Somsiri P. Wipasuramonton P. Nakmahachalasint Industrial Control and Automation Lab National Electronics and Computer Technology Center Thailand Industrial Control and Automation Lab National Electronics and Computer Technology Center Thailand Department of Electrical Engineering Thammasat University Thailand

This paper presents a method to determine the initial rotor position of a brushless DC machine at standstill without a position sensor. The key principle of the rotor position estimation is based on the simple detection and comparison of phase voltage and current responses relating to the stator inductance varied with the position of the rotor magnet. In the proposed method, only three pulse voltage injections are applied and 30 degree resolution can be achieved. Moreover, no knowledge of machine parameters is required. The effectiveness of the proposed method is validated by experimental results.

关键词： Voltage Rotors Phase detection Position measurement Current measurement Inductance measurement Drives Phase estimation Stators Brushless DC motors

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A Bayesian approach to conceptualization using reinforcement learning

A Bayesian approach to conceptualization using reinforcement...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Saeed Amizadeh Majid Nili Ahmadabadi Babak N. Araabi Roland Siegwart Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran ASL ETHZ Zurich Switzerland

Abstraction provides cognition economy and generalization skill in addition to facilitating knowledge communication for learning agents situated in real world. Concept learning introduces a way of abstraction which maps the continuous state and action spaces into entities called concepts. Of computational concept learning approaches, action-based conceptualization is favored because of its simplicity and mirror neuron foundations in neuroscience. In this paper, a new biologically inspired concept learning approach based on the Bayesian framework is proposed. This approach exploits and extends the mirror neuron's role in conceptualization for a reinforcement learning agent in nondeterministic environments. In the proposed method, an agent sequentially learns the concepts from both of its successes and its failures through interaction with the environment. These characteristics as a whole distinguish the proposed learning algorithm from positive sample learning. Simulation results show the correct formation of concepts' distributions in perceptual space in addition to benefits of utilizing both successes and failures in terms of convergence speed as well as asymptotic behavior. Experimental results, on the other hand, show the applicability and effectiveness of our method for a real robotic task such as wall-following.

关键词： Bayesian methods Learning Mirrors Neurons Decision making Orbital robotics Uncertainty Encoding Biological information theory Signal processing

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