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检索条件"机构=Center for Control Engineering and Computation Electrical and Computer Engineering Department"

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H//sub/spl infin// control of linear parameter-dependent state-delayed systems

H//sub/spl infin// control of linear parameter-dependent sta...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： H.R. Karimi B. Moshiri P.J. Maralani B. Lohmann Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Institute of Automatic Control Technical University of Munich Munich Germany

In this paper, we deal with the issue of robust delay-independent asymptotic stability and robust disturbance attenuation problem for linear parameter-dependent systems. Using Hamiltonian-Jacoby-Isaac approach, a parameter-dependent LMI optimization is obtained. It is shown that by utilizing polynomial parameter-dependent quadratic Lyapunov functions, a parameter-dependent LMI optimization problem is derived. Therefore, state feedback control is determined by solving a parameter-independent LMI. Finally, the applicability of the proposed design is illustrated on a simple example

关键词： control systems Lyapunov method Robust stability Process control Polynomials Attenuation Linear systems Sufficient conditions Vectors Intelligent control

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An interpolative fuzzy inference using least square principle by means of /spl beta/-function and high order polynomials

An interpolative fuzzy inference using least square principl...

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IEEE International Conference on Mechatronics and Automation

作者： F. Kiasi C. Lucas A. Fazl Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran Electrical Engineering Faculty K.N. Toosi University of Technology Tehran Iran

Many researchers have been interested in approximation properties of fuzzy logic systems (FLS), which like neural networks, can be seen as approximation schemes. Almost all of them tackled Mamdani fuzzy model, which was shown to have many interesting features. This paper aims to present an alternative for traditional inference mechanisms and CRI method. The most attractive advantage of this new method is its higher robustness with respect to changes in rule base and ability to operate when latter is sparse. In this paper interpolation with high order polynomials and /spl beta/-function is reported.

关键词： Least squares methods Polynomials Fuzzy systems Fuzzy sets Fuzzy logic Interpolation Least squares approximation Engines Fuzzy control Curve fitting

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Reconfigurable sliding-mode control design using genetic algorithms and eigenstructure assignment

Reconfigurable sliding-mode control design using genetic alg...

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International Conference on control and Automation (ICCA)

作者： A.E. Ashari M.J. Yazdanpanah A.K. Sedigh Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical and Electronics Engineering Department K.N. Toosi University of Technology Tehran Iran

This paper proposes a reconfigurable control system design methodology using the sliding-mode control. The advantage of the proposed sliding-mode reconfigurable control methodology is that it is more robust than the simple static reconfigurable feedback. An approach is suggested to redesign the sliding surface for the after-fault variable structure controller using the genetic algorithms. So, the new sliding-mode controller is capable of preserving much of the dynamics of the original unfailed system. Simulation results are provided to show the effectiveness of the proposed method.

关键词： Sliding mode control Algorithm design and analysis Genetic algorithms control systems Feedback Robust control Stability Java Uncertainty State-space methods

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Output feedback reconfigurable controller design using eigenstructure assignment: post fault order change

Output feedback reconfigurable controller design using eigen...

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International Conference on control and Automation (ICCA)

作者： A.E. Ashari A.K. Sedigh M.J. Yazdanpanah Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran Electrical and Electronics Engineering Department K.N. Toosi University of Technology Tehran Iran

This paper proposes a reconfigurable controller design method for multivariable systems, which is capable of dealing with order-change problems that may occur in an after-fault system. A new method is proposed to recover the nominal closed-loop performance after a fault occurrence in the system. This approach uses the eigenstructure assignment. Unlike the previously developed approaches, the new method can be implemented in the case when the fault leads to order change of the after-fault model. Also, it can be used to solve the problems in which the set of after-fault open-loop and closed-loop eigenvalues have common elements, especially when the system becomes uncontrollable or unobservable due to the fault. The method guarantees the stability of the reconfigured closed-loop system in the presence of output feedback. Finally, simulation results are provided to show the effectiveness of the proposed method for an aircraft model.

关键词： Output feedback control systems Stability Eigenvalues and eigenfunctions Sliding mode control Design methodology MIMO Process control Open loop systems Java

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Self-organized motion in a class of anisotropic swarms: convergence vs oscillation

Self-organized motion in a class of anisotropic swarms: conv...

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American control Conference (ACC)

作者： Tianguang Chu Long Wang Tongwen Chen Center for Systems and Control Department of Mechanics and Engineering ScienceFirst Hospital Peking University Beijing China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

ISBN: (纸本)0780390989

We study an anisotropic swarm model with a class of attraction and repulsion functions. It is shown that the members of a reciprocal swarm aggregates and eventually form a cohesive cluster of finite size around the swarm center within finite time. Under mild conditions on attraction and repulsion functions, the swarm is also completely stable, i.e., every motion converges to the equilibrium point set of the system. These results are further extended to a class of nonreciprocal swarms under the detailed balance condition on coupling weights. We also present numerical simulations demonstrating complex oscillatory behavior in general nonreciprocal swarms. These results provide more insight into the effect of the interaction pattern on collective behavior of swarms.

关键词： Anisotropic magnetoresistance Convergence control systems Stability Numerical simulation Multiagent systems Pattern formation Distributed control Motion control Aggregates

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Delay-dependent robust stability and H/sub /spl infin// control for jump linear systems with delays

Delay-dependent robust stability and H/sub /spl infin// cont...

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American control Conference (ACC)

作者： Jing Wu Tongwen Chen Long Wang Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Center for Systems and Control Department of Mechanics and Engineering ScienceFirst Hospital Peking University Beijing China

ISBN: (纸本)0780390989

This paper considers robust stochastic stability, stabilization and H/sub /spl infin// control problems for a class of jump linear systems with time delays. By taking some zero equations, neither model transformation nor bounding for cross terms is required to obtain the delay-dependent results, which are given in terms of linear matrix inequalities (LMIs). Maximum sizes of time delays are also studied for system stability. Furthermore, solvability conditions and corresponding H/sub /spl infin// control laws are given which provide robust stabilization with a prescribed H/sub /spl infin// disturbance attenuation level /spl gamma/. Numerical examples show that our proposed methods are much less conservative than existing results.

关键词： Robust stability control systems Linear systems Delay systems Delay lines Delay effects Equations Stability analysis control system synthesis Robust control

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Fuzzy sliding mode control applied to low noise switched reluctance motor control

Fuzzy sliding mode control applied to low noise switched rel...

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International Conference on control and Automation (ICCA)

作者： H. Rouhani C. Lucas R.M. Milasi M.N. Bahrami Iranian Applied Design Center of Excellence Mechanical Engineering Department University of Tehran Tehran Iran Iranian Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

In this paper, fuzzy sliding mode controller is designed to govern the dynamics of switched reluctance motor. First, magnetic characteristics data of the motor obtained by finite element method (FEM) is utilized for a fuzzy estimation. Next, fuzzy sliding mode control approach has been utilized as a nonlinear robust control algorithm to deal with a highly nonlinear system with an unknown model and a variable load torque. Simulation results show an excellent tackling the problem with an acceptable control effort. Finally, an effective commutation algorithm has been coupled with the proposed controller which can reduce the acoustic noise resources.

关键词： Sliding mode control Fuzzy control Reluctance motors Magnetic noise Nonlinear dynamical systems Finite element methods Fuzzy systems Robust control Nonlinear systems Commutation

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Adaptive output-feedback for nonlinear systems with no a priori bounds on parameters

Adaptive output-feedback for nonlinear systems with no a pri...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In a result by P. Krishnamurthy and F. Khorrami (2004), we proposed a dynamic high-gain observer/controller architecture for nonlinear systems of the generalized output-feedback canonical form. The design of P. Krishnamurthy and F. Khorrami (2004) utilized the dual architecture of a high-gain observer and controller and incorporated a single dynamic scaling. The designed output-feedback controller was shown to be robust to functional and parametric uncertainties coupled with all states. However, a magnitude bound on the unknown parameters was required. In this paper, we propose a time-varying output-feedback controller that can handle time-varying nonlinear parametric uncertainty coupled with all states without requiring any a priori magnitude bounds on the unknown parameters. This is achieved using a novel time-varying dynamics of the high-gain scaling parameter. The proposed observer/controller structure provides a globally asymptotically stabilizing output-feedback solution for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary.

关键词： Nonlinear systems control systems Observers Uncertainty Riccati equations Lyapunov method Nonlinear control systems Robust control Couplings Programmable control

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Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems

Generalized state scaling-based robust control of nonlinear ...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In this paper, we propose a high-gain scaling based controller to achieve global state-feedback stabilization of a general class of nonlinear systems which are allowed to contain uncertain functions of all the states and the control input as long as polynomial bounds on ratios of some uncertain system terms are available. The design is based on a high-gain scaling involving appropriate powers of a high-gain scaling parameter which is a dynamic signal driven by the state. The designed controller has a very simple structure being essentially a dynamic extension and a linear feedback with state-dependent dynamic gains. The obtained results are applicable to both lower triangular (strict-feedback) and upper triangular (feedforward) structures and also to systems without any triangular structure as long as a set of inequalities involving powers of the polynomial bounds on the ratios of the uncertain system terms and scaling orders is solvable. The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations.

关键词： Robust control Nonlinear systems Nonlinear control systems control systems Polynomials Uncertain systems Signal design Nonlinear dynamical systems Linear feedback control systems State feedback

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GODZILA: a low-resource algorithm for path planning in unknown environments

GODZILA: a low-resource algorithm for path planning in unkno...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In this paper, we propose a novel path-planning and obstacle avoidance algorithm GODZILA for navigation in unknown environments. No prior knowledge of the environment is required. The path-planning algorithm follows a purely local approach using only the current range sensor measurements at each sampling instant and requiring only a small number of stored variables in memory. No map of the environment is built during navigation. This minimizes the memory and computational requirements for implementation of the algorithm, a feature that is especially attractive for small autonomous vehicles. The algorithm utilizes three components: an optimization algorithm, a local straight-line path planner to visible targets, and random navigation. It is proved, for navigation in any finite-dimensional space, that the path-planning algorithm converges in finite time with probability 1. The performance of the algorithm is demonstrated through simulations for path-planning in two-dimensional and three-dimensional spaces. It is seen that a relatively small number of range sensor measurements is sufficient even in complex unknown environments.

关键词： Path planning Navigation Remotely operated vehicles Mobile robots Current measurement Sampling methods Cost function Trajectory Robot sensing systems Orbital robotics

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