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IEEE International Conference on Mechatronics and Automation

作者： Feng Ding Tongwen Chen Control Science and Engineering Research Center Southern Yangtze University Wuxi China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

For multi-input, multi-output stochastic systems, by means of auxiliary models - finite impulse response (FIR) models, we develop an identification algorithm to estimate the FIR model parameters of each entry (sub-submodel) of transfer matrices with an increasing order for the FIR model. The basic idea is to use auxiliary models to predict/estimate the outputs of the sub-submodels, and further to use the recursive least squares algorithm or the Pade approximation method to produce the parameter estimates of sub-submodels. Some simulation results are included.

关键词： MIMO Finite impulse response filter Parameter estimation Least squares approximation Predictive models Recursive estimation Stochastic systems Approximation algorithms Approximation methods System identification

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Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR)

Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Baghani M.N. Ahmadabadi A. Harati Robotics and AI Lab Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

This paper is concerned with the derivation of the kinematics model of the University of Tehran-Pole Climbing Robot (UT-PCR). As the first step, an appropriate set of coordinates is selected and used to describe the state of the robot. Nonholonomic constraints imposed by the wheels are then expressed as a set of differential equations. By describing these equations in terms of the state of the robot an underactuated driftless nonlinear control system with affine inputs that governs the motion of the robot is derived. A set of experimental results are also given to show the capability of the UT-PCR in climbing a stepped pole.

关键词： Climbing robots Wheels Mobile robots Robot kinematics Road transportation Intelligent robots Inspection Cleaning Artificial intelligence Stability

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Reference command tracking for a linearized model of an air-breathing hypersonic vehicle

Reference command tracking for a linearized model of an air-...

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AIAA Guidance, Navigation, and control Conference 2005

作者： Groves, Kevin P. Sigthorsson, David O. Serrani, Andrea Yurkovich, Stephen Bolender, Michael A. Doman, David B. Collaborative Center of Control Science Ohio State University Columbus OH 43210 United States Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States Department of Electrical and Computer Engineering 2015 Neil Ave United States AIAA United States Department of Electrical and Computer Engineering 2015 Neil Ave Columbus OH United States AFRL VACA 2210 Eighth St. United States

ISBN: (纸本)1563477378

The focus of this paper is on control design and simulation for an air-breathing hypersonic vehicle. The challenges for control design in this class of vehicles lie in the inherent coupling between the propulsion system, and the airframe dynamics, and the presence of strong flexibility effects. Working from a highly nonlinear, dynamically-coupled simulation model, control designs are presented for velocity, angle-of-attack, and altitude command input tracking for a linearized version of a generic air-breathing hypersonic vehicle model linearized about a specific trim condition. control inputs for this study include elevator deflection, total temperature change across the combustor, and the diffuser area ratio. Two control design methods are presented, both using linear quadratic techniques with integral augmentation, and are implemented in tracking control studies. The first approach focuses on setpoint tracking control, whereas in the second, a regulator design approach is taken. The effectiveness of each control design is demonstrated in simulation on the full nonlinear model of the generic vehicle. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Hypersonic aerodynamics

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Adaptive H∞ -Contro1 Design for a Class of LPV Systems

Adaptive H∞ -Contro1 Design for a Class of LPV Systems

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IEEE Conference on Decision and control

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 Munich Munich Germany

In this paper, we focus on the issue of adaptive H ∞ -control design for a class of linear parameter-varying (LPV) systems based on the Hamiltonian-Jacobi-Isaac (HJI) method. By combining the idea of polynomially parameter-dependent quadratic functions and vector projection method to derive an adaptive H ∞ -control, sufficient conditions with high precision are given to guarantee both robust asymptotic stability and disturbance attenuation of the LPV systems with unknown constant parameters. The applicability of the proposed design method is illustrated on a simple example.

关键词： Robust stability Polynomials Linear matrix inequalities Symmetric matrices Attenuation Asymptotic stability Sufficient conditions Automatic control Programmable control Adaptive control

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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...

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IEEE Conference on control Technology and Applications (CCTA)

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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Reduced-order model-based feedback controller design for subsonic cavity flows

Reduced-order model-based feedback controller design for sub...

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43rd AIAA Aerospace Sciences Meeting and Exhibit

作者： Yuan, X. Caraballo, E. Yan, P. Özbay, H. Serrani, A. DeBonis, J. Myatt, J.H. Samimy, M. Collaborative Center of Control Science Ohio State University United States Department of Electrical and Computer Engineering Department of Mechanical Engineering United States Bilkent Univ. Dept. of Electrical and Electronics Eng. Ankara Turkey NASA Glenn's Quiet Aircraft Technology Program United States Air Force Research Laboratory Air Vehicles Directorate WPAFB United States

This paper explores feedback controller design for cavity flows based on reduced-order models derived using Proper Orthogonal Decomposition (POD) along with Galerkin projection method. Our preliminary analysis shows that the equilibrium of the POD model is unstable and a static output feedback controller cannot stabilize it. We develop Linear Quadratic (LQ) optimal state feedback controllers and LQ optimal observers for the linearized models. The linear controllers and observers are applied to the nonlinear system using simulations. The controller robustness is numerically tested with respect to different POD models generated at different forcing frequencies. An estimation for the region of attraction of the linear controllers is also provided.

关键词： Subsonic flow

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Inefficiency and classical communication bounds for conversion between partially entangled pure bipartite quantum states

Inefficiency and classical communication bounds for conversi...

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IEEE International Symposium on Information Theory

作者： B. Fortescue Hoi-Kwong Lo Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto ONT Canada

We present explicit bounds on the classical communication cost and inefficiency of entanglement dilution via the Lo-Popescu protocol, for the case of two-term (single-qubit) entangled states. By considering a two-stage dilution, we consequently use prior results to obtain meaningful bounds on the classical communication cost and inefficiency of dilution between two-term partially entangled states

关键词： Quantum entanglement Costs Quantum computing Protocols Upper bound Communication system control Physics computing Information processing Teleportation Paramagnetic resonance

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NEW RECURSIVE LEAST SQUARE ALGORITHMS WITHOUT USING THE INITIAL INFORMATION

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IFAC Proceedings Volumes 2005年第1期38卷 137-141页

作者： Zhonghua Quan Soohee Han Wook Hyun Kwon School of Electrical Engineering & Computer Science Seoul National University Seoul 151-742 Korea Engineering Research Center for Advanced Control & Instrumentation Seoul National University Seoul 151-742 Korea

In this paper, new types of recursive least square (RLS) algorithms, without using the initial information of a parameter or a state to be estimated, are proposed. The proposed RLS algorithm is first obtained for a generic linear model and is then extended to a state estimator for a stochastic state-space model. Compared with the existing algorithms, the proposed RLS algorithms are simpler and more numerically stable. It is shown, by simulation studies, that the proposed RLS algorithms have better numerical stability for digital computation than existing algorithms.

关键词： Estimation initial information Recursive Least-Squares state estimator numerical stability

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Conference key agreement and quantum sharing of classical secrets with noisy GHZ states

Conference key agreement and quantum sharing of classical se...

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IEEE International Symposium on Information Theory

作者： Kai Chen Hoi-Kwong Lo Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering Department of Physics University of Toronto Toronto ONT Canada

ISBN: (纸本)0780391500

We propose a wide class of distillation schemes for multi-partite entangled states that are CSS-states. Our proposal provides not only superior efficiency, but also new insights on the connection between CSS-states and bipartite graph states. We then consider the applications of our distillation schemes for two cryptographic tasks - namely, (a) conference key agreement and (b) quantum sharing of classical secrets. In particular, we construct "prepare-and-measure" protocols. Also we study the yield of those protocols and the threshold value of the fidelity above which the protocols can function securely. Surprisingly, our protocols function securely even when the initial state does not violate the standard Bell-inequalities for GHZ states. Experimental realization involving only bipartite entanglement is also suggested

关键词： Quantum entanglement Cryptographic protocols Quantum computing Cryptography Cascading style sheets Bipartite graph Quantum mechanics Physics Proposals Paramagnetic resonance

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