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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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POSITIVE REALNESS AND THE ANALYSIS OF A CLASS OF 2D LINEAR SYSTEMS

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IFAC Proceedings Volumes 2002年第1期35卷 219-224页

作者： K. Galkowski W. Paszke B. Sulikowski E. Rogers S. Xu J. Lam Z. Lin D.H. Owens Institute of Control and Computation Engineering University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK Departament of Electrical and Computer Engineering University of Alberta Edmonton Alberta Canada T6G 2V4 Department of Mechanical Engineering University of Hong Kong School of EEE Nanyang Technological University Nanyang Ave. 639798 Singapore Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting and metal rolling operations through to iterative learning control schemes. The main feature which makes them distinct from other classes of 2D linear systems is that information propagation in one of the two independent directions only occurs over a finite duration. This, in turn, means that a distinct systems theory must be developed for them, which can then be translated into efficient routinely applicable controller design algorithms for applications domains. In this paper, we give the first significant results on a positive realness based approach to the analysis of these processes.

关键词： 2D linear systems repetitive processes positive realness

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DESIGNING STATE-SPACE MODELS WITH NEURAL NETWORKS

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IFAC Proceedings Volumes 2002年第1期35卷 459-464页

作者： Józef Korbicz Marcin Mrugalski Thomas Parisini Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65–246 Zielona Góra Poland fax: +48 68 3254615 Departament of Electrical Electronic and Computer Engineering DEEI-University of Trieste Via Valerio 10 34127 Trieste 20133 Milano Italy Italy Fax: +39 040 6763460

This paper presents a new state-space identification framework for non-linear systems. In particular, a state-space model structure is designed with the Group Method of Data Handling type neural network. It is assumed that the neurons of the network have tangensoidal activation functions. For such a network type, a new approach based on a bounded-error set estimation technique is employed to estimate the parameters of the network. The final part of this work contains an illustrative example regarding the application of the proposed approach in the fault detection system.

关键词： State-space models neural networks non-linear system identification fault diagnosis

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An extension of weighted strategy sharing in cooperative Q-learning for specialized agents

An extension of weighted strategy sharing in cooperative Q-l...

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International Conference on Neural Information Processing

作者： S.M. Eshgh M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.

关键词： Intelligent robots Intelligent agent Process control control systems Intelligent control Laboratories Intelligent systems Physics Mathematics Entropy

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Certainty and expertness-based credit assignment for cooperative Q-Learning agents with an AND-type task

Certainty and expertness-based credit assignment for coopera...

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International Conference on Neural Information Processing

作者： A. Harati M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence & AI and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.

关键词： Feedback Intelligent agent Intelligent robots Process control control systems Intelligent control Artificial intelligence Robot kinematics Physics computing Reliability engineering

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Parallel-platform based numerical simulation of instabilities in nanoscale tunneling devices

Parallel-platform based numerical simulation of instabilitie...

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IEEE Conference on Nanotechnology

作者： C.T. Kelley D.L. Woolard P. Zhao M. Kerr M.I. Lasater Department of Mathematics Center for Research in Scientific Computation USA U.S. Army Research Office U. S. Army Research Laboratory NC USA Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA

ISBN: (纸本)0780375386

We present theoretical results on instability processes in nanoscale tunneling structures that were obtained from a computationally improved physics-based simulator. The results were obtained from a numerical implementation of the Wigner-Poisson electron transport model upon a parallel-computing platform. These investigations considered various forms of multi-barrier resonant tunneling structures (RTSs) and they were used to test the robustness of the new modeling code. This improved modeling tool is shown to be fast and efficient with the potential to facilitate complete and rigorous studies of this time-dependent phenomenon. This is important because it will allow for the study of RTSs embedded in realistic circuit configurations. Hence, this advanced simulation tool will allow for the detailed study of RTS devices coupled to circuits where numerical simulations in time and iterative numerical optimization over the circuit parameters are required. Therefore, this work will enable the future study of RTS-based circuits operating at very high frequencies.

关键词： Numerical simulation Nanoscale devices Nanostructures Physics computing computational modeling Electrons Resonant tunneling devices Circuit testing Robustness Circuit simulation

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Vision-guided flight stability and control for micro air vehicles

Vision-guided flight stability and control for micro air veh...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S.M. Ettinger M.C. Nechyba P.G. Ifju M. Waszak Dept. of Electr. & Comput. Eng. Florida Univ. Gainesville FL USA Department of Electrical and Computer Engineering University of Florida Gainesville FL USA Department of Aerospace Engineering Mechanics and Engineering University of Florida Gainesville FL USA Dynamics and Control Branch NASA-Langley Research Center Hampton VA USA

Substantial progress has been made recently towards designing, building and test-flying remotely piloted Micro Air Vehicles (MAVs) and small UAVs. We seek to complement this progress in overcoming the aerodynamic obstacles to flight at very small scales with a vision-guided flight stability and autonomy system, based on a robust horizon detection algorithm. In this paper, we first motivate the use of computer vision for MAV autonomy, arguing that given current sensor technology, vision may be the only practical approach to the problem. We then describe our statistical vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification. Next, we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feedback controller for self-stabilized flight, and report results on vision-based autonomous flights of duration exceeding ten minutes.

关键词： Unmanned aerial vehicles Robust stability Detection algorithms Buildings Testing Aerodynamics computer vision Noise robustness Estimation error Adaptive control

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A Markov process using curvature for filtering curve images 3rd

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3rd International Workshop on Energy Minimization Methods in computer Vision and Pattern Recognition, EMMCVPR 2001

作者： August, Jonas Zucker, Steven W. Center for Computational Vision and Control Departments of Electrical Engineering and Computer Science Yale University 51 Prospect Street New HavenCT06520 United States

ISBN: (纸本)3540425233

A Markov process model for contour curvature is introduced via a stochastic differential equation. We analyze the distribution of such curves, and show that its mode is the Euler spiral, a curve minimizing changes in curvature. To probabilistically enhance noisy and low contrast curve images (e.g., edge and line operator responses), we combine this curvature process with the curve indicator random field, which is a prior for ideal curve images. In particular, we provide an expression for a nonlinear, minimum mean square error filter that requires the solution of two elliptic partial differential equations. Initial computations are reported, highlighting how the filter is curvature-selective, even when curvature is absent in the input. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Markov processes

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Multivariable MRAC using high frequency gain matrix factorization

Multivariable MRAC using high frequency gain matrix factoriz...

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IEEE Conference on Decision and control

作者： A.K. Imai R.R. Costa Liu Hsu Gang Tao P. Kokotovic Department of Electrical Engineering COPPE/UFRJ Rio de Janeiro Brazil Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA Center of Control Engineering and Computation University of California Santa Barbara CA USA

A MIMO (multiple-input, multiple-output) analog to the well-known Lyapunov-based SISO (single-input, single-output) design of MRAC (model-reference adaptive control) has been recently introduced by L. Hsu et al. (2001). The new design utilizes a control parametrization derived from a factorization of the high-frequency gain matrix K/sub p/=SDU, where S is symmetric positive-definite, D is diagonal and U is unity upper-triangular. Only the signs of the entries of D or, equivalently, the signs of the leading principal minors of K/sub p/, were assumed to be known. However, the result was restricted to plants with (vector) relative degree one. In this paper, we extend the MRAC for more general plants with relative degree greater than one. We present three possible factorizations of K/sub p/ and the resulting update laws.

关键词： Frequency MIMO Symmetric matrices Transfer functions Artificial intelligence control engineering control engineering computing Analog computers Adaptive control Linear systems

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Lyapunov-based adaptive control of MIMO systems

Lyapunov-based adaptive control of MIMO systems

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American control Conference (ACC)

作者： Liu Hsu R. Costa A.K. Imai P. Kokotovic Department of Electrical Engineering COPPE/UFRJ Rio de Janeiro Brazil Â‡ Center for Control Engineering and Computation University of California Santa Barbara CA

The design of model-reference adaptive control (MRAC) for MIMO linear systems has not yet been achieved, in spite of significant efforts, the completeness and simplicity of its SISO counterpart. One of the main obstacles has been the generalization of the SISO assumption that the sign of the high-frequency gain is known. Here we overcome this obstacle and present a MIMO analog to the well known Lyapunov-based MRAC SISO design. Our algorithm makes use of a new control parametrization derived from a factorization of the high-frequency gain matrix K/sub p/=SDU, where S is symmetric positive definite, D is diagonal, and U is unity upper triangular. Only the signs of the entries of D or, equivalently, the signs of the leading principal minors of K/sub p/, are assumed to be known.

关键词： Adaptive control MIMO Linear systems Frequency Transmission line matrix methods Symmetric matrices Visual servoing Upper bound control engineering control engineering computing

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