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American control Conference (ACC)

作者： D.R. Krupp I.A. Shkolnikov Y.B. Shtessel TD55/Vehicle Control Systems NASA-Marshall Space Flight Center AL USA Department of Electrical and Computer Engineering University of Alabama Huntsville Huntsville AL USA

A problem of sliding mode control design for a SISO system with unmodeled actuators of the first and second order is considered. A design methodology, based on dynamic sliding manifolds (DSM), is proposed to attenuate the chattering phenomenon affecting sliding-mode-controlled plants in the presence of unmodeled dynamics. The proposed methodology maintains the sliding mode on the sliding surface, which is designed without actuator dynamics being considered. This goal is achieved via auxiliary dynamic sliding manifold design; the sliding mode on the auxiliary DSM provides for high order asymptotic sliding mode on the initial surface.

关键词： Sliding mode control Actuators control systems Frequency Manifolds Robust control PD control Proportional control Design methodology Limit-cycles

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Mixed H/sub 2//H/sub /spl infin// control with regional pole placements for underwater vehicle systems

Mixed H/sub 2//H/sub /spl infin// control with regional pole...

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American control Conference (ACC)

作者： Jong Hae Kim Kap Rai Lee Yong Chul Cho Hyung Ho Lee Hong Bae Park Sensor Technology Research Center Kyungpook National University Taegu South Korea Department of Computer Applied Control Engineering Doowon Technical College South Korea School of Electronic and Electrical Engineering Kyungpook National University Taegu South Korea

Proposes the mixed H/sub 2//H/sub /spl infin// controller design method with regional pole placements according to the 3 step guidance courses for underwater vehicle systems in horizontal motion and vertical motion, respectively. The change of hydrodynamics, time delays, and disturbances are considered as uncertainties of the system. The full nonlinear simulation including initial leveling part, guidance, autopilot, actuator, etc., shows that the proposed controllers are efficient in the sense of new strategy for underwater vehicle systems.

关键词： Navigation Underwater vehicles Motion control control systems Design methodology State feedback Hydrodynamics Delay effects Uncertainty Actuators

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A biomimetic compliance control of robot hand by considering structures of human finger

A biomimetic compliance control of robot hand by considering...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Byoung-Ho Kim Byung-Ju Yi Il Hong Suh Sang-Rok Oh Yeh-Sun Hong School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center KIST Seoul South Korea Advanced Robotics Research Center KIST Seoul South Korea

For an object grasped by a robot hand to work in the compliance control domain, we first analyze a necessary condition for successful stiffness modulation in the operational space. Next, we propose a compliance control method for robot hands which consist of two steps: the RIFDS (resolved inter-finger decoupling solver) decomposes the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without inter-finger coupling; and the RIJDS (resolved inter-joint decoupling solver) decomposes the compliance characteristic in the fingertip space into the compliance characteristic in the joint space without inter-joint coupling. According to the analysis results, the finger structure should be biomimetic in the sense that either kinematic redundancy or force redundancy are required to implement the proposed compliance control scheme. Five-bar fingered robot hands are treated as illustrative examples to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method, simulations are performed for two-fingered and three-fingered robot hands.

关键词： Biomimetics Robot control Humans Fingers Robot kinematics Orbital robotics Force control Manipulator dynamics Intelligent robots Robot sensing systems

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Guest Editorial

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Intelligent Automation & Soft Computing 2000年第3期6卷 171-172页

作者： Mohamed Kamel[a] & Mohammad Jamshidi[b] [a] Pattern Analysis and Machine Intelligence Lab Department of Systems Design Engineering University of Waterloo Waterloo Ontario N2L 3G1 Canada [b] Nasa Center for Autonomous Control Engineering and Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM 87131 USA http://ace.tmm.edu

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Disturbance observer-based robust control for underwater robotic systems with passive joints

Disturbance observer-based robust control for underwater rob...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： G.B. Chung K.S. Eom B.-J. Yi I.H. Suh S.-R. Oh Y.J. Cho Sch. of Electr. Eng. & Comput. Sci. Hanyang Univ. Seoul South Korea School of Electrical Engineering and Computer Science Hanyang University Intelligent System Control Research Center KIST Seoul South Korea

Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings between active and passive joints. Furthermore, the control problem becomes complex since there should be considered many hydrodynamic terms as well as intrinsic model uncertainties. To cope with these difficulties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints. The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in which passive joints are eliminated. Also, to realize a robust control method, a nonlinear feedback disturbance observer is applied to each active joint. A four-jointed underwater robotic system with one passive joint is considered as an illustrative example. Through simulation, it is shown that the proposed control algorithm has good position tracking performances even in the presence of several external disturbances and model uncertainties.

关键词： Robust control Mobile robots Underwater vehicles Manipulator dynamics Uncertainty Vehicle dynamics Hydrodynamics control systems Feedback Underwater tracking

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A transaction assessment method for allocation of transmission services - Reply

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IEEE TRANSACTIONS ON POWER SYSTEMS 1999年第3期14卷 928-928页

作者： Baran, ME Banunarayanan, V Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Skaale Energy Control Center Carolina Power and Light Company Raleigh NC USA

Provides information on a study which presented a powerflow based method for an accurate assessment of the impact of a electric transaction on an area/utility. Overview of the transaction assessment method; Descriptio... 详细信息

关键词： Reactive power Power generation Pricing Power system analysis computing Power system economics System testing Costs Power systems Power engineering computing Power generation economics

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Genetic algorithms solution for unconstrained optimal crane control

Genetic algorithms solution for unconstrained optimal crane ...

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1999 Congress on Evolutionary computation, CEC 1999

作者： Kimiaghalam, Bahram Homaifar, Abdollah Bikdash, Marwan Dozier, Gerry NASA-Autonomous Control Engineering Center Department of Electrical Engineering NC AandT State University Greensboro NC United States Department of Computer Science and Engineering Auburn University AL 36849-5347 United States

ISBN: (纸本)0780355369

Crane control is a difficult problem for conventional control methods because of the highly nonlinear equations that must be satisfied. Usually the necessary conditions for solving an optimal control problem require finding the initial co-state vector. In this paper real-coded genetic algorithms are used to find the desired initial value of the costates of the system with no constraints. In our genetic representation, each chromosome represents a set of co-states and each gene (co-state) has an associated cost based on its ability to move the system to desired state after a given amount of time. The objective is to evolve a minimum cost co-state. Our results for this unconstrained crane problem are quite encouraging. © 1999 IEEE.

关键词： Genetic algorithms

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Time series models for Internet data traffic

Time series models for Internet data traffic

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Conference on Local computer Networks (LCN)

作者： C. You K. Chandra Center for Advanced Computation and Telecommunications Department of Electrical and Computer Engineering University of Massachusetts Lowell MA USA

A statistical analysis of Internet traffic measurements from a campus site is carried out to examine the influence of the constituent protocols and applications on the characteristics of the aggregate stream and on packet loss statistics. While TCP remains the dominant traffic protocol through all hours of the day, a mixture of both well-known (HTTP, FTP, NNTP and SMTP) and less known applications contribute significant portions to the TCP traffic mix. Statistical tests show that the aggregate TCP packet arrival process exhibits both nonstationary and nonlinear features. By filtering a subset of the applications found to exhibit nonstationary features from the aggregate process, a stationary traffic stream is derived. This filtered traffic process is modeled using nonlinear threshold autoregressive processes. The traffic model is shown to provide good agreement with the measurement trace in the packet loss statistics. The proposed parametric model allows the design of traffic shapers and provides a simple and accurate approach for simulating Internet data traffic patterns.

关键词： Internet Traffic control Aggregates Statistical analysis Loss measurement Protocols Parametric statistics Testing Information filtering Information filters

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Robust control of multivariable systems using statistical confidence bounds

Robust control of multivariable systems using statistical co...

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IEEE Conference on Decision and control

作者： L. Wang Center for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle Callaghan NSW Australia

It is well known that traditional algorithms from the system identification field produce, not only a nominal model, but also a quantification of the quality of the model via statistical confidence bounds. However, traditional robust control design methods often do not match well this type of description of modelling errors. This paper extends a recently developed procedure for dealing with statistical confidence bounds in robust control to multivariable systems. The solutions are obtained in the spirit of model matching via a state-space approach. A design example is introduced to demonstrate the efficacy of the method.

关键词： Robust control MIMO Uncertainty System identification control systems System performance State-space methods Open loop systems Estimation error Australia

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Representations for recognition under variable Illumination

Representations for recognition under variable Illumination

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International Workshop on Shape, Contour and Grouping in computer Vision

作者： Kriegman, David J. Belhumeur, Peter N. Georghiades, Athinodoros S. Beckman Institute Department of Computer Science University of Illinois at Urbana-Champaign 405 N. Mathews Avenue UrbanaIL61801 United States Center for Computational Vision and Control Department of Electrical Engineering Yale University New HavenCT06520-8267 United States

ISBN: (纸本)3540667229

Due to illumination variability, the same object can appear dramatically different even when viewed in fixed pose. Consequently, an object recognition system must employ a representation that is either invariant to, or models this variability. This chapter presents an appearance-based method for modeling this variability. In particular, we prove that the set of n-pixel monochrome images of a convex object with a Lambertian reflectance function, illuminated by an arbitrary number of point light sources at infinity, forms a convex polyhedral cone in IRn and that the dimension of this illumination cone equals the number of distinct surface normals. For a non-convex object with a more general reflectance function, the set of images is also a convex cone. Geometric properties of these cones for monochrome and color cameras are considered. Here, present a method for constructing a cone representation from a small number of images when the surface is continuous, possibly non-convex, and Lambertian;this accounts for both attached and cast shadows. For a collection of objects, each object is represented by a cone, and recognition is performed through nearest neighbor classification by measuring the minimal distance of an image to each cone. We demonstrate the utility of this approach to the problem of face recognition (a class of non-convex and non-Lambertian objects with similar geometry). The method is tested on a database of 660 images of 10 faces, and the results exceed those of popular existing methods. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Cones

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