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Journal of Dynamic systems, Measurement, and Control 2006年第3期128卷 696-700页

作者： Ji, Zhijian Guo, Xiaoxia Wang, Long Xie, Guangming School of Automation Engineering Qingdao University Qingdao Shandong 266071 China Department of Mathematics Ocean University of China 266071 China Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing China

This paper addresses robustH∞control and stabilization of switched linear systems with norm-bounded time-varying uncertainties. First, based on multiple Lyapunov functions methodology, a sufficient condition is derived for robust stabilization with a prescribed disturbance attenuation levelγonly by employing state-dependent switching rules. Then the robustH∞control synthesis via switched state feedback is studied. It is shown that a switched state-feedback controller can be designed to stabilize the switched systems with anH∞-norm bound if a matrix inequality based condition is feasible. This condition can be dealt with as linear matrix inequalities (LMIs) provided that the associated parameters are selected in advance. All the results presented can be regarded as an extension of some existing results for both switched and nonswitched systems.

关键词： feedback stabilization switching rule Linear matrix inequalities State feedback robust control Design linear matrix inequalities Uncertainty control system synthesis uncertain systems linear systems state feedback uncertain switched systems Lyapunov methods disturbance attenuation time-varying systems Linear systems

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Preliminary results on null controllable region of discrete-time switched linear systems with input saturation

Preliminary results on null controllable region of discrete-...

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IEEE International Conference on Computer-Aided Design

作者： Zhijian Ji Xiaoxia Guo Shixu Xu Long Wang Guangming Xie School of Automation Engineering Qingdao University of China Qingdao Shandong China Department of Mathematics Ocean University of China China Intelligent Control Laboratory Center for Systems and Control Department of Mechanics andEngineering Science Peking University Beijing China

Geometric properties of null controllable region of discrete-time switched linear systems with input saturation are studied. We show that the null controllable region is not convex in general and is centrally symmetric. Under certain conditions, it can be well approximated by a nondecreasing region sequence. It is also shown that the null controllable region is contained in the Minkowski sum of null controllable regions of all its sub-switched systems

关键词： Control systems Linear systems Controllability Communication switching Switched systems Intelligent control Control system synthesis Communication system control Centralized control Chemical processes

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Disturbance attenuation of discrete-time switched linear systems

Disturbance attenuation of discrete-time switched linear sys...

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IEEE International Conference on Computer-Aided Design

作者： Zhijian Ji Haisheng Yu Xiaoxia Guo Long Wang Haish Engineering Yu School of Automation Engineering Qingdao University of China Qingdao Shandong China Department of Mathematics Ocean University of China Shandong China Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing China

Based on multiple Lyapunov functions methodology, we study disturbance attenuation of discrete-time switched linear systems. A bilinear matrix inequalities (BMIs) based condition is derived to stabilize the switched system with a prescribed disturbance attenuation level Upsi when only switching can be utilized in the control of systems. This condition can be dealt with as linear matrix inequalities (LMIs) if the associated scalars are selected in advance. Then the synthesis problem via switched state feedback is studied. All the switching rules adopted are state dependent and are constructively designed

关键词： Attenuation Linear systems Switched systems Lyapunov method Control systems State feedback Switches Stability Intelligent control Linear matrix inequalities

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Tactile sensors for the NASA/DARPA Robonaut

Tactile sensors for the NASA/DARPA Robonaut

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Collection of Technical Papers - AIAA 1st Intelligent systems Technical Conference

作者： Martin, T.B. Diftler, M.A. Ambrose, R.O. Platt Jr., R. Butzer, M.J. NASA Johnson Space Center Houston TX United States University of Massachusetts Amherst MA 01003 Oceaneering Space Systems Houston TX 77058 Automation Robotics and Simulation Division ER5 Automation Robotics and Simulation Division ER4 Robotics and Simulation Division Johnson Space Center ER4 Department of Computer Science University of Massachusetts Robotics and Automation Department

ISBN: (纸本)156347719X

Tactile sensors are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. The sensors originally developed for the Utah/MIT hand are now incorporated into a rugged glove for Robonaut. These custom gloves compliment the human like dexterity available in the Robonaut hands. The sensors and gloves are discussed showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

关键词： Haptic interfaces

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PLAP - Pini-based Lightweight Agent Platform for industrial environments

PLAP - Pini-based Lightweight Agent Platform for industrial ...

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2nd IEEE International Conference on Industrial Informatics: Collaborative automation - One Key for Intelligent Industrial Environments, INDIN'04

作者： Deter, Steffen Klostermeyer, Axel Peschke, Jörn Lüder, Arndt Department of Mathematics and Computer Science University of Marburg Germany Center Distributed Systems Institute of Ergonomics Manufacturing Systems and Automation Otto-von-Guericke University Magdeburg Germany

ISBN: (纸本)0780385136

Today's markets are characterized by increasing turbulence, which forces industrial companies world wide to become more and more flexible. This flexibility is needed in all levels of industry and especially within production. As the corresponding "enabling technologies" for information and communication in such production systems the internet with connections down to single field devices get into the focus of vendors and end using companies of automation systems |1, 2|. With regard to the steadily growing wish for flexibility software agents and plug&participate technologies are going to play an exceptional role. Unfortunately most of the existing agent-systems does not specifically follow the requirements of industrial automation. Due to the often restricted resources of (especially) field devices the need for agent platforms suitable for limited device environments in this context increases more and more. Here different approaches exist in order to meet the requirements and to satisfy the demand. On the one hand, there exist platforms which are based upon plug&participate technologies, but are not suitable for limited devices. On the other hand, there exist platforms for limited devices, which do not provide common plug&participate capabilities. Hence, there does not exist an agent platform satisfying all requirements at the same time. Therefore, this paper describes such a platform, which is based upon a Jini-like limited device plug&participate technology and thus is suitable also for industrial environments with often limited devices. © 2004 IEEE.

关键词： Intelligent agents

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PLAP: pini-based lightweight agent platform for industrial environments

PLAP: pini-based lightweight agent platform for industrial e...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： S. Deter A. Klostermeyer J. Peschke A. Luder Department of Mathematics and Computing Science University of Marburg Germany Center Distributed Systems Institute of Ergonomics Manufacturing Systems and Automation Otto-von-Guericke University of Magdeburg Germany

Today's markets are characterized by increasing turbulence, which forces industrial companies world wide to become more and more flexible. This flexibility is needed in all levels of industry and especially within production. As the corresponding "enabling technologies" for information and communication in such production systems the Internet with connections down to single field devices get into the focus of vendors and end using companies of automation systems (Klostermeyer, A. and Lorentz, K., 2001), (Preschke, J., 2002). With regard to the steadily growing wish for flexibility software agents and plug and participate technologies are going to play an exceptional role. Unfortunately most of the existing agent-systems do not specifically follow the requirements of industrial automation. Due to the often restricted resources of (especially) field devices the need for agent platforms suitable for limited device environments in this context increases more and more. Here different approaches exist in order to meet the requirements and to satisfy the demand. On the one hand, there exist platforms, which are based upon plug and participate technologies, but are not suitable for limited devices. On the other hand, there exist platforms for limited devices, which do not provide common plug and participate capabilities. Hence, there does not exist an agent platform satisfying all requirements at the same time. Therefore, this paper describes such a platform, which is based upon a Jini-like limited device plug and participate technology and thus is suitable also for industrial environments with often limited devices

关键词： Distributed computing Manufacturing automation Paper technology Information science Modems Internet Production systems Paints Computer displays Manufacturing processes

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Tactile gloves for autonomous grasping with the NASA/DARPA Robonaut

Tactile gloves for autonomous grasping with the NASA/DARPA R...

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IEEE International Conference on robotics and automation (ICRA)

作者： T.B. Martin R.O. Ambrose M.A. Diftler R. Platt M.J. Butzer Automation Robotics and Simulation Division NASA-Johnson Space Center Houston TX USA Department of Computer Science University of Massachusetts Amherst MA USA Human Space Flight Programs Oceaneering Space Systems Houston TX USA

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

关键词： NASA Humans Grasping robotics and automation Humanoid robots Robot sensing systems Force sensors Sensor phenomena and characterization Control systems Orbital robotics

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European Control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Global controller optimization using horowitz bounds 15th

Global controller optimization using horowitz bounds

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Fransson, Carl-Magnus Lennartson, Bengt Wik, Torsten Holmström, Kenneth Saunders, Michael Gutman, Per-Olof Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Sweden Center for Mathematical Modeling Department of Mathematics and Physics Mälardalen University Västerås Sweden Systems Optimization Laboratory Department of Management Science and Engineering Stanford University StanfordCA United States Faculty of Agricultural Engineering Technion Haifa Israel

ISBN: (纸本)9783902661746

A procedure for global optimization of PID type controller parameters for SISO plants with model uncertainty is presented. Robustness to the uncertainties is guaranteed by the use of Horowitz bounds, which are used as constraints when low frequency performance is optimized. The basic idea of both the optimization and the parameter tuning is to formulate separate criteria for low, mid and high frequency closed loop properties. The trade-off between stability margins, high frequency robustness and low frequency performance is then elucidated and, hence, the final choice of parameters is facilitated. The optimization problems are non-convex and ill-conditioned and we use a combination of new global and standard local optimization algorithms available in the TOMLAB optimization environment to solve the problem. The method does not rely on a good initial guess and converges fast and robustly. It is applied to a controller structure comparison for a plant with an uncertain mechanical resonance. For a given control activity and stability margin as well as identical tuning parameters it is shown that a PID controller achieves slightly improved low frequency performance compared to an H∞ controller based on loop-shaping. The reason for this somewhat surprising result is the roll-off in the H∞ controller, which adds additional high frequency robustness compared to the PID controller. Computationally, a factor of 10-20 has been gained compared to an earlier, less general, version of the procedure. Copyright © 2002 IFAC.

关键词： Controllers

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GLOBAL CONTROLLER OPTIMIZATION USING HOROWITZ BOUNDS

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IFAC Proceedings Volumes 2002年第1期35卷 247-252页

作者： Carl-Magnus Fransson Bengt Lennartson Torsten Wik Kenneth Holmström Michael Saunders Per-Olof Gutman Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Sweden Center for Mathematical Modeling Department of Mathematics and Physics Mälardalen University Västerås Sweden Systems Optimization Laboratory Department of Management Science and Engineering Stanford University Stanford CA USA Faculty of Agricultural Engineering Technion Haifa Israel

A procedure for global optimization of PID type controller parameters for SISO plants with model uncertainty is presented. Robustness to the uncertainties is guaranteed by the use of Horowitz bounds, which are used as constraints when low frequency performance is optimized. The basic idea of both the optimization and the parameter tuning is to formulate separate criteria for low, mid and high frequency closed loop properties. The trade-off between stability margins, high frequency robustness and low frequency performance is then elucidated and, hence, the final choice of parameters is facilitated. The optimization problems are non-convex and ill-conditioned and we use a combination of new global and standard local optimization algorithms available in the TOMLAB optimization environment to solve the problem. The method does not rely on a good initial guess and converges fast and robustly. It is applied to a controller structure comparison for a plant with an uncertain mechanical resonance. For a given control activity and stability margin as well as identical tuning parameters it is shown that a PID controller achieves slightly improved low frequency performance compared to an ℋ ∞ controller based on loop-shaping. The reason for this somewhat surprising result is the roll-off in the ℋ ∞ controller, which adds additional high frequency robustness compared to the PID controller. Computationally, a factor of 10–20 has been gained compared to an earlier, less general, version of the procedure.

关键词： ℋ ∞ PID global optimization Horowitz bounds performance robustness

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