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IEEE Conference on control Technology and Applications (CCTA)

作者： S. Gopinath I. N. Kar R. K. P. Bhatt Control & Optimization Group Research Department Corporate Research Center ABB Global Industries and Services Limited Bangalore India Control & Automation Group Department of Electrical Engineering Indian Institute of Technology New Delhi India

A two-dimensional (2-D) system theory based iterative learning control (ILC) method for a class of linear discrete-time multivariable systems is presented in this paper. Practical ILC schemes comprise of a feed-forward learning controller along with feedback controllers for improved stability and convergence, termed as feedback assisted iterative learning control (FAILC). As a general format we consider that FAILC comprises a learning controller for betterment along iteration axis and two feedback controllers, a state feedback controller and a dynamic error compensator for robustness and convergence along time axis. A 2-D Roesser's model for a class of learning controllers is established, which reveals the connections between ILC systems and 2-D system theory. By proper transformation of FAILC system into a 2-D system model, certain fundamental results from the stabilization of 2-D systems can be successfully utilized for the FAILC design. Simple methods are adopted for the learning gain matrix calculation, by solving two decoupled lower dimensional Riccati equations. The proposed method reduces the complexity of the learning controller design, robust with respect to the small perturbations of the system parameters and with variable initial conditions. The proposed learning algorithm is applied to the injection molding velocity control problem and the results show the effectiveness of the design procedure.

关键词： State feedback Stability analysis Mathematical model Convergence Robustness Algorithm design and analysis

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Disturbance and friction compensations in hard disk drives using neural networks

Disturbance and friction compensations in hard disk drives u...

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作者： Lai, Chow Yin Lewis, Frank L. Venkataramanan, Venkatakrishnan Ren, Xuemei Ge, Shuzhi Sam Liew, Thomas NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 117456 Singapore Automation and Robotics Research Institute University of Texas at Arlington Fort Worth TX United States Data Storage Institute A STAR Singapore 117608 Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

In this paper, we show that by using two adaptive neural networks (NNs), each of which is tailored for a specific task, the tracking performance of the hard-disk-drive (HDD) actuator can be significantly improved. The first NN utilizes accelerometer signal to detect external vibrations and compensates for its effect on HDD position via feedforward action. The second NN is designed to compensate for pivot friction. The appealing advantage of the NN compensators is that the design does not involve any information on the plant, sensor, disturbance dynamics, and friction model. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Experimental results show that the tracking performance of the HDDs can be improved significantly with the use of the NN compensators as compared to the case without compensation. © 2009 IEEE.

关键词： Tribology

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Bell-shaped potential functions for multi-agent formation control in cluttered environment

Bell-shaped potential functions for multi-agent formation co...

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Mediterranean Conference on control and automation (MED)

作者： Kristian Hengster-Movrić Stjepan Bogdan Ivica Draganjac Automation & Robotics Research Institute University of Texas Arlington USA Automatin&Robotics Research Institute University of Texas at Arilington USA Dept. of Control and Computer Engineering University of Zagreb CROATIA Croatia

In this paper we analyze stability properties of multi-agent control system in a cluttered environment with an artificial potential based on bell-shaped functions. In our approach attractive and repulsive forces created by potential gradient have the same form which allows definition of target formation that is parameter invariant. Due to the fact that agents are identical, the proposed structure of formation potential is invariant to the interchange of agents configurations, hence, target in which particular agent would eventually end up, depends only on formation initial condition and environment structure (obstacles). We show that position of unwanted stable equilibria can be controlled by parameters that define elementary potential functions. This fact has been used for synthesis of an adaptation algorithm, such that arrival of agents at required formation is guarantied. Simulation results, presented at the end of the paper, confirm correctness of the proposed control scheme.

关键词： Navigation Stability analysis Force Lead Trajectory Geometry

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Fault-Tolerant Internal Model control of a Diesel Engine Air Path

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IFAC Proceedings Volumes 2010年第7期43卷 572-577页

作者： M. Hilsch J. Lunze R. Nitsche T. Arndt Robert Bosch GmbH Corporate Sector Research and Advance Engineering Stuttgart Germany phone number: +49 711 811 49426 Institute of Automation and Computer Control Ruhr-Universität Bochum Bochum Germany

The paper considers the fault-tolerant control of the boost pressure and the exhaust gas recirculation of a two-stage turbocharged Diesel engine air path. The aim is to recover the stability and setpoint tracking properties of the closed-loop system in case of actuator, sensor or system faults. A model of the nominal air path is extended to describe the Diesel engine under the influence of the faults and to apply the principle of Fault-Tolerant Internal Model control (FTIMC). The application study compares the FTIMC scheme with the nominal Internal Model control of the Diesel engine and shows that for several important fault cases the FTIMC principle recovers the stability of the control loop and leads to severe improvements of setpoint tracking properties.

关键词： Combustion engine control Internal Model control fault-tolerant control fault diagnosis automotive application Diesel engine nonlinear control design

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Sensor data fusion using fuzzy control for VOR-based vision tracking system

Sensor data fusion using fuzzy control for VOR-based vision ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hyun-il Kwon Jaehong Park Wonsang Hwang Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision tracking system to achieve high recognition performance under dynamic circumstances, using a fuzzy logic controller. The main concept of the proposed system is based on the vestibulo-ocular reflex (VOR) and the opto-kinetic reflex (OKR) of the human eye. To realize the VOR concept, MEMS inertial sensors and encoders are used for robot motion detection. This concept turns the camera towards a selected target, counteracting the robot motion. Based on the OKR concept, the targeting errors are periodically compensated, using vision information. The fuzzy logic controller uses sensor data fusion to detect slip or collision occurrences. To calculate a heading angle of the camera accurately, the output of the fuzzy logic controller and the vision information from the camera are combined, using an extended Kalman filter. The proposed vision tracking system is implemented in a mobile robot and evaluated experimentally. The experimental results are obtained as the tracking and the recognition success rate using a mobile robot. The developed system achieved the excellent tracking and recognition performance during slip or collision occurrences under dynamic circumstances.

关键词： Cameras Mobile robots Robot vision systems Machine vision Fuzzy logic

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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High performance vision tracking system for mobile robot using sensor data fusion with Kalman filter

High performance vision tracking system for mobile robot usi...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Jaehong Park Wonsang Hwang Hyun-il Kwon Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper introduces a high performance vision tracking system for mobile robot using sensor data fusion. For mobile robots, it is difficult to collect continuous vision information due to robot's motion. To solve this problem, the proposed vision tracking system estimates the robot's position relative to a target and rotates the camera towards the target. This concept is derived from the human eye reflex mechanism, known as the Vestibulo-Ocular Reflex (VOR), for compensating the head motion. This concept for tracking the target results in much higher performance levels, when compared with the conventional method that rotates the camera using only vision information. The proposed system do not require heavy computing loads to process image data and can track the target continuously even during vision occlusion. The robot motion information is estimated using data from accelerometer, gyroscope, and encoders. This multi-sensor data fusion is achieved using Kalman filter. The proposed vision tracking system is implemented on a two-wheeled robot. The experimental results show that the proposed system achieves excellent tracking and recognition performance in various motion scenarios, including scenarios where camera is temporarily blocked from the target.

关键词： Robot sensing systems Target tracking Machine vision Kalman filters Cameras

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Determination of the Stability Parameter Space of a Two Dimensional Aeroelastic System, a TP Model-based Approach

Determination of the Stability Parameter Space of a Two Dime...

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International Conference on Intelligence engineering Systems

作者： Patricia Grof Peter Baranyi Peter Korondi "Computer and Automation Research Institute/Cognitive Informatics Research Group Budapest University of Technology and Economics/Dept. of Telecommunications and Media Informatics Budapest University of Technology and Economics/Dept. of Mechatronics Optics and Engineering Informatics

ISBN: (纸本)9781424476527

This paper falls in the topic of qLPV state-space model based control design in which LMIs are used to optimize the multi-objective control performance. In this paper we investigate how the convex hull of the polytopic model influences the feasibility of the LMI based control design and the resulting control performances. We examine these influences through the control design of the two dimensional aeroelastic system's example. First we define various TP type polytopic model representations of a wing section whose vertices define different convex hulls. In the second step we investigate how these models lead to different control performances.

关键词： Stability control systems Nonlinear control systems Delay effects Space technology control design Feedback control Displacement control Force control Velocity control

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Polytopic representation of impedance model with feedback delay

Polytopic representation of impedance model with feedback de...

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作者： Galambos, Péter Baranyi, Péter Korondi, Péter Computer and Automation Research Institute Hungarian Academy of Sciences Cognitive Informatics Group Hungary Budapest University of Technology and Economics Dept. of Manufacturing Science and Technology Hungary Budapest University of Technology and Economics Dept. of Telecommunications and Media Informatics Hungary Budapest University of Technology and Economics Dept. of Mechatronics Optics and Engineering Informatics Hungary

ISBN: (纸本)9789549260014

In haptic and telemanipulation devices stability and transparency are contradicting requirements. Due to the network delay the control process may become unstable. In our research we consider the coupled impedance type control algorithms for force reflecting telemanipulation. In this paper, an extended TP model transformation is proposed to convert the delayed system into a polytopic tensor product (TP) model considering the value of the feedback delay as a parameter. Using such model, the design of a stabilizing controller become easier as it does not contain feedback delay. As example, a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by numerical simulation.

关键词： Degrees of freedom (mechanics)

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Scalable co-scheduling strategies in distributed computing

Scalable co-scheduling strategies in distributed computing

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ACS/IEEE International Conference on computer Systems and Applications

作者： Victor V. Toporkov Dmitry Yemelyanov Anna Toporkova Alexey Tselishchev Computer Science Department Moscow Power Engineering Institute Moscow Russia Automation and Artificial Intelligence in Control Department Moscow State Institute of Electronics and Mathematics Moscow Russia European Organization for Nuclear Research (CERN) Geneva Switzerland

In this paper, we present an approach to scalable co-scheduling in distributed computing for complex sets of interrelated tasks (jobs). The scalability means that schedules are formed for job models with various levels of task granularity, data replication policies, and the processor resource and memory can be upgraded. The necessity of guaranteed job execution at the required quality of service causes taking into account the distributed environment dynamics, namely, changes in the number of jobs for servicing, volumes of computations, possible failures of processor nodes, etc. As a consequence, in the general case, a set of versions of scheduling, or a strategy, is required instead of a single version. We propose a scalable model of scheduling based on multicriteria strategies. The choice of the specific schedule depends on the load level of the resource dynamics and is formed as a resource query which is sent to a local batch-job management system.

关键词： Processor scheduling Schedules Dynamic scheduling Resource management Computational modeling Nonhomogeneous media

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