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IEEE Conference on Decision and control

作者： Dong Yue Engang Tian Qing-Long Han Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Hubei 430074 China School of Electrical and Automation Engineering Nanjing Normal University 78 Bancang Street Nanjing 210042 China Center for Intelligent and Networked Systems and the School of Information and Communication Technology Central Queensland University Rockhampton Qld 4702 Australia

ISBN: (纸本)9781612848006

The event-triggered H_(infinity) control design is investigated for networked control systems with uncertainties and transmission delays. A novel event-triggering scheme is proposed, which has some advantages over traditional ones with a continuous detector. Considering the effect of the transmission delay, a delay system model for the analysis is firstly constructed. Then, based on the model and Lyapunov functional method, criteria for the stability with an H_(infinity) norm bound and criteria for the co-design of both the feedback gain and the trigger parameters are derived. In order to solve the feedback gain and the trigger parameters, the linear matrix inequality technique is employed. From the simulation example, it can be concluded that the proposed event-triggering scheme is superior to some other event-triggering schemes in some existing literature.

关键词： feedback gain Networked control systems Event trigger Delay systems Scheme Co-design control systems design control

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Mathematical Relationships Between Representations of Structure in Linear Interconnected Dynamical systems

Mathematical Relationships Between Representations of Struct...

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2011 American control Conference (ACC)

作者： E. Yeung J. Goncalves H. Sandberg S. Warnick Control and Dynamical Systems California Institute of Technology USA Control Group Department of Engineering University of Cambridge Cambridge UK Automatic Control Laboratory KTH School of Electrical Engineering Stockholm Sweden Information and Decision Algorithms Laboratories Brigham Young University Provo UT USA

A dynamical system can exhibit structure on multiple levels. Different system representations can capture different elements of a dynamical system's structure. We consider LTI input-output dynamical systems and present four representations of structure: complete computational structure, subsystem structure, signal structure, and input output sparsity structure. We then explore some of the mathematical relationships that relate these different representations of structure. In particular, we show that signal and subsystem structure are fundamentally different ways of representing system structure. A signal structure does not always specify a unique subsystem structure nor does subsystem structure always specify a unique signal structure. We illustrate these concepts with a numerical example.

关键词： Transfer functions Periodic structures Computational modeling Equations Silicon Input variables Laboratories

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Exploiting motion priors in visual odometry for vehicle-mounted cameras with non-holonomic constraints

Exploiting motion priors in visual odometry for vehicle-moun...

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Davide Scaramuzza Andrea Censi Kostas Daniilidis GRASP laboratory Department of Computer and Information Science School of Engineering and Applied Science University of Pennsylvania Philadelphia USA GRASP laboratory University of Pennsylvania USA Control and Dynamical Systems Department Division of Engineering and Applied Sciences California Institute of Technology Pasadena USA

This paper presents a new method to estimate the relative motion of a vehicle from images of a single camera. The biggest problem in visual motion estimation is data association; matched points contain many outliers that must be detected and removed so that the motion can be estimated accurately. A very established method for robust motion estimation in the presence of outliers is the five-point RANSAC algorithm. Five-point RANSAC operates by generating motion hypotheses from randomly-sampled minimal sets of five-point correspondences. These hypotheses are then tested against all data points and the motion hypothesis that after a given number of iterations returns the largest number of inliers is taken as the solution to the problem. A typical drawback of RANSAC is that the number of iterations required to find a suitable solution grows exponentially with the number of outliers, often requiring thousands of iterations for typical data from urban environments. Another problem is that - due to its random nature - sometimes the found solution is not the “best” solution to the motion estimation problem. In this paper, we describe an algorithm for relative motion estimation in the presence of outliers, which does not rely on RANSAC. Contrary to RANSAC, motion hypotheses are not generated from randomly-sampled point correspondences, but from a “proposal distribution” that is built by exploiting the vehicle non-holonomic constraints. We show that not only is the proposed algorithm significantly faster than RANSAC, but that the returned solution may also be better in that it favors the underlying motion model of the vehicle, thus overcoming the typical limitations of RANSAC. Additionally, the proposed algorithm provides the likelihood of the motion estimate, which can be very useful in all those applications where a probability distribution of the position of the vehicle is required (e.g., SLAM). Finally, the performance of the proposed method is compared to that of the sta

关键词： Vehicles Cameras Proposals Motion estimation Wheels Urban areas Three dimensional displays

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Dynamic Optimal Scheduling Method and Its Application for Converter Fault in Steelmaking and Continuous Casting Production Process

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IFAC Proceedings Volumes 2011年第1期44卷 9506-9511页

作者： Shengping Yu Tianyou Chai Hong Wang Xinfu Pang Binglin Zheng State Key Laboratory of Integrated Automation for Process Industry (Northeastern University) Shenyang China 110004 (Tel: +86-24-83689665-8013) National Metallurgical Automation Engineering Technology Research Center Northeastern University Shenyang China 110004 Control Systems Centre School of Electrical and Electronic Engineering the University of Manchester P O Box 88 Manchester M60 1QD UK

Abstract In steelmaking and continuous casting (SMCC) production process, converter fault can lead to unexpected changes to the pre-specified converter-continuous caster production mode so that the original scheduling plan becomes unrealizable. In this paper, the dynamic scheduling problem in response to converter fault is firstly analyzed. This is then followed by the establishment of a novel multi-objective nonlinear programming model (MONPM) by introducing the production mode parameter α, production schedule parameter β and χ. The proposed method considers changes in production mode, production schedule of charge, the interval characteristics of processing time. In specific, a two-stage dynamic optimal scheduling method is proposed including the production path planning of charges (PPP) and the production time scheduling (PTS). As a result, a dynamic optimal scheduling software system (DOSSS) is developed and is successfully applied to the scheduling of the largest iron and steel company (BaoSteel) in China. The real-time application shows that the proposed method can efficiently reduce scheduling time, significantly increase the outputs of converters and dramatically shorten the redundant waiting time for molten steel.

关键词： steelmaking and continuous casting dynamic optimization production mode nonlinear programming scheduling system

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Performance evaluation of GNSS aided predictive multihomed NEMO configurations

Performance evaluation of GNSS aided predictive multihomed N...

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International Conference on ITS Telecommunications (ITST)

作者： József Kovács László Bokor Gábor Jeney PEN3C: Research Group of Pervasive Networks Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of Telecommunications Budapest University of Technology & Economics Budapest Hungary

In this document we show the evaluation of an already introduced handover management solution which can be used to provide ubiquitous connections and seamless Internet access. The new solution makes use of GNSS location information and previous records of network parameters. The method exploits the benefits of multihomed mobility configurations. Based on actual GNSS coordinates and previously recorded data, the system is able to predict handovers and to prepare itself for the appearance of networks. By implementing the proposed solution in a real-life multihomed test environment, handover latency is almost totally eliminated.

关键词： Wireless LAN Mobile computing Global Navigation Satellite systems Databases 3G mobile communication Throughput

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Distributed Output Regulation of Uncertain and Switching Multi-Agent systems via Internal Model Design

Distributed Output Regulation of Uncertain and Switching Mul...

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2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Xiaoli Wang Yiguang Hong Zhong-Ping Jiang School of Information Science and Engineering Harbin Institute of Technology atWeihaiWeihai 264209 Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy o Department of Electrical and Computer Engineering Polytechnic Institute of New York University Six

In this paper, the distributed robust output regulation problem of linear multi-agent systems (MAS) is considered. The driving force from the active leaders or the environmental disturbances is formulated as an input of an exogenous system (or exosystem) of the considered multi-agent networks. A systematic distributed design approach is proposed to handle output regulation via dynamic output feedback with the help of canonical internal model (IM). With common solutions of regulator equations and Lyapunov functions, the distributed robust output regulation with switching interconnection topology is designed to achieve collective aims.

关键词： Output regulation Multi-agent systems Internal Model Switching Topology

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Soft Sensing of Sodium Aluminate Solution Component Concentrations via On-line Clustering and Fuzzy Modeling

Soft Sensing of Sodium Aluminate Solution Component Concentr...

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2011 American control Conference (ACC)

作者： Wei Wang Tianyou Chai Lijie Zhao S. Joe Qin State Key Laboratory of Integrated Automation for Process Industry Northeastern University Shenyang China Key Laboratory of Integrated Automation of Process Industry Ministry of Education and Information Engineering School Shenyang Institute of Chemical Technology China Department of Chemical Engineering and Materials Science Daniel J. Epstein Department of Industrial and Systems Engineering University of Southern California Los Angeles CA USA

The component concentrations measurement of sodium aluminate solution are critical to the process of alumina production, they affect the product quality. However, they can not be measured online at present, thus the control and optimal operation is hardly to be achieved. This paper presents an on-line fuzzy modeling method to predict the component concentrations. It includes an on-line clustering approach which can be applied in a general class of fuzzy TKS models. Stable learning algorithms for the premise and the consequence parts of fuzzy rules are also given. A measuring device is developed to achieve the proposed method and industry experiments are conducted in the alumina production process, the predicted results show the effectiveness of the proposed method.

关键词： Conductivity Temperature measurement Production Predictive models Laboratories Temperature sensors

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A novel approach for modeling and simulation of Hybrid Power systems using PLCs and SCADA for hardware in the loop test

A novel approach for modeling and simulation of Hybrid Power...

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International Conference on Sustainable Energy and Intelligent systems (SEISCON 2011)

作者： Y. Jaganmohan Reddy Anilkumar Ramsesh K. Padma Raju Y.V. Pavan Kumar Automation and Control Solutions Business Unit Honeywell Technology Solutions Laboratory Private Limited Bangalore Karnataka India Department of Electronics and Communication Engineering Jawaharlal Nehru Technological University Kakinada Andhra Pradesh India

This paper describes a novel method for Modeling and Simulation of the Renewable energy based Hybrid Power System (HPS) with improved simulation capabilities like Fidelity, Speed, and Real time control in Commercial Off The Shelf (COTS) hardware and software. Analysis of HPS dynamics is conventionally done by using Matlab/Simulink. Since the optimal utilization of primary energy sources will increase the level of supply reliability and economy, a real time EMU is needed. However, the conventional way of simulation limits us for real time control equipped with specific embedded hardware, which in turn limits in span of simulation and consume more time for simulation. Besides, various areas of control systems play vital role in the selection of simulator. Also, if the analyzed system is practically implemented, the results may vary, because, the conventional simulation library components are the approximated models for the real time scenarios. This triggers a new thought of bridging the gap between analysis and implementation by using common platforms. As a solution for all of these issues, and as per the contemporary technologies, the proposal is the method for modeling and simulation of HPS dynamics using PLCs, which supports effective control through a real time EMU, SCADA system, and other embedded hardware. The paper focuses on the combination of Photo Voltaic (PV) cell, Fuel cell (FC), and Wind Turbine (WT) systems, for power generation in the proposed HPS. The dynamics are compared with the conventional simulation.

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Motion Planning for Steep Hill Climbing

Motion Planning for Steep Hill Climbing

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2011 IEEE International Conference on Robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Damion Dunlap Wei Yu Emmanuel G. Collins Charmane V. Caldwell Automation & Dynamics Branch Littoral Warfare Science & Technology Department of the US Naval Surfac Center for Intelligent Systems Control and Robotics (CISCOR) and the Department of Mechanical Engine Department of Electrical Engineering Florida A&M University-Florida State UniversityTallahasseeFL

The motors or engines of an autonomous ground vehicles (AGV) have torque and power limitations, which limit their abilities to climb steep hills, which are defined to be hills that have high grade sections in which the vehicle is forced to decelerate. Traversal of a steep hill requires the vehicle to have sufficient momentum before entering the hill. This problem is part of a larger class of momentum-based motion planning problems such as the problem of lifting heavy objects with manipulators. Hence, solutions to the steep hill climbing problem have much wider applicability. The motion planning here is accomplished using a dynamic model of the skid-steered AGV used in the experiments along with Sampling Based Model Predictive control (SBMPC), a recently developed input sampling planning algorithm that may be viewed as a generalization of LPA* to the direct use of kinodynamic models. The motion planning is demonstrated experimentally using two scenarios, one in which the robot starts at rest at the bottom of a hill and one in which the robot starts at rest a distance from the hill. The first scenario requires the AGV to first reverse direction so that the vehicle can gather enough momentum before reaching the hill. This corresponds to having the vehicle begin at a local minimum, which results in a problem that many traditional model predictive control methods cannot solve. It is seen that, whereas open loop trajectories can lead to vehicle immobilization, SBMPC successfully uses the information provided by the dynamic model to ensure that the AGV has the requisite momentum.

关键词： Vehicles Planning Predictive models Optimization DC motors Trajectory Vehicle dynamics

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Adaptive and Repetitive controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

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IEEE International Conference on Robotics and Biomimetics

作者： Pannatee Rakprayoon Peerayot Sanposh Nattapon Chayopitak Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Industrial Control and Automation Laboratory National Electronics and Computer Technology Center

ISBN: (纸本)9781457721366

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits.

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements control Architecture Manipulators Unknown parameter Linear Combination

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