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American control Conference (ACC)

作者： G.G. Yen L.-W. Ho Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

We investigate the fault tolerant control problem and propose an intelligent online sliding mode control strategy using artificial neural networks to handle the desired trajectories tracking problem for systems suffering from catastrophic faults or incipient failures. The approach is to continuously monitor the system performance and identify the system's current state by using a fault detection method based upon our best knowledge of the nominal system and nominal controller. Once a fault is detected, the proposed intelligent controller will adjust its control signal by adding a corrective sliding mode control signal to confine the system performance within a boundary layer. Meanwhile, an artificial neural network is initialized and compensates for the unknown fault dynamics online. When the online learning process converges, the control input is tuned again by using the output of the identification model and a new least upper bound for the remaining uncertainty is estimated to further reduce the tracking error.

关键词： Sliding mode control Fault tolerance Intelligent control control systems Artificial intelligence Artificial neural networks System performance Fault detection Fault tolerant systems Intelligent networks

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Winner take all experts network for sensor validation

Winner take all experts network for sensor validation

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IEEE Conference on control Technology and Applications (CCTA)

作者： G.G. Yen Wei Feng Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

The validation of sensor measurements has become an integral part of the operation and control of modern industrial equipment. The sensor under a harsh environment must be shown to consistently provide the correct measurements. Analysis of the validation hardware or software should trigger an alarm when the sensor signals deviate appreciably from the correct values. Neural network based models can be used to estimate critical sensor values when neighboring sensor measurements are used as inputs. The discrepancy between the measured and predicted sensor values may then be used as an indicator for sensor health. The proposed winner take all experts (WTAE) network is based on a 'divide and conquer' strategy. It employs a growing fuzzy clustering algorithm to divide a complicated problem into a series of simpler sub-problems and assigns an expert to each of them locally. After the sensor approximation, the outputs from the estimator and the real sensor value are compared both in the time domain and the frequency domain. Three fault indicators are used to provide analytical redundancy to detect the sensor failure. In the decision stage, the intersection of three fuzzy sets accomplishes a decision level fusion, which indicates the confidence level of the sensor health. Two data sets, the Spectra Quest Machinery Fault Simulator data set and the Westland vibration data set, were used in simulations to demonstrate the performance of the proposed WTAE network. The simulation results show the proposed WTAE is competitive with or even superior to the existing approaches.

关键词： Industrial control Signal analysis Hardware Neural networks Clustering algorithms Frequency estimation Frequency domain analysis Failure analysis Redundancy Fault detection

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Intelligent fault tolerant control using artificial neural networks

Intelligent fault tolerant control using artificial neural n...

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International Joint Conference on Neural Networks (IJCNN)

作者： G.G. Yen Liang-Wei Ho Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA

As dynamic systems become more complex, experience more rapidly changing environments, and encounter a greater variety of unexpected component failures, solving the control problems of such systems is a grand challenge for control engineers. We investigate the fault tolerant control problem and propose an intelligent sliding mode control strategy using artificial neural networks to handle the desired trajectories tracking problem for systems suffering from catastrophic faults or incipient failures. The approach is to continuously monitor the system performance and identify what the system's current state is by using a fault detection method based upon our best knowledge of the nominal system and nominal controller. Once a fault is detected, the proposed intelligent controller will adjust its control signal by adding a robust term to confine the system performance within a boundary layer. At the same time, an artificial neural network is initialized and compensates for the unknown fault dynamics online. Once the online learning process converges, the control input is tuned again by using the output of the identification model and a new least upper bound for the remaining uncertainty is estimated to further reduce the tracking error. The simulation results show a significant improvement in trajectory following performance based upon the proposed intelligent control strategy.

关键词： Artificial intelligence Intelligent control Intelligent networks Fault tolerance Artificial neural networks control systems Sliding mode control System performance Fault detection Fault tolerant systems

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Robust to noise microgravity isolation control system design via high-order sliding mode control

Robust to noise microgravity isolation control system design...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Shkolnikov, I. Shtessel, Y. Whorton, M. Jackson, M. Department of Electrical and Computer Engineering The University of Alabama in Huntsville Huntsville AL 35899 United States TD55/Vehicle Control Systems NASA/Marshall Space Flight Center EDI 3 MSEC Huntsville AL 35812 United States

ISBN: (纸本)9781563479786

Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closedloop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances. © 2000 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

关键词： Microgravity

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2-Sliding mode control for nonlinear plants with parametric and dynamic uncertainties

2-Sliding mode control for nonlinear plants with parametric ...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Krupp, D.R. Shkolnikov, I.A. Shtessel, Y.B. TD55/Vehick Control Systems NASA/Marshall Space Flight Center ED13 MSFC Huntsville AL 35812 United States Department of Electrical and Computer Engineering The University of Alabama in Huntsville Huntsville AL 35899 United States

ISBN: (纸本)9781563479786

A problem of sliding mode control design for a SISO nonlinear system with unmodeled actuator of the 2nd order is considered. A design methodology based on nonlinear dynamic sliding manifold (NDSM) is proposed to attenuate the chattering phenomenon affecting sliding-mode-controlled plants in presence of unmodeled dynamics. The controller utilizes the pass filter characteristics of the physical-actuating device to provide a smoothing effect on the discontinuous control signal. The methodology proposed allows for maintaining the sliding mode on the surface designed without actuator dynamics being taken into account. This goal is achieved via auxiliary dynamic sliding manifold design, the 2-sliding mode on the auxiliary NDSM provides for finite-time-convergence of the sliding surface quantity to zero. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. © 2000 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

关键词： Actuators

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Transfer Function and Frequency Response Estimation Using Resonant Filters

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IFAC Proceedings Volumes 2000年第15期33卷 223-228页

作者： Peter J. Gawthrop Liuping Wang Centre for Systems and Control and Department of Mechanical Engineering University of Glasgow Glasgow G12 8QQ Scotland Centre for Integrated Dynamics and Control Dept. of Electical and Computer Engineering The University of Newcastle University Drive Callaghan 2308 Australia

A resonant filter approach is proposed for direct identification of continuous-time transfer functions from input-output data when the input contains periodic components. The asymptotic properties of the method are an... 详细信息

关键词： Parameter estimation frequency response continuous-time identification

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Iterative learning control-recent progress and open research problems

Iterative learning control-recent progress and open research...

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IEE Seminar Learning systems for control (Ref. No. 2000/069)

作者： D.H. Owens E. Rogers Head of the Department of Automatic Control and Systems Engineering University of Sheffield UK Department of Electronics and Computer Science University of Southampton UK

The emergence of intelligent control has seen a focus of attention on the ideas of learning control. This paper introduces the current state of the art in the area of iterative learning control (ILC). Together with a general description of the problems that must be addressed, the paper explores the relationship between the performance of learning algorithms and the structure of the system to be controlled. The importance of system's relative degree (pole-zero excess) and the system's zeros are described and the role of prediction in improving performance is stated.

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On the poles of a class of 2D linear systems

On the poles of a class of 2D linear systems

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IEEE Conference on Decision and control

作者： E. Rogers J. Wood D.H. Owens Department of Electronics and Computer Science University of Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

ISBN: (纸本)0780366387

Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. We use work in behavioral theory for nD linear systems to characterize poles for the case of so-called discrete linear repetitive processes. A unique feature is that the resulting poles lead to a physically based interpretation of stability for these processes.

关键词： Linear systems Asymptotic stability Polynomials computer science Automatic control systems engineering and theory Time measurement Sufficient conditions Kernel Frequency

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A MECHATRONICS APPROACH TO SAFE, STABLE TELEOPERATION IN MEDICAL APPLICATIONS

A MECHATRONICS APPROACH TO SAFE, STABLE TELEOPERATION IN MED...

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ASME 2000 International Design engineering Technical Conferences and computers and Information in engineering Conference, IDETC-CIE 2000

作者： Wang, David Lai, Gilbert Caradima, Carmen Department of Electrical and Computer Engineering University of Waterloo WaterlooONN2L 3G1 Canada Control Systems Engineer S-S Technologies Inc. KitchenerONN2C 2C9 Canada

ISBN: (纸本)9780791835203

Currently, remote interactions between patient and surgeon/ doctor are limited to visual and audio aspects only. The general objective of the research presented in this paper is to explore force feedback teleoperation to improve the doctor/ surgeon's abilities. A control strategy is proposed which transmits forces, does not need expensive force sensors, and can be shown to be always stable. This technique should work for all "linear"haptic devices. The mechatronics approach has been taken in the mechanical design of the haptic devices to ensure linearity. The work presented in this paper will focus on the interactions between two haptic devices: the Virtual Reality Mouse1 (VR Mouse), and a 5-bar linkage robot. Time delay issues involved in the teleoperation will also be discussed. The technique proposed in this paper will result in a very inexpensive workstation for teleoperation applications. © 2000 by ASME.

关键词： Remote control

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