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Addressing to online adaptive controller malfunction in fault tolerant control

Addressing to online adaptive controller malfunction in faul...

引用

IEEE International Symposium on Intelligent control (ISIC)

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

A complete fault tolerant control solution calls for a nonlinear adaptive controller with universal approximation capability and guaranteed stability. To fulfill this requirement we propose the use of neural networks trained online under a globalized dual heuristic programming architecture supervised by a decision logic capable of identifying controller malfunctions in early stages and providing new avenues with greater probability of convergence using information from a dynamic model bank. The classification and distinction of controller malfunctions and of the faults in the system is achieved through three independent quality indexes. Proof-of-the-concept simulations of nonlinear plants demonstrate the approach legitimacy

关键词： Programmable control Adaptive control Fault tolerance Dynamic programming Logic programming Stability Neural networks Convergence Nonlinear dynamical systems control systems

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Neural gain scheduling multiobjective genetic fuzzy PI control

Neural gain scheduling multiobjective genetic fuzzy PI contr...

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IEEE International Symposium on Intelligent control (ISIC)

作者： C.P. Bottura G.Ld.O. Serra Control and Intelligent Systems Laboratory School of Electrical and Computer Engineering State University of Campinas Sao Paulo Brazil

This work proposes a gain scheduling adaptive control scheme based on fuzzy systems, neural networks and genetic algorithms for nonlinear plants. A fuzzy PI controller is developed, which is a discrete time version of a conventional one. Its data base as well as the constant PI control gains are optimally designed by using a genetic algorithm for simultaneously satisfying the following specifications: overshoot and settling time minimizations and output response smoothing. Hence, the optimization problem is a multiobjective one, from which results an optimal fuzzy Pl controller. A neural gain scheduler is designed, by the backpropagation algorithm, to tune the optimal parameters of the fuzzy PI controller at some operating points. Simulation results are shown to demonstrate the efficiency of the proposed structure for a DC servomotor adaptive speed control system used as an actuator of robotic manipulators.

关键词： Fuzzy control Pi control Adaptive control Genetic algorithms Algorithm design and analysis Optimal control Adaptive scheduling Fuzzy systems Neural networks Minimization methods

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Receding horizon finite memory controls for output feedback controls of discrete-time state space models

Receding horizon finite memory controls for output feedback ...

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Annual Conference of Industrial Electronics Society

作者： Soohee Han Wook Hyun Kwon Control Information Systems Laboratory School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

ISBN: (纸本)0780387309

In this paper, a new type of output feedback control, called a receding horizon finite memory control (RHFMC), is proposed for stochastic discrete-time state space systems. Constraints such as linearity and finite memory structure with respect to an input and an output, and unbiasedness from the optimal state feedback control are required in advance. The proposed RHFMC is chosen to minimize an optimal criterion with these constraints. The RHFMC is obtained in an explicit closed form using the output and input information on the recent time interval. It is shown that the RHFMC consists of a receding horizon control and an FIR filter. The stability of the RHFMC is investigated for stochastic systems.

关键词： Output feedback State-space methods control systems Stochastic systems Linearity State feedback Optimal control Linear feedback control systems Finite impulse response filter Stability

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Haptic sensing and modeling of nanomanipulation with an AFM

Haptic sensing and modeling of nanomanipulation with an AFM

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Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004

作者： Fok, L.M. Liu, Y.H. Li, Wen J. Robot Control Laboratory Chinese University of Hong Kong Hong Kong Hong Kong Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong

ISBN: (纸本)0780386418

This paper describes a virtual reality and haptic interface between human and the Atomic Force Microscope (AFM), which allows the operator to sense and touch the surface and nanoparticles during the manipulation with an AFM tip. The tip-sample interaction forces and intermolecular forces between the tip and surface are modeled based on Lennard-Jones potential and JKR theory, respectively. Our objective is to provide a 3D virtual reality interface capable of displaying topography of surface for the users and allow them to predict the results for the manipulation. © 2004 IEEE.

关键词： Nanotechnology

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Digital PI fuzzy control strategies applied to an electric microgenerator system

Digital PI fuzzy control strategies applied to an electric m...

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IEEE/PES Transmission and Distribution Conference and Exposition: Latin America

作者： B.M. Campos C.T. da Costa W. Barra K.C.F. da Silva J.A.L. Barreiros Laboratory of Control and Systems (LACOS) Technological Center Electrical and Computer Engineering Department Federal University of Para Belem Para Brazil

This paper investigates digital modeling and control strategies applied to the voltage regulation of a microgenerator system, placed in the Electric Energy Generation laboratory of Federal University of Para. Identification parametric techniques are used in order to obtain a representative model for the controller design. With a suitable model, controllers of proportional integral type are designed, based on the root locus and fuzzy systems strategies, in order to improve the voltage regulation of the microgenerator system.

关键词： Fuzzy control Voltage control Digital control Proportional control Fuzzy logic Regulators control systems DC motors Velocity control Laboratories

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Experimental evaluation of a new repetitive control algorithm on a non-minimum phase spring-mass-damper system

Experimental evaluation of a new repetitive control algorith...

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2004 IFAC Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2004 and IFAC Workshop on Periodic control systems, PSYCO 2004

作者： Freeman, C.T. Hätönen, J.J. Lewin, P.L. Owens, D.H. Rogers, E. School of Electronics and Computer Science University of Southampton University Road SouthamptonSO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom Systems Engineering Laboratory University of Oulu University of Oulu P.O. BOX 4300 FIN-90014 Finland

Recently, a novel optimality based Repetitive control algorithm was proposed in (Hätönen et al., 2003). According to the convergence analysis carried out in that paper, the algorithm will result in asymptotic convergence for an arbitrary discrete-time LTI plant and a T -periodic reference. However, the performance of the algorithm was tested only using simulation studies. In order to rigorously test how the algorithm performs with real systems, in this paper the algorithm is implemented on a non-minimum phase spring-mass-damper system. The results are very satisfactory, because the algorithm results in near perfect tracking with this rather demanding plant type. Copyright © 2004 IFAC.

关键词： Non-Minimum Phase systems Optimal control Polynomial systems Theory Repetitive control

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Practical implementation of a model inverse iterative learning controller

Practical implementation of a model inverse iterative learni...

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2004 IFAC Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2004 and IFAC Workshop on Periodic control systems, PSYCO 2004

作者： Ratcliffe, J.D. Harte, T.J. Hätönen, J.J. Lewin, P.L. Rogers, E. Owens, D.H. School of Electronics and Computer Science University of Southampton University Road SouthamptonSO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom Systems Engineering Laboratory University of Oulu University of Oulu P.O. BOX 4300 FIN-90014 Finland

In this paper, a new model inverse optimal iterative learning control algorithm is practically implemented on an industrial gantry robot. The algorithm has only one tuning parameter which can be adjusted to provide a balance between convergence speed and robustness. Results show that the algorithm is capable of learning the required trajectory in very few iterations. However at this convergence rate the lack of robustness is a major issue. Appropriate use of the tuning parameter is shown to greatly increase the algorithm robustness as demonstrated by tests which successfully reach 600 iterations. Copyright c 2004 IFAC. Copyright © 2004 IFAC

关键词： Iterative methods

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Unified, periodic & sampled data H/sub /spl infin// control using the delta operator

Unified, periodic & sampled data H/sub /spl infin// control ...

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IEEE Conference on Decision and control

作者： B. Lennartson R. Middleton A.-K. Christiansson Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden Complex Dynamic Systems & Control School of Electrical Engineering & Computer Science University of Newcastle Callaghan NSW Australia University of Trollhättan/Uddevalla Trollhattan Sweden

A unified and general framework is presented for H/sub /spl infin// control of mixed continuous-time and discrete-time time-varying (periodic) systems. Using the delta operator, a close relationship is shown between the continuous- and discrete-time solutions. No assumptions are made on certain system matrices being zero or normalized, which makes the approach general and easy to apply. A combined continuous/discrete-time lifting procedure is shown to be useful, especially for ill-conditioned systems. This procedure together with the delta formalism results in a numerically robust design method concerning both short and long sampling periods for systems with W-conditioned dynamics, including widely spread eigenvalues.

关键词： control systems Sampling methods Riccati equations Automatic control Robustness Design methodology Eigenvalues and eigenfunctions Differential equations Automation Laboratories

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A soft-detector based on multiple symbol detection for double differential modulation

A soft-detector based on multiple symbol detection for doubl...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Jianhua Liu M. Simon P. Stoica Jian Li Department of Electrical and Computer Engineering University of Florida Gainesville FL USA Jet Propulsion Laboratory Pasadena CA USA Department of Systems and Control University of Uppsala Uppsala Sweden

We consider the problem of soft-detection for communication systems employing double differential modulation and forward error correction codes, for example, a convolutional code. We propose a soft-detector (based on the multiple symbol heuristic detector) with low computational complexity. Simulation results are provided to show the superior performance of the new soft-detector.

关键词： Decoding Convolutional codes Detectors Modulation coding Forward error correction Computational complexity Computational modeling Propulsion Laboratories Communication system control

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Towards real-time obstacle detection using a hierarchical decomposition methodology for stereo matching with a genetic algorithm

Towards real-time obstacle detection using a hierarchical de...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： Y. Ruichek H. Issa J.G. Postaire J.C. Burie Systems and Transportation Laboratory University of Technology of Belfort-Montbéliard Belfort France Control Computer Engineering and Signal Laboratory University of Science and Technology of Lille Villeneuve d'Ascq France Computer Science Image and Interaction Laboratory University of La Rochelle La Rochelle France

This work is concerned with the stereo matching problem for real-time obstacle detection. The correspondence problem is viewed as an optimization task where the objective is to find a solution for which the matches are as compatible as possible with respect to specific constraints. The optimization process is performed by means of a genetic algorithm with a new encoding scheme. For an effective exploitation of the genetic algorithm for real-time obstacle detection, a multilevel searching strategy is proposed in order to speed-up the stereo matching process. The multilevel searching strategy consists of matching the edges at different levels by considering their gradient magnitudes. The performance of the proposed multilevel genetic stereo matching procedure is evaluated for real-time obstacle detection in front of a moving vehicle using linear stereo vision.

关键词： Genetic algorithms Stereo vision Layout Cameras Laboratories Vehicle detection Vehicles Data mining computer vision Feature extraction

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