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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J. Richardsson M. Fabian Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation Goteborg Sweden Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

Shortened product life-cycles decreases the output rate of manufacturing systems as the introduction of new products into the manufacturing system becomes more frequent. Improvements of the development process of manufacturing systems are needed to increase the output. Information handling and development of control programs based on information reuse are two of the most important improvement areas. These areas, among other things, can be a support for offline verification, which promises to directly increase the output rate due to shortening product introduction times. This paper deals with two problems of the many connected to enabling offline verification. First, a general control program structure, adapted to information reuse, is needed and secondly, the information necessary to generate the control programs needs to be defined. A method is proposed where information from the mechanical design of a cell, from the product, and from manual simulation are reused and automatically converted into control programs that schedule the work in a collision-free, deadlock-free and time-optimized way. The correctness of the generated programs is guaranteed by use of formal methods, simulation and an uncorrupted conversion of specifications into control programs.

关键词： Flexible manufacturing systems control systems Manufacturing systems computer aided manufacturing Automatic generation control Automatic control Manufacturing automation Production computer bugs systems engineering and theory

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Panel discussion whitherto robust control 4

Panel discussion whitherto robust control

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4th IFAC Symposium on Robust control Design, ROCOND 2003

作者： Tempo, Roberto Basar, Tamer Khargonekar, Pramod P. Kokotovic, Petar V. Scherer, Carsten W. IEIIT-CNR Politecnico di Torino Italy Coordinated Science Laboratory University of Illinois Urbana-Champaign United States College of Engineering University of Florida Gainesville United States Department of Electrical and Computer Engineering University of California Santa Barbara United States Mechanical Engineering Systems and Control Group Delft University of Technology Netherlands

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A new robust iterative learning control algorithm for application on a gantry robot

A new robust iterative learning control algorithm for applic...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： J.J. Hatonen T.J. Harte D.H. Owens J.D. Ratcliffe P.L. Lewin E. Rogers Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Systems Engineering Laboratory University of Oulu Finland Department of Electronics and Computer Science University of Southampton UK

In this paper a new robust steepest-descent algorithm for discrete-time iterative learning control is introduced for plant models with multiplicative uncertainty. A theoretical analysis of the algorithm shows that if a tuning parameter in the algorithm is selected to be sufficiently large, the algorithm will result in monotonic convergence if the plant uncertainty satisfies a positivity condition. This is a major improvement when compared to the standard steepest-descent algorithm, which lacks a mechanism for finding a balance between convergence speed and robustness. Experimental work on a gantry robot is performed to demonstrate that the algorithm results in near perfect tracking in the limit.

关键词： Robust control Iterative algorithms Robots Convergence Uncertainty Robustness Robotics and automation systems engineering and theory Automatic control Laboratories

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Bilateral teleoperation over the internet: the time varying delay problem

Bilateral teleoperation over the internet: the time varying ...

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American control Conference (ACC)

作者： N. Chopra M.W. Spong S. Hirche M. Buss Coordinated Science Laboratory University of Illinois Urbana-Champaign Urbana IL USA Control Systems Group Faculty of Electrical Engineering and Computer Sciences Technical University Berlin Berlin Germany

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Panel Discussion Witherto Robust control

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IFAC Proceedings Volumes 2003年第11期36卷 591-597页

作者： Roberto Tempo Tamer Başar Pramod P. Khargonekar Petar V. Kokotovic Carsten W. Scherer IEIIT-CNR Politecnico di Torino Italy Coordinated Science Laboratory University of Illinois at Urbana-Champaign USA College of Engineering University of Florida Gainesville USA Department of Electrical and Computer Engineering University of California at Santa Barbara USA Mechanical Engineering Systems and Control Group Delft University of Technology The Netherlands

A panel discussion with the title Whitherto Robust control was held during the IEEE Conference on Decision and control in Honolulu, HI, in December 1990. Organizers and Chairs were B.R. Barmish and P.P. Khargonekar, while the panelists were D.S. Bernstein, S.P. Bhattacharyya, S.P. Boyd, J.C. Doyle, I.M. Horowitz and R.E. Skelton. Today, the goals of researchers working on robust control are probably quite different than thirteen years ago. This seems true both in the progress of novel theoretic paradigms as well as in the developments of new tools required by emerging applications. This panel discussion addresses classical issues and outlines future directions within robust control. We hope that it will contribute to its growth in the years to come. The panelists’ viewpoint are presented in the next pages.

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Speech modeling via model reduction

Speech modeling via model reduction

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International Symposium on Signal Processing and Its Applications (ISSPA)

作者： L. Mitiche B. Derras A.B.H. Mitiche-Adamou LPTM University of Cergy-Pontoise Neuville-sur-Oise France Electrical and Computer Engineering University of Colorado Boulder USA Systems and Control Laboratory Ecole Nationale Polytechnique d'Alger Algeria

Using model reduction, a new approach for low-order speech modeling is presented. In this approach, the modeling process starts with a relatively high-order (full-order) autoregressive (AR) model obtained by some classical method. The AR model is then reduced using the a state projection method, operating in the state space. The model reduction yields a reduced-order autoregressive moving-average (ARMA) model which interestingly preserves the key properties of the original full-order model such as causality, stability, minimality, and phase minimality. Line spectral frequencies (LSF) and signal-to-noise ratio (SNR) behavior are also investigated. To illustrate the performance and the effectiveness of the proposed approach, some computer simulations are conducted on some practical speech segments.

关键词： Reduced order systems Autoregressive processes Speech synthesis State-space methods Postal services control systems Laboratories Signal to noise ratio Speech processing Solid modeling

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Evolutionary multi-criterion optimization

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2003年 2632卷

作者： Fonseca, Carlos M. Fleming, Peter J. Zitzler, Eckart Deb, Kalyanmoy Thiele, Lothar University of the Algarve Centre for Intelligent Systems Campus de Gambelas Faro Portugal University of Sheffield Department of Automatic Control and Systems Engineering Mappin Street Sheffield United Kingdom Swiss Federal Institute of Technology Department of Electrical Engineering Computer Engineering and Networks Laboratory Gloriastrabe 35 Zurich Switzerland Indian Institute of Technology Department of Mechanical Engineering Kanpur Genetic Algorithms Laboratory Kanpur India

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Suppressing shock waves on the A1 in The Netherlands - Model calibration and model-based predictive control

Suppressing shock waves on the A1 in The Netherlands - Model...

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2003 IEEE International Conference on Intelligent Transportation systems, ITSC 2003

作者： Hegyi, A. Duy, D.N. De Schutter, B. Hellendoorn, J. Hoogendoorn, S.P. Stramigioli, S. Delft Center for Systems and Control Delft Univ. of Technology Mekelweg 2 Delft2628 CD Netherlands Transportation Planning and Traffic Engineering Section Fac. Civil Eng. and Geosciences Delft Univ. of Technology P.O. Box 5048 Delft2600 GA Netherlands Control Laboratory EL/CE Fac. of Electrical Eng. Mathematics and Computer Science Univ. of Twente P.O. Box 217 Enschede7500 AE Netherlands

ISBN: (纸本)0780381254

We now apply the model predictive control (MPC) of speed limits that we have presented in previous publications to a calibrated METANET model of a 19 km stretch of the real-world freeway A1 in The Netherlands. This freeway regularly suffers from shock waves originating mainly from on-ramps, and speed limits are now used to suppress these shock waves. First, we calibrate and validate the extended METANET model with data from the A1 freeway, and we use the Delft OD method to estimate the origin-destination patterns that are needed for the simulation of the destination oriented traffic. Next, we verify from data whether the necessary conditions for applying speed limits against shock waves are satisfied. We show that the MPC controller performs well even under the assumption that the traffic demand is not known on the on-ramps and is known for only a few kilometers upstream and downstream of the controlled stretch. This approach results in an improvement of the total time spent in the network with about 15%. © 2003 IEEE.

关键词： Shock waves

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Suppressing shock waves on the A1 in The Netherlands-model calibration and model-based predictive control

Suppressing shock waves on the A1 in The Netherlands-model c...

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International Conference on Intelligent Transportation

作者： A. Hegyi D.N. Duy B. De Schutter J. Hellendoorn S.P. Hoogendoorn S. Stramigioli Delft Center for Systems and Control Delft University of Technnology Delft Netherlands Transponation Planning and Traffic Engineering Section Fac. Civil Engineering & Geosciences Delft University of Technnology Delft Netherlands Control Laboratory. EUCE. Fac. of Electrical Engineering Mathematics & Computer Science University of Twente Enschede Netherlands

关键词： Predictive models Shock waves Calibration Predictive control Traffic control Pollution measurement Artificial intelligence Communication system traffic control Optimal control Vehicle dynamics

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Robust guaranteed cost filtering for a class of nonlinear systems

Robust guaranteed cost filtering for a class of nonlinear sy...

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International Conference on Information Fusion

作者： D.F. Coutinho K.A. Barbosa A. Trofino C.E. de Souza Department of Electrical Engineering Pont. University Católica do Rio Grande do Sul Rio Grande do Sul Brazil Department of Automation and Systems University Federal de Santa Catarina Florianopolis Santa Catarina Brazil Department of Systems and Control Laboratory Nac. Computer Cienífica-LNCC Petropolis Rio de Janeiro Brazil

ISBN: (纸本)0972184449

In this paper, we propose a deterministic approach to the robust filtering problem for a class of uncertain nonlinear systems. Based on polynomial Lyapunov functions and a relaxation technique, we derive linear matrix inequalities conditions that minimize an upper-bound on the finite horizon 2-norm of the estimation error for all admissible uncertainty and input signals (including disturbances and measurement noise). Through a simple redefinition of the Lyapunov matrix, we extended the results for the reduced-order case without considering non-convex rank constraints.

关键词： Robustness Costs Nonlinear systems State estimation Linear matrix inequalities Automation Polynomials Lyapunov method Filtering theory Uncertainty

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