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作者： Pyrkin, Anton A. Bobtsov, Alexey A. Kolyubin, Sergey A. Faronov, Maxim V. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Nikolaev, Nikolay A. Department of Control Systems and Informatics ITMO University St. Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimNO-7491 Norway Laboratory "Control of Complex Systems" Institute for Problems of Mechanical Engineering St. Petersburg Russia

The problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach "consecutive compensator" is investigated. To illustrate the eficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered. Some remarks about mapping algorithms using stereo cameras and laser scanner for implementation in new home robots are considered. © 2015

关键词： Mobile robots

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On stability of tunable linear time-varying band-pass filters

On stability of tunable linear time-varying band-pass filter...

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1st IFAC Conference on Modelling, Identification and control of Nonlinear systems, MICNON 2015

作者： Wang, Jian Aranovskiy, Stanislav Bobtsov, Alexey A. Pyrkin, Anton A. Gritcenko, Polina A. Institute of Automation Hangzhou Dianzi University Xiasha Higher Education Zone Hangzhou Zhejiang Province310018 China Department of Control Systems and Informatics ITMO University St. Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St. Petersburg Russia

Tunable linear time-varying filters are widely used in many adaptive and signal processing applications. In this paper we consider a problem of stability analysis of tunable time-varying band-pass filters and prove that for a certain realization of these filters stability is ensured under assumption that tuning signal, namely a central frequency of the filter, is bounded and strictly above zero. An illustrative example of measurement noise attenuation is also given.

关键词： Bandpass filters

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Transfer Classification for Distinct Manifestations with Shared Information

Transfer Classification for Distinct Manifestations with Sha...

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World Congress on Intelligent control and Automation

作者： Lu Qi Peijie Yin Xiayuan Huang Ken Chen Hong Qiao State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Applied Mathematics Academy of Science Beijing 100190 China State Key Laboratory of Tribology Department of Mechanical Engineering Tsinghua University Beijing 100084 China

ISBN: (纸本)9781467384155

An object often has many distinct manifestations in computer vision, which brings a great challenge to utilizing more comprehensive information. Inspired by some biological researches about edge sensitivity and global structure priority, our key insight is to establish unified transfer classification network with shared contour information. Combining two convolutional networks with three cascaded filters, we build a unified kernel SVM classifier based on shared contour features. Two convolutional networks are used for acquiring the contour information of objects exactly. Obtained by three cascaded filters, shared edge features are used by a unified kernels SVM classifier. Our transfer classification network (TCN) is trained and tested with distinct manifestations including real photos (imagenet dataset or cifar-10 dataset) and cartoon abstracts. The model is able to extract robust contour features and achieve considerable transfer recognition accuracy (40% relative improvement to some popular convolutional models).

关键词： Image edge detection Support vector machines Training Feature extraction Kernel Robustness Visualization Edge detection Support Vector Network Feature extraction Visualization Kernel Functional training Seeds contour Robustness Information Sharing Training

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Output control Algorithms of Dynamic Positioning and Disturbance Rejection for Robotic Vessel

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IFAC-PapersOnLine 2015年第11 11期48卷 295-300页

作者： Wang, Jian Pyrkin, Anton A. Bobtsov, Alexey A. Borisov, Oleg I. Gromov, Vladislav S. Kolyubin, Sergey A. Vlasov, Sergey M. Institute of Automation Hangzhou Dianzi University Xiasha Higher Education Zone HangzhouZhejiang Province310018 China Department of Control Systems and Informatics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia Laboratory "Control of Complex Systems" Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 Saint Petersburg199178 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimNO-7491 Norway

In this paper two control problems for a surface robotic vessel are addressed. One is design of a dynamic positioning (DP) system. The other deals with advanced dynamic positioning (ADP) which is extended by an unknown disturbance rejection. Considered plant is represented as a MIMO system which comprised of three independent SISO channels. For the DP problem all SISO channels are controlled by virtual control inputs generated using a robust approach, so called, "consecutive compensator". Then after an inverse MIMO transformation real control signals are calculated for robotic actuators. For the APD problem we design the cancellation scheme for channels with input delays that may be caused by a command transmission via the radio channel or computational complexity of the image processing. To finalize the investigation proposed DP algorithm is applied to the robotic complex of vessel motion modeling. © 2015

关键词： Dynamic positioning Disturbance rejection Image processing Inverse problems MIMO systems Nonlinear systems Radio transmission Robotics Robust control control problems control signal Output control Robotic actuators Robotic complexes Robust approaches Vessel motions Virtual control

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Flux and Position Observer of Permanent Magnet Synchronous Motors with Relaxed Persistency of Excitation Conditions

Flux and Position Observer of Permanent Magnet Synchronous M...

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作者： Aranovskiy, Stanislav Bobtsov, Alexey A. Pyrkin, Anton A. Ortega, Romeo Chaillet, Antoine Department of Control Systems and Informatics ITMO University St. Petersburg Russia Laboratory "Control of Complex Systems" Institute for Problems of Mechanical Engineering St. Petersburg Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du MoulonGif-sur-Yvette91192 France

In this paper we propose a flux and position observer for permanent magnet synchronous motors when voltages, currents and rotor speed are available for measurement. We prove that this observer converges under weaker assumptions than the classical persistence of excitation condition. Simulations confirm the eficacy of the proposed observer and show that it can cope with imprecision in rotor speed measurement, which allows to use an estimator when the speed cannot be measured directly. © 2015

关键词： Permanent magnets

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Output Adaptive controller for a Class of MIMO systems with Input Delay and Multisinusoidal Disturbance

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IFAC-PapersOnLine 2015年第11期48卷 892-899页

作者： Wang J. Vedyakov A.A. Vediakova A.O. Pyrkin A.A. Bobtsov A.A. Shavetov S.V. Institute of Automation Hangzhou Dianzi University Xiasha Higher Education Zone Hangzhou Zhejiang Province 310018 China Department of Control Systems and Informatics ITMO University St. Petersburg Russian Federation Saint Petersburg State University St. Petersburg Russian Federation Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russian Federation

We present a new output control approach for a class of MIMO systems with the input delay and unknown multisinusoidal disturbance affected the inputs and the outputs. We combine the well-known predictor feedback approach with the state observer and adaptive scheme for feed-forward disturbance rejection based on disturbance observer. Compared to the existing approaches, our adaptive scheme is applicable to plants that are unstable, non-minimum phase, and have an arbitrary relative degree and delay. © 2015

关键词： asymptotic stability disturbance rejection time-delay system

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Robust control of uncertain linear systems in conditions of output quantization

Robust control of uncertain linear systems in conditions of ...

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作者： Margun, Alexey Furtat, Igor Department of Control Systems and Informatics ITMO University 49 Kronverkskiy av. Saint Petersburg197101 Russia Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering V.O. Bolshoy 61 St. Petersburg199178 Russia

The paper is aimed to the control of uncertain linear plants in conditions of quantized output. control law synthesis was based on consecutive compensator method. Obtained algorithm provides tracking error of quantized output for the reference signal with fixed accuracy. Accuracy range depends on the quantization step and parametric uncertainties bounds. In the paper simulation results confirming performance of proposed method are given. © 2015

关键词： Robust control

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Hybrid Output controller for Biased and Time-Varying Periodic Disturbances Rejection

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IFAC-PapersOnLine 2015年第11 11期48卷 872-877页

作者： Bobtsov, Alexey A. Kolyubin, Sergey A. Pyrkin, Anton A. Nikolaev, Nikolay A. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy pr. 49 St. Petersburg197101 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimNO-7491 Norway Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering RAS Bolshoy pr. V.O. 61 St.Petersburg199178 Russia

The task of output feedback stabilization of a linear plant of arbitrary relative degree is solved under parametric uncertainty and matching periodic disturbances. Resulting controller was built coupling a high-gain output controller and an external disturbance observer by means of switching algorithm. Extending previously developed approach we suppose disturbance frequency to be not only unknown, but also time-varying, which is the case for a number of applications. Simulation results illustrate performance of the obtained controller for the cases of piece-wise constant and drifting frequency disturbances. © 2015

关键词： Feedback controllers Disturbance rejection Disturbance frequency External disturbances Output feedback controls Output feedback stabilization Parametric uncertainties Periodic disturbances Piece wise constants Switching control

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Output adaptive controller for a class of MIMO systems with input delay and multisinusoidal disturbance

Output adaptive controller for a class of MIMO systems with ...

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1st IFAC Conference on Modelling, Identification and control of Nonlinear systems, MICNON 2015

作者： Wang, Jian Vedyakov, Alexey A. Vediakova, Anastasiia O. Pyrkin, Anton A. Bobtsov, Alexey A. Shavetov, Sergey V. Institute of Automation Hangzhou Dianzi University Xiasha Higher Education Zone Hangzhou Zhejiang Province310018 China Department of Control Systems and Informatics ITMO University St. Petersburg Russia Saint Petersburg State University St. Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St. Petersburg Russia

关键词： Adaptive control systems

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ĆUK converter full state adaptive observer design

ĆUK converter full state adaptive observer design

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IEEE Conference on control and Applications, CCA 2015

作者： Pyrkin, A. Ortega, R. Bobtsov, A. Aranovskiy, S. Gerasimov, D. Department of Control Systems and Informatics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia LSS-Supelec 3 Rue Joliot-Curie Gif-sur-Yvette91192 France Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 Saint-Petersburg199178 Russia

ISBN: (纸本)9781479977871

A novel approach to the problem of partial state estimation of a class of nonlinear systems is proposed. In this paper we apply the new adaptive observer design technique to power converters. For the sake of ease of exposition we preferred to concentrate on the specific example of the Ćuk power converter. The main idea is to translate the state estimation problem into one of estimation of constant, unknown parameters related to the systems initial conditions. The proposed observer is shown to be applicable for the reconstruction of the state of power converters for further using in the full-state feedback controller. Comparison with Immersion and Invariance technique for the observer design is made via numerical examples. © 2015 IEEE.

关键词： State feedback

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