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作者： Bobtsov, Alexey Pyrkin, Anton Titov, Anton Kremlev, Artem Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

This paper devoted to the disturbance cancellation problem for the nonlinear plant. We present a new output control approach of harmonic disturbance compensation. The proposed control law is easier to implement and ou... 详细信息

ISBN: (纸本)9783902661937

关键词： Disturbance rejection

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Cancellation of unknown harmonic disturbance for nonlinear system with input delay

Cancellation of unknown harmonic disturbance for nonlinear s...

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作者： Pyrkin, Anton A. Bobtsov, Alexey A. Kremlev, Artem S. Aranovskiy, Stanislav V. Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

ISBN: (纸本)9783902661937

In this paper a new approach for cancellation of a biased harmonic disturbance is proposed. Compared with a number of known results in this paper the disturbance compensation problem is solved when the output variable is measured only, a relative degree of the plant is arbitrary and the control channel has delay. The reaction wheel pendulum on a movable platform is considered as the plant to demonstrate how proposed approach can be plugged. Created by hand disturbance moves the platform in horizontal surface and the pendulum is oscillating. The second goal of this work is the development of mechatronic applications using in education. © 2011 IFAC.

关键词： Robust control

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Adaptive cancellation of unknown multiharmonic disturbance for nonlinear plant with input delay

Adaptive cancellation of unknown multiharmonic disturbance f...

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Mediterranean Conference on control and Automation (MED)

作者： Anton A. Pyrkin Alexey A. Bobtsov Yuriy A. Kapitanyuk Anton V. Titov Alexey A. Vedyakov Inver H. Shadzhe Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Saint Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Saint Petersburg Russia

In this paper a new approach for cancellation of a multiharmonic disturbance is proposed. Compared with a number of known results in this paper the disturbance compensation problem is solved when the output variable is measured only, a relative degree of the plant is arbitrary and the control channel has the constant time delay. The numerical example is presented to illustrate theoretical result and the reaction wheel pendulum on a movable platform is considered as the plant to demonstrate that proposed approach is realizable and can be plugged in practice. Created by hand disturbance moves the platform in horizontal surface and the pendulum is oscillating. The second goal of this work is the development of mechatronic applications using in education.

关键词： Delay Mathematical model Wheels Mechatronics Harmonic analysis Polynomials

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Output control for time-delay nonlinear system providing exponential stability

Output control for time-delay nonlinear system providing exp...

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Mediterranean Conference on control and Automation (MED)

作者： Alexey A. Bobtsov Anton A. Pyrkin Maxim V. Faronov Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Saint Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Saint Petersburg Russia

This paper deals with the output stabilization of time-delay systems with sector-bounded nonlinearity. In this paper we will consider the problem of absolute stability for a class of time-delay systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and a uncertain nonlinearity satisfying a sector constraint. For a class of output control algorithms a controller providing output exponential stability of equilibrium position is proposed.

关键词： Nonlinear systems Mathematical model Polynomials Delay Mobile robots control systems

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Output adaptive control for active suspension rejecting road disturbance

Output adaptive control for active suspension rejecting road...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Anton V. Titov Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Alexey A. Vedyakov Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Saint Petersburg Russia

We present a new control approach for active suspension system aimed on periodical road disturbance cancellation by measuring the output signal. Compared to the existing approaches, the dynamic order of our adaptive s... 详细信息

关键词： Suspensions Harmonic analysis Frequency estimation Mathematical model Wheels Roads Delay

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Output control approach “consecutive compensator” providing exponential and L∞-stability for nonlinear systems with delay and disturbance

Output control approach “consecutive compensator” providin...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Maxim V. Faronov Sergey V. Shavetov Yuriy A. Kapitanyuk Alexander A. Kapitonov Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Saint Petersburg Russia

This paper deals with the output stabilization of time-delay systems with sector-bounded nonlinearity and disturbance. In this paper we will consider the problem of absolute stability for a class of time-delay systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and a uncertain nonlinearity satisfying a sector constraint. For a class of output control algorithms a controller providing exponential stability of equilibrium position without disturbance and L ∞ -stability for disturbed systems is proposed.

关键词： Nonlinear systems Robots Delay Mathematical model control systems Polynomials Transfer functions

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Using of LEGO Mindstorms NXT Technology for Teaching of Basics of Adaptive control Theory *

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IFAC Proceedings Volumes 2011年第1期44卷 9818-9823页

作者： Alexey A. Bobtsov Anton A. Pyrkin Sergey A. Kolyubin Sergey V. Shavetov Sergey A. Chepinskiy Yuriy A. Kapitanyuk Alexander A. Kapitonov Vladimir M. Bardov Anton V. Titov Maxim O. Surov Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

Abstract An article describes laboratory plants based on LEGO Mindstorms NXT Technology and made of several electromechanical systems. These plant are used both for research and educational purposes. They allow to study and to compare different identification and adaptive control algorithms. Certain results of application of theoretical adaptive control algorithms for various Lego Mindstorms NXT mobile robots (track, wheel and walking ones) and reaction-wheel pendulum-cart systems are presented in the article.

关键词： Teaching curricula developments for control and other engineers cognitive aspects of automation systems and humans management of competences and knowledge Lego Mindstorm NXT mobile robots adaptive and robust control

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The strategies of avoiding energy holes in wireless sensor networks

The strategies of avoiding energy holes in wireless sensor n...

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2011 4th International Congress on Image and Signal Processing(第四届图像与信号处理国际学术会议 CISP 2011)

作者： Xu QIAN Zhengjie WANG Xiaoguang ZHAO School of Mechanical Electronic & Info. Engineering China University of Mining & Technology (Beijing State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automati

Wireless sensor networks are characterized by multihop network. Some nodes in network are required to forward a disproportionately high amount of traffic and die early, leaving the unmonitored areas in network and leading to the problem of energy hole. This paper investigates a variety of strategies to avoid the energy hole, such as communication power control, data aggregation, nonuniform energy distribution, mobile node auxiliary and clustering. The analysis and comparison of different strategies are given and the advantages and disadvantage of them are discussed in this paper.

关键词： wireless sensor networks energy balance energy hole network lifetime

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Fast double-parallel image processing based on FPGA

Fast double-parallel image processing based on FPGA

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Ye Li Qingming Yao Bin Tian Wencong Xu State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China School of Mechanical Electrical and Information Engineering Shandong University Weihai China

Due to FPGA's flexibility and parallelism, it is popular for accelerating image processing. In this paper, a double-parallel architecture based on FPGA has been exploited to speed up median filter and edge detection tasks, which are essential steps during image processing. The double-parallel scheme includes an image-level parallel and an operation-level parallel. The image-level parallel is a high-level parallel which divides one image into different parts and processes them concurrently. The operation-level parallel, which is embedded in each image-level parallel thread, fully explores every parallel part inside the concrete algorithms. The corresponding design is based on a DE2 Development Board which contains a CYCLONE II FPGA device. Meanwhile, the same task has also been implemented on PC and DSP for performance comparison. Despite the fact that operating frequencies of used PC and DSP are much higher than FPGA's, FPGA costs less time per computed image than both of them. By taking advantage of the double-parallel technique, the speed/frequency ratio of FPGA is 202 times faster than PC and 147 times faster than DSP. Finally, a detailed discussion about different platforms is conducted, which analyzes advantages and disadvantages of used computing platforms. This paper reveals that the proposed double-parallel scheme can dramatically speed up image processing methods even on a low-cost FPGA platform with low frequency and limited resources, which is very meaningful for practical applications.

关键词： Image edge detection Field programmable gate arrays Digital signal processing Hardware Kernel Detectors

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Compensation of Harmonic Disturbance for Nonlinear Plant with Parametric and Functional Uncertainty

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IFAC Proceedings Volumes 2011年第1期44卷 1528-1533页

作者： Alexey Bobtsov Anton Pyrkin Anton Titov Artem Kremlev The Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

Abstract This paper devoted to the disturbance cancellation problem for the nonlinear plant. We present a new output control approach of harmonic disturbance compensation. The proposed control law is easier to impleme... 详细信息

关键词： Adaptive control disturbance rejection nonlinear systems parametric uncertainty

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