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AIAA Guidance, Navigation, and control Conference 2007

作者： Beard, Randal W. Will Curtis, J. Eilders, Martin Evers, Johnny Cloutier, James R. Brigham Young University Provo UT 84602 United States Air Force Research Laboratory Eglin AFB FL 32542-6810 United States Department of Electrical and Computer Engineering AIAA Munitions Directorate Guidance and Navigation Branch Control Systems Research

ISBN: (纸本)1563479044

Most of the applications envisioned for micro air vehicles require an on-board E(MR camera. It is only natural to investigate using the on-board camera as a sensor for navigation, guidance, and control. This paper investigates the use of an EO/IR sensor as a seeker in a proportional navigation guidance law for micro air vehicles. Proportional navigation strategies require knowledge of the line-of-site rates and range rate between the vehicle and the target. This paper demonstrates how these quantities can be derived from pixel-specific information provided by an EO/IR sensor. The guidance laws are developed for gimbaled and strapdown sensors on both skid-to-turn and bank-to-turn MAV kinematic models.

关键词： Navigation

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Transfer function identification by using self-oscillations

Transfer function identification by using self-oscillations

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Mediterranean Conference on control and Automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Underwater Systems and Technologies Zagreb Croatia Faculty of Electrical Engineering and Computing University of Zagreb Laboratory for Underwater Systems and Technologies Zagreb Croatia

The work presented in this paper deals with the process of transfer function identification by using self-oscillation method (autotuning identification method). The algorithm is given in a general matrix form and some modifications are introduced. The modifications of the algorithm include augmentation of the initial algorithm for Type k systems, systems with delays and discrete-time systems. The paper also includes simulation examples which describe the introduced modifications. Apart from being rather simple, this method is applicable to real systems. Its greatest advantage is quick identification of a transfer function (depends on the system).

关键词： Transfer functions Relays Frequency control systems control engineering computing Delay systems Vehicle dynamics Open loop systems Delay effects Feedback

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Design of state estimators for linear discrete-time systems with constrained error variance

Design of state estimators for linear discrete-time systems ...

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European control Conference (ECC)

作者： Andreas Milias George Bitsoris Department of Electrical and Computer Engineering University of Patras Patras Greece Automatic Control Laboratory ETH Zurich Switzerland Control Systems Laboratory University of Patras Patras Greece

In this paper, the state estimation problem with constrained error variance for linear discrete-time systems is investigated. To this end, in a first stage, the vector variance equation describing the evolution of the state error variance is established. Then, by applying results from the theory of positively invariant polyhedral sets of discrete-time systems, necessary and sufficient conditions for the state error variance to respect linear constraints are developed. Thus, the determination of the state estimator parameters is reduced to a nonlinear programming problem which can be solved by using various optimization algorithms.

关键词： Vectors Equations Hafnium Discrete-time systems Estimation error Linear matrix inequalities Symmetric matrices

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OPTIMAL control FOR TWO-DIMENSIONAL LINEAR systems WITH VARIABLE COEFFICIENTS

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Asian Journal of control 2008年第4期1卷

作者： Jimshone Li Jason Sheng-Hong Tsai Leang-San Shieh Control System Laboratory Department of Electrical Engineering National Cheng Kung University Tainan 701 Taiwan R.O.C. Jim-Shone Li was born in Taiwan R. O.C. on April 20 1967. He received B.S. and M.S. degrees in Electrical Engineering from the Chung-Cheng Institute of Technology Taoyuan Taiwan R.O.C. in 1989 and 1993 respectively. He is currently a Ph.D. student at National Cheng-Kung University Tainan Taiwan R.O.C. His research interests include analysis and design of multidimensional systems and nonlinear system control. Department of Electrical and Computer Engineering University of Houston Houston TX 77004-4793 U.S.A.

An optimal control method for two-dimensional (2-D) linear systems with variable coefficients and free boundary conditions in Roesser's model is proposed in this paper. Based on Roesser's model, an equivalent general 1-D model of the 2-D system is presented, and the problem of minimizing a 2-D linear quadratic (LQ) cost function is solved for the case where complete state information is available. The solution is obtained by using the proposed dynamic programming in 1-D descriptor form to solve the Riccati equation and then arriving at the optimal control law and minimum cost. The proposed control methodology can be applied to discrete-time models of systems described by partial differential equations and can also be used in the field of signal processing.

关键词： Two-dimensional system optimal control Roesser's model Riccati equation

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Adaptive SDRE-Based Nonlinear Sensorless Speed control for PMSM Drives

Adaptive SDRE-Based Nonlinear Sensorless Speed Control for P...

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Annual North-American Power Symposium

作者： Peda V. Medagam Tansel Yucelen Farzad Pourboghrat Embedded Control Systems Laboratory Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA

This paper presents a new adaptive nonlinear control approach for permanent magnet synchronous motor (PMSM) drives, without requiring speed sensors. The proposed approach is based on state-dependent Riccati equation (SDRE) control technique and its real-time computation method by gradient-type neural networks, that allows one to control PMSM online. For this purpose, the unknown parameters of the PMSM drive; stator resistance, load torque, and motor speed, are also estimated using an extended Kalman filter (EKF) algorithm. The resulted adaptive algorithm is independent from any initial conditions, relatively fast to achieve nonlinear system speed tracking control, numerically not complex, and easily applicable to real-time control of PMSM drives. This new adaptive approach for sensorless control of PMSM drives is demonstrated through an illustrative simulation for the proof of concept.

关键词： Programmable control Adaptive control Velocity control Sensorless control Riccati equations Nonlinear control systems control systems Permanent magnet motors Magnetic sensors Nonlinear equations

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Nonlinear Quadratic Optimal control for Cascaded Multilevel Static Compensators

Nonlinear Quadratic Optimal Control for Cascaded Multilevel ...

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Annual North-American Power Symposium

作者： Tansel Yucelen Peda V. Medagam Farzad Pourboghrat Embedded Control Systems Laboratory Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA Department of Electrical and Computer Engineering Southem Illinois University Carbondale Carbondale IL USA

This paper presents a novel nonlinear quadratic optimal control technique for multiple-input, multiple-output (MIMO) cascaded multilevel static compensators (STATCOM), based on state-dependent Riccati equation (SDRE) technique. The proposed approach is applied online, using a gradient-type neural network algorithm for the computation of SDRE based nonlinear control. The algorithm is fast, computationally simple, and independent of initial conditions. This new control strategy is applied, in a detailed simulation, to the average d-q model of STATCOM to track a desired DC voltage and a reactive current, that demonstrates a relatively fast control ability and good dynamic performance.

关键词： Optimal control STATCOM Automatic voltage control Riccati equations Voltage control MIMO Nonlinear equations Neural networks computer networks Computational modeling

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Hybrid systems Techniques for Convergence of Solutions to Switching systems

Hybrid Systems Techniques for Convergence of Solutions to Sw...

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Proceedings of the 46th IEEE Conference on decision and control, Pages 5971-6447

作者： Rafal Goebel Ricardo G. Sanfelice Andrew R. Teel Seattle WA USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA Department of Electrical and Computer Engineering University of California Santa Barbara USA Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)9781424414970;1424414970

Invariance principles for hybrid systems are used to derive invariance principles for nonlinear switching systems with multiple Lyapunov-like functions. Dwell-time, persistent dwell-time, and weak dwell-time solutions are considered. Asymptotic stability results are deduced under observability assumptions or common bounds on the Lyapunov-like functions.

关键词： hybrid systems INVARIANCE PRINCIPLES Switched systems Solutions Converge Function invariance nonlinearity

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A Hybrid systems Approach to Trajectory Tracking control for Juggling systems

A Hybrid Systems Approach to Trajectory Tracking Control for...

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Proceedings of the 46th IEEE Conference on decision and control, Pages 5971-6447

作者： Ricardo G. Sanfelice Andrew R. Teel Rodolphe Sepulchre Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA Department of Electrical & Computer Engineering University of California Santa Barbara CA USA Department of Electrical and Computer Science Université de Liège Liege Belgium

ISBN: (纸本)9781424414970;1424414970

From a hybrid systems point of view, we provide a modeling framework and a trajectory tracking control design methodology for juggling systems. We present the main ideas and concepts in a one degree-of-freedom juggler, which consists of a ball bouncing on an actuated robot. We design a hybrid control strategy that, with only information of the ball's state at impacts, controls the ball to track a reference rhythmic pattern with arbitrary precision. We extend this hybrid control strategy to the case of juggling multiple balls with different rhythmic patterns. Simulation results for juggling of one and three balls with a single actuated robot are presented.

关键词： hybrid systems Ball Device Component control strategy trajectory tracking hybrid control Robot

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MARKOV decision PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN control

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Asian Journal of control 2008年第2期6卷

作者： Suresh Kalyanasundaram Edwin K. P. Chong Ness B. Shroff Motorola India Electronics Limited No. 66/1 Plot 5 Bagmane Techpark C. V. Raman Nagar Post Bangalore 560 093 India. Department of Electrical and Computer Engineering Colorado State University Fort Collins CO 80523-1373 USA. Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the University of Adelaide South Australia in 1987 graduating top of his class and the M.A. and Ph.D. degrees in 1989 and 1991 respectively both from Princeton University where he held an IBM Fellowship. He joined the School of Electrical and Computer Engineering at Purdue University in 1991 where he was named a University Faculty Scholar in 1999 and promoted to Full Professor in 2001. Since August 2001 he has been a Professor of Electrical and Computer Engineering and Professor of Mathematics at Colorado State University. His current interests are in communication networks and optimization methods. He coauthored the best-selling book An Introduction to Optimization 2nd Edition Wiley-Interscience 2001. He received the NSF CAREER Award in 1995 and the ASEE Frederick Emmons Terman Award in 1998. He coauthored a paper that was awarded Best Paper in the journal Computer Networks 2003. Professor Chong is a Fellow of the IEEE. He was founding chairman of the IEEE Control Systems Society Technical Committee on Discrete Event Systems and until recently served as an IEEE Control Systems Society Distinguished Lecturer. He has been on the editorial board of the IEEE Transactions on Automatic Control. He is currently on the editorial board of the journal Computer Networks. He has also served on the organizing committees of several international conferences. He has been on the program committees for the IEEE Conference on Decision and Control the American Control Conference the IEEE International Symposium on Intelligent Control IEEE Symposium on Computers and Communications and the IEEE Global Telecommunications Conference. He has also served in the executive committees for the IEEE Co

Solution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per-unit-time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max-min optimal policy, which maximizes the worst-case average per-unit-time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time-varying transition rates.

关键词： Markov decision processes sensitivity max-min control call admission control policy iteration

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Online H∞ speed control of sensorless induction motors with rotor resistance estimation

Online H∞ speed control of sensorless induction motors with...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Peda V Medagam Farzad Pourboghrat Embedded Control Systems Laboratory Southem Illinois University Carbondale USA Electrical & Computer Engineering Department Southem Illinois University Carbondale USA

This paper proposes an online technique for the H ∞ control of speed and flux norm of current-fed induction motors (IM). Integrals of the speed and flux norm tracking errors are considered as elements of the state variables. A robust H ∞ , optimal control strategy for this problem is determined by solving the algebraic Riccati equation (ARE), using multilayer recurrent neural networks. The proposed controller allows for the simultaneous and independent control of both speed and flux norms of the induction motors. The control implementation involves estimating the rotor flux, rotor resistance, and speed of the induction motor, using continuous-time extended Kalman filter (EKF). The simulation results show the effectiveness of the proposed controller even in the presence of rotor resistance and load torque disturbances.

关键词： Induction motors Rotors Sliding mode control Sensorless control Optimal control Robust control Riccati equations Torque control Stators control systems

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