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International Symposium on Image and Signal Processing and Analysis

作者： B.G. Mertzios K. Tsirikolias Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

ISBN: (纸本)9539676940

The paper presents a number of image processing and pattern recognition applications using coordinate logic filters which execute coordinate logic operations among the pixels of the image. These filters are very efficient in various 1D, 2D or higher-dimensional digital signal processing applications, such as noise removal, magnification, opening, closing, skeletonization, coding, edge detection, feature extraction, and fractal modeling. The key issue in the coordinate logic analysis of images is the method of fast successive filtering and managing of the residues. The desired processing is achieved by executing only direct logic operations among the pixels of the given image. Coordinate logic filters can be easily and quickly implemented using logic circuits or cellular automata; this is their primary advantage.

关键词： Image analysis Image edge detection Pixel Logic circuits Image processing Pattern recognition Digital filters Digital signal processing Image coding Feature extraction

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Using grooming cross-connects to reduce ADM costs in SONET/WDM ring networks

Using grooming cross-connects to reduce ADM costs in SONET/W...

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Optical Fiber Communication (OFC) Conference

作者： E. Modiano R. Berry MIT Laboratory for Information and Decision Systems Cambridge MA USA Department of Electrical and Computer Engineering North Western University Evanston IL USA

We show that the cost of electronic multiplexing in SONET/WDM rings can be reduced using small SONET cross-connects at multiple nodes. Our architecture uses multiple hub nodes and achieves significant savings over sin... 详细信息

ISBN: (纸本)1557526559

关键词： Costs Intelligent networks SONET Wavelength division multiplexing WDM networks Add-drop multiplexers Switches Circuits Telecommunication traffic computer architecture

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Robust PI and PID controllers including Smith predictor structure

Robust PI and PID controllers including Smith predictor stru...

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American control Conference (ACC)

作者： B. Kristiansson B. Lennartson Department of Electrical and Computer Engineering Chalmers Lindholmen Goteborg Sweden Department of Signals and Systems Control and Automation Laboratory Chalmers University of Technology Goteborg Sweden

In this paper PI and PID controllers augmented by a Smith predictor structure are compared to ordinary PI and PID controllers, for plants with medium and great time delays. The comparison is based an a systematic evaluation method, where both robustness and performance aspects in different frequency regions are taken into account. The results show that a Smith predictor increases performance somewhat for a PID controller when the time delay is moderate. For great time delays, however, the improvement is insignificant. An important remark is that it is necessary to include the predictor structure in the design to get acceptable robustness properties. For a PI controller the benefits from a predictor are mostly small or negligible independent of time delay. Most important is, however that a derivative part obviously will bring significantly greater improvement than a Smith predictor to a system with a PI controller. This result is somewhat surprising, since Smith predictors are normally used together with PI and not with PID controllers. Furthermore, it is sometimes argued that it is no use to include derivative action for plants with significant time delay.

关键词： Robust control Three-term control control systems Delay effects Automatic control Frequency Robustness Robust stability Automation Pi control

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Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode

Nonlinear control of a pneumatic muscle actuator: backsteppi...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Air Force Research Laboratory OH USA

This paper weighs up the pros and cons of three different tracking controllers for a pneumatic muscle actuator: robust backstepping, adaptive backstepping and sliding-mode. Robustness is assured for three controllers in the presence of model uncertainties and external perturbations. Ultimate boundedness is proved for the robust and adaptive backstepping tracking controller. Exponential stability is proved for the sliding-mode tracking controller. The tracking is well achieved by the sliding-mode and the adaptive controller. On the contrary, the robust backstepping shows a noticeable tracking error. The sliding-mode leads to a high-frequency switching control law.

关键词： Muscles Pneumatic actuators Backstepping Sliding mode control Robust control Programmable control Adaptive control Uncertainty Stability Robustness

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A fuzzy backstepping controller for a pneumatic muscle actuator system

A fuzzy backstepping controller for a pneumatic muscle actua...

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IEEE International Symposium on Intelligent control (ISIC)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Brooklyn Metrotech Center Polytechnic University Brooklyn NY USA HECP Air Force Research Laboratory OH USA

A nonlinear fuzzy backstepping controller is presented for set-point regulation of a pneumatic muscle actuator. Inflation and deflation are the two possible modes of operation of this actuator. Three fuzzy sets, one for each of both modes and one for the transition region, are considered. Each fuzzy set is associated with a local backstepping controller. At the inflation and deflation regimes, the associated controllers are exact backstepping controllers, whereas a robust nonlinear backstepping controller is used at the transition regime and deals with regime uncertainty. The use of fuzzy membership functions provides a smooth controller. The closed-loop system is globally and ultimately bounded.

关键词： Fuzzy control Fuzzy systems Backstepping control systems Muscles Pneumatic actuators Sliding mode control Nonlinear control systems Robust control Nonlinear dynamical systems

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A resettable Kalman filter based on numerical differentiation 6

A resettable Kalman filter based on numerical differentiatio...

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6th European control Conference, ECC 2001

作者： Diop, S. Fromion, V. Grizzle, J.W. Laboratoire des Signaux and Systèmes Suéelec Gif sur Yvette Cedex91192 France Laboratoire d'Analyse des Systèmes et de Biométrie INRA Montpellier Cedex 134060 France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann ArborMI48109-2122 United States

ISBN: (纸本)9783952417362

关键词： Nonlinear systems

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BIFURCATION control AND NONSMOOTH FEEDBACK

BIFURCATION CONTROL AND NONSMOOTH FEEDBACK

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第二十届中国控制会议

作者： Hua O.Wang Yiguang Hong Laboratory for Intelligent and Nonlinear Control(LINC)Department of Electrical and Computer Engineering Duke University DurhamNC 27708U.S.A and Center for Nonlinear and Complex Systems Dept.of Control Science and Engineering Huazhong University of Science and Technology Institute of Systems Sciences Chinese Academy of Sciences

In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p

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A global exponential observer based on numerical differentiation

A global exponential observer based on numerical differentia...

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IEEE Conference on decision and control

作者： S. Diop V. Fromion J.W. Grizzle Laboratoire des Signaux & Systèmes Supélec Gif-sur-Yvette France Laboratoired'Analyse des Systkmes et de Biométrie INRA Montpellier France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

ISBN: (纸本)0780370619

The extended Kalman filter is known to have excellent filtering characteristics, but its convergence is guaranteed only if it is initialized close enough to the true state value. Numerical differentiation based observers, on the other hand, may be designed to be globally convergent to a neighborhood of the true state value, but when the measurements are corrupted by significant uncertain signals their state estimates are delayed. In a previous work we proposed an observer design scheme for nonlinear systems which combines these two techniques to yield a globally exponentially converging observer. The necessity to implement an extended Kalman filter has two shortcomings. One is it does not apply when we face a system with an observability condition weaker than that the linearized dynamics about the estimated trajectory is completely uniformly observable. The other limitation is the computation burden. In this paper we propose an alternative which is still a global exponential observer. While the computation burden may not have been significantly reduced, definitely, it applies to a wider class of nonlinear systems. Noteworthy we prove that this global exponential observer is also bounded which is a feature the nonlinear observers in the literature rarely possess. The observer scheme is illustrated through a bioprocess example whose linearization is not completely uniformly observable.

关键词： State estimation Observers Delay estimation Nonlinear systems Observability Filtering Signal design Nonlinear dynamical systems Convergence Linear systems

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controlled Periodic Motion in a Nonlinear System with Impulse Effects: Walking of a Biped Robot

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IFAC Proceedings Volumes 2001年第6期34卷 429-434页

作者： F. Plestan J.W. Grizzle E.R. Westervelt G. Abba IRCCyN Ecole Centrale Université et Ecole des Mines de Nantes CNRS BP 92101 1 rue de la Noë 44321 Nantes cedex 03 France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI 48109-2122 USA LGIPM Université de Metz IUT de Thionville Espace Cormontaigne 57970 Yutz France

The goal is to demonstrate a means to prove asymptotically stable walking in a planar, under actuated, five-link biped robot model. The analysis assumes a rigid contact model when the swing leg impacts the ground and an instantaneous double-support phase: under theses hypotheses, the robot is modeled by a dynamic nonlinear system and an impulse model. The controller induces finite-time stabilization of four of the robot's five degrees of freedom, resulting in a reduced Poincaré stability analysis that can be carried out by computing a one dimensional map.

关键词： Biped robot stable walking impulse effects Poincaré sections

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Correction to "Asymptotically stable walking for biped robots: analysis via systems with impulse effects"

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IEEE Transactions on Automatic control 2001年第3期46卷 513-513页

作者： J.W. Grizzle G. Abba F. Plestan Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA LGIPM Universit de Metz IUT de Thionville Espace Cormontaigne Yutz France IRCCyN Ecole Centrale de Nantes Nantes France

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