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IEEE International Conference on systems, Man, and Cybernetics

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Department of Production Engineering and Mechanical Design Mansoura University Mansoura Egypt Department of Computer and Automatic Control Tanta University

ISBN: (纸本)9781479906505

This paper presents the design of two controllers namely, Direct Fuzzy Logic controller and Fuzzy Model Reference Learning control applied to a new aerial manipulation system called "Quadrotor-Manipulator System". This system consists of 2-link manipulator connected to the bottom of a quadrotor. The dynamic model of this system is derived taking into account the effect of adding a payload to the manipulator. The performance of the proposed controllers are compared with that of the previously developed controller based on Feedback Linearization technique. All controllers are tested regarding their ability to stabilize the system and track desired trajectories under the effects of picking and placing a payload as well as changing the system operating region. Finally, the system equations of motion and the control laws are simulated using MATLAB/SIMULINK. The simulation results indicate the outstanding performance of the Fuzzy Model Reference Learning control.

关键词： Aerial manipulation Quadrotor-Manipulator 2link manipulator Feedback linearization Demining devices Fuzzy logic control Fuzzy model reference learning control Fuzzy control controllers Equations of motion intelligent controller controller design fuzzy logic controller learning control fuzzy modeling Payload Picking control law

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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On The Way To Autonomous Model Predictive control: A distillation column simulation study 1

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IFAC Proceedings Volumes 2013年第32期46卷 713-720页

作者： M. Annergren D. Kauven C.A. Larsson M.G. Potters Q. Tran L. Ozkan Automatic Control Lab and ACCESS School of Electrical Engineering KTH SE-100 44 Stockholm Sweden RWTH Aachen University AVT - Process Systems Engineering Turmstr. 46 52064 Aachen Germany Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Department of Electrical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands

Model Predictive control (MPC) is a powerful tool in the control of large scale chemical processes and has become the standard method for constrained multivariable control problems. Hence, the number of MPC applications is increasing steadily and it is being used in application domains other than petrochemical industries. A common observation by the industrial practitioners is that success of any MPC application requires not only encient initial deployment but also maintenance of initial effectiveness. To this end, we propose a novel high level automated support strategy for MPC systems. Such a strategy consists of components such as performance monitoring, performance diagnosis, least costly closed loop experiment design, re-identification and autotuning. This work presents the novel technological developments in each component and demonstrates them on a distillation column case study. We show that automated support strategy restores nominal performance after a performance drop is detected and takes the right course of action depending on its cause.

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Incommensurate order fractional optimal control: Application to treatment of psychiatric disorders

Incommensurate order fractional optimal control: Application...

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Iranian Conference on Electrical engineering (ICEE)

作者： S. S. Tabatabaei M. J. Yazdanpanah M. S. Tavazoei Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Advanced Control Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Tehran Iran Electrical Engineering Department Sharif University of Technology Tehran Iran

ISBN: (纸本)9781467356329

The main point of this paper is to present a time domain strategy for drug dosage to treat psychiatric disorders. A time domain model of emotion is obtained from an extension of a recently developed fractional nonlinear dynamic model of happiness. First, the Fractional Optimal control law for incommensurate multi state systems is obtained. It will be then applied as an optimal drug administration procedure in the line of psychiatric disorders treatment. Results of this paper show that optimal control scheme is a proper approach to face the difficulties of analysis and control the incommensurate systems. It can be also clearly seen from the simulation results that this approach is very effective in the case that control methods are used as treatment techniques.

关键词： Mathematical model Drugs Optimal control Numerical models Differential equations Equations

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Inverse kinematics solutions for serial robots using support vector regression

Inverse kinematics solutions for serial robots using support...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Antonio Morell Mahmoud Tarokh Leopoldo Acosta Department of Systems Engineering and Control and Computer Architecture University of La Laguna Tenerife Spain San Diego State University San Diego CA US

ISBN: (纸本)9781467356404

Serial kinematic chains are widely used in robotics and computer animation among other fields. Many manipulators do not have closed-form solutions to the inverse kinematics problem, which is of great importance for many applications. In this paper we introduce a fast and accurate procedure which yields all joint angle solutions for a given manipulator or limb posture (position and orientation) and certain swivel angle. By means of a spatial decomposition method, the procedure involves finding accurate models which represent the behavior of the robot or limb in a given workspace region. We propose Support Vector Machines, a very popular machine learning method, as the method that models such behaviors. The performance of the method is tested on the Robotic Research Arm K-1207. The results confirm that the method finds accurate solutions and can be used on real world applications with real-time requirements.

关键词： Joints Kinematics Vectors Manipulators Training Support vector machines

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Solutions to finite horizon cost problems using actor-critic reinforcement learning

Solutions to finite horizon cost problems using actor-critic...

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International Joint Conference on Neural Networks (IJCNN)

作者： Ivo Grondman Hao Xu Sarangapani Jagannathan Robert Babuška Delft Center for Systems and Control Delft University of Technology Delft The Netherlands Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla USA

Actor-critic reinforcement learning algorithms have shown to be a successful tool in learning the optimal control for a range of (repetitive) tasks on systems with (partially) unknown dynamics, which may or may not be nonlinear. Most of the reinforcement learning literature published up to this point only deals with modeling the task at hand as a Markov decision process with an infinite horizon cost function. In practice, however, it is sometimes desired to have a solution for the case where the cost function is defined over a finite horizon, which means that the optimal control problem will be time-varying and thus harder to solve. This paper adapts two previously introduced actor-critic algorithms from the infinite horizon setting to the finite horizon setting and applies them to learning a task on a nonlinear system, without needing any assumptions or knowledge about the system dynamics, using radial basis function networks. Simulations on a typical nonlinear motion control problem are carried out, showing that actor-critic algorithms are capable of solving the difficult problem of time-varying optimal control. Moreover, the benefit of using a model learning technique is shown.

关键词： Mathematical model Equations Optimal control Learning (artificial intelligence) Approximation algorithms Heuristic algorithms Markov processes

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The frame alignment problem in formations of multi-agent systems *

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IFAC Proceedings Volumes 2013年第10期46卷 262-267页

作者： Carlos H. Caicedo-Núñez Sandor M. Veres C.H. Caicedo-Núñez is with the Department of Aeronautics and Astronautics University of Southampton Southampton SO171BJ UK S. M. Veres is with the Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S13JD UK

Problems dealing with coordination of autonomous vehicles usually assume that the agents share a universal orientation in their local reference frames. Although the sensing requirements to satisfy this assumption can sometimes be low, they cannot always be guaranteed. The basic problem of frame alingment is studied here, in the absence of orientation sensors, by exploiting the notions of rigidity, visibility and communication graphs. First the relationship is examined between geometric rigidity of a formation and the agents' ability to agree on a shared orientation to their local frames. Our main results are then formulated in terms of visibility and communication graphs using cyclic graph coverage. Cases when only distances are measurable are also investigated, in which case the motion capabilities of the agents need to be exploited to resolve ambiguity caused by symmetry.

关键词： Autonomous control autonomous vehicles distributed control global coordinate system frame alignment problem communication graphs visibility graphs

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Investigating technical debt folklore: Shedding some light on technical debt opinion

Investigating technical debt folklore: Shedding some light o...

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International Workshop on Managing Technical Debt (MTD)

作者： Rodrigo O. Spínola Antonio Vetrò Nico Zazworka Carolyn Seaman Forrest Shull Graduate Program in Systems and Computer Universidade Salvador - UNIFACS Salvador BA Brasil Elsevier Information Systems GmbH Frankfurt Germany Department of Control and Computer Engineering Politecnico di Torino Torino Italy Department of Information Systems UMBC Baltimore MD USA Fraunhofer USA Center for Experimental Software Engineering College Park USA

We identified and organized a number of statements about technical debt (TD Folklore list) expressed by practitioners in online websites, blogs and published papers. We chose 14 statements and we evaluated them through two surveys (37 practitioners answered the questionnaires), ranking them by agreement and consensus. The statements most agreed with show that TD is an important factor in software project management and not simply another term for “bad code”. This study will help the research community in identifying folklore that can be translated into research questions to be investigated, thus targeting attempts to provide a scientific basis for TD management.

关键词： Software Blogs Software engineering Webinars Training Maintenance engineering Communities

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Stochastic predictive control for energy-efficient cooperative wireless cellular networks

Stochastic predictive control for energy-efficient cooperati...

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IEEE International Conference on Communications (ICC)

作者： Shuhuan Wen F. Richard Yu Jinsong Wu Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Department of Systems and Computer Engineering Carleton University Ottawa ON Canada Bell Laboratories Shanghai P.R. China

Energy efficiency has become an increasingly important aspect of wireless communications. Coordinated multipoint (CoMP) processing may be considered as a promising approach to improve the energy efficiency, extend the cell coverage, and increase the communication capacity in wireless cellular networks. However, the CoMP communication systems may require a large amount of channel state information (CSI) feedbacks which would be constrained by the wireless backhaul networks. This paper proposes a control theoretical approach to improve the energy efficiency in cooperative wireless cellular networks with CoMP communications. In particular, we propose a stochastic predictive control algorithm to achieve energy-efficient CoMP transmissions through optimal base station grouping. Moreover, since the channel state information in CoMP is often outdated/lost due to the feedback delays in the backhaul network, our proposed approach is based on a new discrete time predictive function control model to mitigate the impacts of packet delay or loss of channel state information. Simulation results show the effectiveness of the proposed scheme.

关键词： Base stations Wireless communication Channel state information Delays Predictive models Predictive control Prediction algorithms

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Two Decades of Research on Linear Repetitive Processes Part I: Theory

Two Decades of Research on Linear Repetitive Processes Part ...

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nDS '13;Proceedings of the 8th International Workshop on Multidimensional systems

作者： Eric Rogers Krzysztof Galkowski David H. Owens Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK Institute of Control and Computation Engineering University of Zielona Gora ul. Licealna 9 65-417 Zielona Gora Poland ‡Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Multipass processes was the name used to describe the dynamics of longwall coal cutting in the early 1970's. Later the term 'repetitive process' was used and, using coal cutting as a motivating example, the development of a stability and control theory for these processes began. In the past two decades, this theory has been developed, motivated by the emergence of more physical examples and the recognition that repetitive process control theory can also be used to solve problems in other areas, to the stage where experimental verification is available to support the theory. This paper gives a reflective overview of the progress achieved in the underlying systems theory and in a companion paper the application of this theory is described together with a discussion of possible future developments.

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