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IEEE Conference on Decision and control

作者： E. Rogers J. Wood D.H. Owens Department of Electronics and Computer Science University of Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

ISBN: (纸本)0780366387

Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. We use work in behavioral theory for nD linear systems to characterize poles for the case of so-called discrete linear repetitive processes. A unique feature is that the resulting poles lead to a physically based interpretation of stability for these processes.

关键词： Linear systems Asymptotic stability Polynomials computer science automatic control Systems engineering and theory Time measurement Sufficient conditions Kernel Frequency

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Iterative learning control-recent progress and open research problems

Iterative learning control-recent progress and open research...

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IEE Seminar Learning Systems for control (Ref. No. 2000/069)

作者： D.H. Owens E. Rogers Head of the Department of Automatic Control and Systems Engineering University of Sheffield UK Department of Electronics and Computer Science University of Southampton UK

The emergence of intelligent control has seen a focus of attention on the ideas of learning control. This paper introduces the current state of the art in the area of iterative learning control (ILC). Together with a general description of the problems that must be addressed, the paper explores the relationship between the performance of learning algorithms and the structure of the system to be controlled. The importance of system's relative degree (pole-zero excess) and the system's zeros are described and the role of prediction in improving performance is stated.

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Stability tests for a class of differential linear repetitive processes with dynamic boundary conditions

Stability tests for a class of differential linear repetitiv...

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IEEE Conference on Decision and control

作者： S.E. Benton E. Rogers D.H. Owens Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

ISBN: (纸本)0780366387

Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. Their essential characteristic is repeated sweeps, termed passes, through a set of dynamics defined over a finite duration with explicit interaction between the outputs, or pass profiles, produced as the process dynamics evolve. Experience has shown that these processes cannot be studied/controlled by direct application of existing theory. This fact, and the growing list of applications areas, has prompted an ongoing research programme into the development of a 'mature' systems theory for these processes for onward translation into reliable generally applicable controller design algorithms. This paper develops stability tests for a sub-class of so-called differential linear repetitive processes in the presence of a general set of initial conditions, where it is known that the structure of these conditions is critical to their stability properties.

关键词： Testing Stability analysis Stability criteria Boundary conditions computer science automatic control Systems engineering and theory Linear systems Delay Machining

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Friendly interface for objects selection in a robotized kitchen

Friendly interface for objects selection in a robotized kitc...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals X. Cufi J. Freixenet J. Marti X. Munoz Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Catalonia Spain Computer Vision and Robotics Group EIA-IIiA University of Girona Catalonia Spain

This paper presents an interface for the interaction between a human and an adapted kitchen where different elements, including a robot, have to be controlled. After the global structure of the interface is described a more detailed explanation is presented on the way the interface offers the user an easy and friendly way to select the desired objects and to provide their position to the robot for their manipulation.

关键词： Robotics and automation Robot vision systems computer vision control engineering computing Human robot interaction automatic control Research and development Ergonomics Cameras Layout

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Powertrain modeling with modelica

Powertrain modeling with modelica

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ASME 2000 International Mechanical engineering Congress and Exposition, IMECE 2000

作者： Tiller, Michael Davis, Cleon Tummescheit, Hubertus Trigui, Nizar Ford Motor Company Scientific Research Laboratory 2101 Village Road DearbornMI48197 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332-0250 United States Department of Automatic Control Lund Institute of Technology Box 118 LundSE-22100 Sweden

ISBN: (纸本)9780791826645

In this paper we will describe the development of models for prediction of powertrain performance. Our goal is to develop a library of components to model combustion, gas dynamics and mechanical response. We will also demonstrate the ease with which we can replace traditional component models (e.g., mechanically actuated valves) with non-traditional component models (e.g., electro-mechanically actuated valves) without having to change or reformulate any of the other components in our system. The models were developed using the Modelica modeling language (Modelica Design Group, 1999) which allows component-based descriptions of behavior for complex engineering systems. Modelica is particularly well suited for creating behavioral models that are typical for powertrain plant models In addition to writing component models, the freely available Modelica Standard Library contains basic models from various engineering disciplines (e.g., resistors, shafts, springs). With this approach, models can be symbolically preprocessed to improve computational performance. In addition, code can be generated from the Modelica model which can be used as either a stand alone analysis tool, imported into Simulink1 as an S-function or downloaded for use in real-time hardware in the loop experiments. © 2000 by ASME

关键词： Gas dynamics

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Strong practical stability for a class of 2D linear systems

Strong practical stability for a class of 2D linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability computer science State-space methods Robotics and automation Software engineering Systems engineering and theory Metals industry Iterative algorithms Electrical equipment industry

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An effective uniform genetic algorithm for hard optimization problems

An effective uniform genetic algorithm for hard optimization...

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World Congress on Intelligent control and Automation (WCICA)

作者： Wang Yuping Liu Hailin Yiu-Wing Leung Faculty of Science Xidian University Xi'an China Department of Automatic Control Engineering South China University of Technology Guangzhou China Department of Computer Scienc Hong Kong Baptist University Hong Kong China

Genetic algorithms are one of the effective algorithms for hard optimization problems. They can escape from the local minima, however, the amount of their computation is often large. To decrease the amount of the computation and enhance the algorithms, the uniform design is combined into the genetic algorithm. The new genetic operator has the local-search property similar to that in traditional optimization techniques and needs a minimal amount of computation in certain meanings. Thus the new genetic algorithm can generate a diversity of population and explore the search space effectively. Moreover, the new algorithm is globally convergent. The numerical results also show the effectiveness of the new algorithm with its less computation, and higher convergent speed for all test functions.

关键词： Genetic algorithms Algorithm design and analysis Space exploration Scattering Optimization methods automatic control Genetic engineering Testing engineering management Operations research

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Chaotification of continuous-time systems via time-delay feedback

Chaotification of continuous-time systems via time-delay fee...

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International Conference on control of Oscillations and Chaos

作者： Xiao Fan Wang Guanrong Chen Xinghuo Yu Department of Automatic Control Nanjing University of Science and Technology of PLA Nanjing China Department of Electrical and Computer Engineering University of Houston Houston TX USA Department of Information and Communication Central Queensland University Rockhampton QLD Australia

ISBN: (纸本)0780364341

In this paper, a systematic design approach based on time-delay feedback is developed for chaotification of a continuous-time, feedback linearizable system. The chaotification is accomplished based on nonlinear control theory and an approximate relationship between a time-delay differential equation and a discrete map. An example is given to illustrate the systematic design procedure.

关键词： Chaos Chaotic communication Differential equations control systems control theory State feedback Delay Difference equations Ear Feedback control

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Self-Tuning PID controllers Based on Dynamics Inversion Method

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IFAC Proceedings Volumes 2000年第4期33卷 167-172页

作者： Vladimír Bobál Petr Dostál Jiří Macháček Miluše Vitečková Department of Automatic Control Faculty of Technology Zlin Brno University of Technology nám. TGM 275 762 72 Zlin Czech Republic Phone Fax: +420 67 721 1521 Department of Process Control and Computer Techniques University of Pardubice nám. Čs. Legií 565 532 10 Pardubice Czech Republic Department of Control Systems and Instrumentation Faculty of Mechanical Engineering Technical University of Ostrava 17. Listopadu 15 708 33 Ostrava-Poruba Czech Republic

A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directional forgetting. The recursive parameter estimates of the continuous – time model (differential equation) are used to synthesis the PID controller. controller synthesis is designed on the basis of a dynamics inversion method. This method allows the tuning of standard analog and digital controllers for chosen types of controlled processes without or with time delay. The algorithm is suitable for the automatic setting of analog and digital PID controllers for deterministic processes or the adaptive control of stochastic and nonlinear processes. The analog modification PID controller has been verified by computer simulation.

关键词： continuous – time ARX model recursive least squares inverse dynamics control PID control self-tuning control

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Modelling and Identification with Rational Orthogonal Basis Functions

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IFAC Proceedings Volumes 2000年第15期33卷 445-455页

作者： Paul Van den Hof Bo Wahlberg Peter Heuberger Brett Ninness Jozsef Bokor Tomás Oliveira e Silva Department of Applied Physics Delft University of Technology Lorentzweg 1 2628 CJ Delft The Netherlands S3 - Automatic Control Royal Institute of Technology S-100 44 Stockholm Sweden. Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1502 Budapest Hungary Dept. Electrónica e Telecommunicações University of Aveiro 3810-183 Aveiro Portugal

Decomposing dynamical systems in terms of orthogonal expansions enables the modelling/approximation of a system with a finite length expansion. By flexibly tuning the basis functions to underlying system characteristics, the rate of convergence of these expansions can be drastically increased, leading to highly accurate models (small bias) being represented by few parameters (small variance). Additionally algorithmic and numerical aspects are favourable. A recently developed general theory for basis construction will be presented, that is a generalization of the classical Laguerre theory. The basis functions are applied in problems of identification, approximation, realization, uncertainty modelling, and adaptive filtering, particularly exploiting the property that basis function models are linearly parametrized. Besides powerful algorithms, they also provide useful analysis tools for understanding the underlying identification/approximation algorithms.

关键词： System identification orthogonal basis functions series expansions model reduction parametrization

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