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Modelling and Identification with Rational Orthogonal Basis Functions

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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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Design of a neural network observer to control a FED-batch bioprocess

Design of a neural network observer to control a FED-batch b...

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1999 European control Conference, ECC 1999

作者： Boutalis, Y.S. Kosmidou, O.I. Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-67100 Greece

ISBN: (纸本)9783952417355

The present paper deals with the production of Saccharomyces cerevisiae, described by a sixth order nonlinear state space model. The control objective is to ensure the process stability and desirable specifications in the presence of disturbances and lack of reliable state measurements. First, the model of the process and its properties are presented. Next the ability of multi-layer Neural Networks to act as reliable emulators of the system dynamics is tested by simulation results and a training strategy is proposed to improve their performance. Finally, a non-linear adaptive observer is designed by means of artificial neural networks. © 1999 EUCA.

关键词： Neural networks

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Structure and performance evaluation of a replicated banyan network based ATM switch

Structure and performance evaluation of a replicated banyan ...

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IEEE Symposium on computers and Communications (ISCC)

作者： M.A. Youssef M.N. El-Derini H.H. Aly Department of Computer Science and Automatic Control Faculty of Engineering Alexandria University Egypt

Banyan networks are commonly used as interconnection structures in ATM switches. This paper is concerned with the replication technique which was applied to the standard banyan networks. We apply this technique to the plane interconnected parallel network (PIPN) which is a switch introduced previously as a better banyan-based interconnection structure. The normalized throughput of unbuffered and buffered replicated PIPN is analyzed analytically under uniform traffic model. We apply the simulation technique to verify the analytical results under the uniform traffic model and to study the performance of different heterogeneous traffic models. The performance is shown to increase significantly when the replicated PIPN is used which supports the idea of using this switch as a new high-performance ATM switch.

关键词： Asynchronous transfer mode Throughput Telecommunication traffic Traffic control Optical switches Bandwidth Very large scale integration computer science automatic control Analytical models

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Vision system with depth obtaining capabilities

Vision system with depth obtaining capabilities

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International Conference on Computational Intelligence and Multimedia Applications

作者： M.L. Heras J. Amat Department of Automatic Control and Computer Engineering Universitat Politecnica de Catalunya Barcelona Spain

Obtaining of 3D information from image sequences or stereoscopic images is a key problem, not completely solved, and any improvement in its resolution would bring to light a huge quantity of real life applications. The main difficulties lie in the matching of different elements of every image, the so-called correspondence problem. According to the trend of analysing singular points of the scene, we opt for a system based on the labelling and matching of contours and corners of the scene. Those points have some properties that make the method usable for most kinds of images. In order to obtain the contour information, a new algorithm is developed which is hardware implementable, able to autoadapt its parameters to external characteristics (such as as focus, illumination, contrast, etc.), and provides high reliability to the depth obtaining system. A specialised hardware is designed for contour obtaining and labelling with a fast and highly efficient pipeline architecture that gives the system a fast response time.

关键词： Machine vision Layout Labeling Hardware Image sequences Image resolution Optimized production technology Focusing Lighting Pipelines

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Vision based obstacle detection for autonomous industrial vehicles

Vision based obstacle detection for autonomous industrial ve...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： J. Fernandez A. Grau A.B. Martinez Automatic Control and Computer Engineering Department Universitat Poliltècnica de Catalunya Barcelona Spain

A low computing cost obstacle detection technique based on the stereo motion principle is presented. The process followed is based on the height estimation of world objects from the analysis of the height of the regions defined by the objects in a sequence of images. Only the regions that are located within the transitional zone and have a different aspect with respect to the transitional path (the potential obstacle regions), are analysed along the image sequence.

关键词： Vehicle detection Remotely operated vehicles Mobile robots Costs Image analysis Sensor phenomena and characterization computer vision Navigation Object detection Optical sensors

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Lyapunov stability theory for linear repetitive processes - The 2D equation approach

Lyapunov stability theory for linear repetitive processes - ...

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1999 European control Conference, ECC 1999

作者： Benton, S.E. Rogers, E. Owens, D.H. Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417355

This paper develops the basis of a so-called 2D Lyapunov equation based approach to the stability analysis of discrete linear repetitive processes. The key feature of this equation is that, in contrast to the so-called ID Lyapunov equation approach, it is defined in terms of matrices with constant entries and has a 'similar' structure to the Lyapunov equation for standard, or ID, discrete linear systems. Here it is shown that the 2D Lyapunov equation gives, in general, a characterization of stability which is sufficient but not necessary. Despite this deficiency, it is also shown how the 2D Lyapunov equation can be used to characterize stability margins and robustness to uncertainty in the model description - very important topics for which few results are currently available. Some areas for short to medium term further research are also briefly noted. © 1999 EUCA.

关键词： Linear systems

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The benefits of prediction in learning control algorithms

The benefits of prediction in learning control algorithms

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IEE Two-Day Workshop on Model Predictive control: Techniques and Applications - Day 1 (Ref. No. 1999/095)

作者： D.H. Owens Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK School of Engineering and Computer Science University of Exeter UK

The emergence of intelligent control has seen a focus of attention on the ideas of learning control. This 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 demonstrated using ideas from iterative learning control.

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Adaptive decentralized vibration control of a cable-stayed bridge in the presence of seismic excitation

Adaptive decentralized vibration control of a cable-stayed b...

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ASME 1999 Design engineering Technical Conferences, DETC 1999

作者： Luo, Ningsu Rodellar, Jose Sen, Manuel De La Veh, Josep Campus Montilivi P-ll Dept of Electronics Automatic Control and Computer Engineering University of Girona Girona17071 Spain Department of Applied Mathematics III School of Civil Engineering Technical University of Catalonia Barcelona08034 Spain Department of Electricity and Electronics Faculty of Science University of Basque Country Bizkaia Leioa48940 Spain

ISBN: (纸本)9780791819760

In this paper, an adaptive decentralized controller is presented to attenuate the transversal vibration of a flexible cablestayed bridge induced by seismic excitation, in which only local sensor information has been used to generate the control signal that is sent to the actuator. The dynamic behavior of the beam structure is characterized by a nonlinear mathematical model with interconnection terms, which was obtained by using technique of finite element. The controller design is made based on the principle of sliding mode such that a priori knowledge on the exact value of system parameters, structural disturbances and the seismiic excitation is not required. In particular, it is assumed that the upper and lower bounds for the seismic excitation are also unknown. The closed-loop robust stability has been achieved through the generation of a sliding motion in the system. Nu-merical simulation is done to illustrate the effectiveness of the proposed control scheme for a scaled model of the bridge subject to the Taft earthquake. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： controllers

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Model-based fault diagnosis of an actuator system driven by the brushless DC motor

Model-based fault diagnosis of an actuator system driven by ...

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American control Conference (ACC)

作者： O. Moseler D. Juricic A. Rakar N. Muller Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

A fault detection and isolation scheme for a brushless DC motor driving a mechanical actuation system is presented. First, a detailed mathematical model of the drive is derived. The residual generator is based on parity relations while the fault isolation part is implemented by means of the transferable belief model. The problem of distinguishing between faults with the same fault signatures is addressed. It is shown that additional improvements in terms of resolution can be achieved by employing parameter estimation. The proposed FDI scheme is tested on the actual drive under various faults. The achieved performance features the highest resolution, diagnostic stability and accuracy.

关键词： Fault diagnosis Actuators Brushless DC motors DC motors Coils Rotors Stators Fault detection Pulse width modulation Mathematical model

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