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第三十三届中国控制会议

作者： GE Yang WANG Jingcheng LI Kang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Electronics Electrical Engineering and Computer ScienceQueen’s University Belfast

ISBN: (纸本)9781479947249

In this paper, we consider the robust fault tolerant control of the distributed networked control systems(DNCSs). In DNCSs, sub-systems are connected with each other through a communication network. Each sub-system has its own sensor, controller, actuator and quantizer. The output of each sub-system will be transmitted to all other sub-systems through the network. As a result, quantization errors and packet-dropouts cannot be avoided. We also consider the actuator faults situations, including outage, loss of effectiveness and impulse which is modeled by a Markov chain in this paper. A mode-based static output feedback controller is proposed to stable the DNCSs and to meet the robust H-inf performance. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.

关键词： Distributed networked control systems,robust control,fault tolerant,quantized

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Computational efficiency and universality of timed P systems with membrane creation

Communications in Computer and Information Science

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Communications in computer and Information Science 2014年 472卷 389-394页

作者： Song, Bosheng Pérez-jiménez, Mario J. Pan, Linqiang Key Laboratory of Image Information Processing and Intelligent Control School of Automation Huazhong University of Science and Technology WuhanHubei430074 China Department of Computer Science and Artificial Intelligence University of Sevilla Avda. Reina Mercedes s/n Sevilla41012 Spain

ISBN: (纸本)9783662450482

In this work, inspired from this biological motivation that in living cells, the execution time of different biological processes is difficult to know precisely and very sensitive to environmental factors that might be hard to control, the computational efficiency and universality of timed P systems with membrane creation are investigated. Specifically, we give a time-free solution to SAT problem by a family of P systems with membrane creation in the sense that the correctness of the solution is irrelevant to the times associated with the involved rules. We further show that time-free P systems with membrane creation are computationally universal. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Membranes

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Multistability analysis of a general class of recurrent neural networks with non-monotonic activation functions and time-varying delays

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Neural networks : the official journal of the International Neural Network Society 2016年 79卷 117-27页

作者： Peng Liu Zhigang Zeng Jun Wang School of Automation Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan 430074 China. Electronic address: liupengjz@***. Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan 430074 China. Electronic address: hustzgzeng@***. Department of Computer Science College of Science and Engineering City University of Hong Kong Kowloon Tong Hong Kong. Electronic address: jwang.cs@cityu.edu.hk.

This paper addresses the multistability for a general class of recurrent neural networks with time-varying delays. Without assuming the linearity or monotonicity of the activation functions, several new sufficient conditions are obtained to ensure the existence of (2K+1)(n) equilibrium points and the exponential stability of (K+1)(n) equilibrium points among them for n-neuron neural networks, where K is a positive integer and determined by the type of activation functions and the parameters of neural network jointly. The obtained results generalize and improve the earlier publications. Furthermore, the attraction basins of these exponentially stable equilibrium points are estimated. It is revealed that the attraction basins of these exponentially stable equilibrium points can be larger than their originally partitioned subsets. Finally, three illustrative numerical examples show the effectiveness of theoretical results.

关键词： Cohen–Grossberg neural networks Multistability Non-monotonic activation functions Time-varying delays

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Distributed parameter modeling of single-mast stacker crane structures

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Periodica Polytechnica Transportation Engineering 2014年第1期42卷 1-9页

作者： Hajdu, Sándor Gáspár, Péter Department of Mechanical Engineering University of Debrecen Ótemeto u. 2-4. H-4028 Debrecen Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

This paper presents distributed parameter dynamical modeling capabilities of single-mast stacker crane structures. In the frame structure of stacker cranes due to external excitation or inertial forces undesirable structural vibrations may arise. These vibrations reduce the stability and positioning accuracy of stacker crane and causes increasing cycle time of storage/ retrieval operation. Thus it is necessary to investigate of these vibrations. In this paper the dynamical behavior of single-mast stacker cranes is approximated by means of distributed parameter models. The first model is a cantilever beam model with uniform material and cross-sectional properties. This model is used to demonstrate fundamental properties of Euler-Bernoulli beam models. The second model is cantilever beam model with variable cross-sectional properties and lumped masses. The eigenfrequencies and mode shapes of this mast-model are determined by means transfer matrix method. In the third model the whole structure of single-mast stacker crane is modeled. Beside the eigenfrequencies and mode shapes of this model the Bodediagrams of frequency response function is also calculated.

关键词： Cantilever beams

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Stability of Kalman filtering with multiple sensors involving lossy communications 19

Stability of Kalman filtering with multiple sensors involvin...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Sui, Tianju You, Keyou Fu, Minyue Department of Control Science and Engineering ZheJiang University Hangzhou310013 China Department of Automation Tsinghua University Beijing100084 China School of Electrical Engineering and Computer Science University of Newcastle NSW2308 Australia

ISBN: (纸本)9783902823625

We study a networked state estimation problem for a linear system with multiple sensors, each of which transmits its measurements to a central estimator via a lossy communication network for computing the minimum mean-square-error (MMSE) state estimate. Under a general Markov packet loss process, we establish necessary and sufficient conditions for the stability of the estimator for any diagonalizable system in the sense that the mean of the state estimation error covariance matrix is uniformly bounded. For the second-order systems under an i.i.d. packet loss model, the stability condition is expressed as a simple inequality in terms of open-loop poles and the packet loss rate. © IFAC.

关键词： Kalman filters

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FPGA-accelerated adaptive optics wavefront control

FPGA-accelerated adaptive optics wavefront control

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MEMS Adaptive Optics VIII

作者： Mauch, S. Reger, J. Reinlein, C. Appelfelder, M. Goy, M. Beckert, E. Tünnermann, A. Control Engineering Group Computer Science and Automation Department Technische Universität Ilmenau Helmholtzplatz 5 98693 Ilmenau Germany Albert-Einstein-Str. 7 07745 Jena Germany

ISBN: (纸本)9780819498915

The speed of real-time adaptive optical systems is primarily restricted by the data processing hardware and computational aspects. Furthermore, the application of mirror layouts with increasing numbers of actuators reduces the bandwidth (speed) of the system and, thus, the number of applicable control algorithms. This burden turns out a key-impediment for deformable mirrors with continuous mirror surface and highly coupled actuator influence functions. In this regard, specialized hardware is necessary for high performance real-time control applications. Our approach to overcome this challenge is an adaptive optics system based on a Shack-Hartmann wavefront sensor (SHWFS) with a CameraLink interface. The data processing is based on a high performance Intel Core i7 Quadcore hard real-time Linux system. Employing a Xilinx Kintex-7 FPGA, an own developed PCie card is outlined in order to accelerate the analysis of a Shack-Hartmann Wavefront Sensor. A recently developed real-time capable spot detection algorithm evaluates the wavefront. The main features of the presented system are the reduction of latency and the acceleration of computation For example, matrix multiplications which in general are of complexity O(n 3 are accelerated by using the DSP48 slices of the field-programmable gate array (FPGA) as well as a novel hardware implementation of the SHWFS algorithm. Further benefits are the Streaming SIMD Extensions (SSE) which intensively use the parallelization capability of the processor for further reducing the latency and increasing the bandwidth of the closed-loop. Due to this approach, up to 64 actuators of a deformable mirror can be handled and controlled without noticeable restriction from computational burdens. © 2014 SPIE.

关键词： Adaptive optics

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Iterative learning control for machining with industrial robots 19

Iterative learning control for machining with industrial rob...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Marchal, Pablo Cano Sörnmo, Olof Olofsson, Björn Robertsson, Anders Ortega, Juan Gómez Johansson, Rolf Group of Robotics Automation and Computer Vision University of Jaén JaénES-23071 Spain Department of Automatic Control LTH Lund University LundSE-221 00 Sweden

ISBN: (纸本)9783902823625

We consider an iterative learning control (ILC) approach to machining with industrial robots. The robot and the milling process are modeled using system identification methods with a data-driven approach. Two different model-based ILC algorithms are proposed and subsequently experimentally verified in a milling scenario. The difference between the two approaches is the required sensors for acquiring relevant input data for the algorithms. The results from the experiments indicate that the proposed methods have the potential of significantly decreasing the position errors in robotic machining, up to 85% in the considered milling scenario. © IFAC.

关键词： Two term control systems

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Discriminative subspace learning with sparse representation view-based model for robust visual tracking

Discriminative subspace learning with sparse representation ...

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作者： Xie, Yuan Zhang, Wensheng Qu, Yanyun Zhang, Yinghua Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences Beijing 100190 China Video and Image Lab. Department of Computer Science Xiamen University Xiamen 361005 China

In this paper, we propose a robust tracking algorithm to handle drifting problem. This algorithm consists of two parts: the first part is the G&D part that combines Generative model and Discriminative model for tracking, and the second part is the View-Based model for target appearance that corrects the result of the G&D part if necessary. In G&D part, we use the Maximum Margin Projection (MMP) to construct a graph model to preserve both local geometrical and discriminant structures of the data manifold in low dimensions. Therefore, such discriminative subspace combined with traditional generative subspace can benefit from both models. In addition, we address the problem of learning maximum margin projection under the Spectral Regression (SR) which results in significant savings in computational time. To further solve the drift, an online learned sparsely represented view-based model of the target is complementary to the G&D part. When the result of G&D part is unreliable, the view-based model can rectify the result in order to avoid drifting. Experimental results on several challenging video sequences demonstrate the effectiveness and robustness of our approach. © 2013 Elsevier Ltd. All rights reserved.

关键词： Pattern recognition

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An Agent-Based Cloud Platform for Security Services

Communications in Computer and Information Science

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Communications in computer and Information Science 2014年 430卷 333-343页

作者： De la Prieta, Fernando Corredera, Luis Enrique Sánchez-Martin, Antonio J. Demazeau, Yves University of Salamanca Department of Computer Science and Automation Control Plaza de la Merced s/n 37007 Salamanca Spain Flag Solutions S.L C/Bientocadas 12 37002 Salamanca Spain National Center for Scientific Research Laboratory of Computer Science of Grenoble Maison Jeat Kuntzmann - 110 av. De la Chimie Gregoble France

ISBN: (纸本)9783319077666

There are many trials where electronic evidences are not digitally signed. This problem requires the validation of the veracity of these digital resources, thus causing delays in the verdict and increase the price of the process. The digital signature solves partially the problem because it provides the characteristics of authentication, integrity and non-repudiation;but it has weakness such as availability, confidentiality and changes control, besides the complexity on its usage. This paper presents the project *** that is an agent-based platform deployed over a cloud system that provided cloud-based services to guarantee the veracity of the communications (email, web content and photographs). © Springer International Publishing Switzerland 2014.

关键词： Multi agent systems

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A direct adaptive fuzzy sliding mode controller and its application

A direct adaptive fuzzy sliding mode controller and its appl...

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IEEE International Conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Song Hyok Ri Jian Huang Myong Ho Kim Ji Yong Kim Gwangmin Choe Chol Jun Rim School of Automation Huazhong University of Science and Technology Wuhan CHINA Department of Control Science University of Science Pyongyang D. P. R. of Korea (Democratic People's Republic of Korea) Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan CHINA Department of Control Science University of Science Pyongyang D.P.R. of Korea (Democratic People's Republic of Korea) School of Computer Science Kim II Sung university Pyongyang D. P. R. of Korea (Democratic People's Republic of Korea)

ISBN: (纸本)9781479987313

An approach of direct adaptive fuzzy sliding-mode control which combines the fuzzy control with the sliding-mode control, is proposed for the control of a class of unknown nonlinear dynamic systems. The control goal is to obtain a direct adaptive fuzzy sliding-mode control law and a constructive Lyapunov synthesis approach with respect to a class of nonlinear systems without the knowledge of uncertainties. For improving the approximate performance of the fuzzy system, the proposed approach in this study not only online updates the parameter values in the consequence fuzzy sets, but also updates the shape parameters of the membership functions of the prime fuzzy sets. The fuzzy control rules are updated through the online adaptive learning, which makes the output of fuzzy control to approximate to a sliding-mode equivalent control. The asymptotic stability of the overall system based on Lyapunov theory is proved. Some numerical simulation results show the efficiency of the proposed approach.

关键词： Adaptive systems Nonlinear dynamical systems Sliding mode control Fuzzy control Adaptation models

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