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IEEE Conference on Decision and control

作者： B. Lennartson R. Middleton A.-K. Christiansson T. McKelvey Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden Complex Dynamic Systems & Control School of Electrical Engineering & Computer Science University of Newcastle Callaghan NSW Australia University of Trollhättan/Uddevalla Trollhattan Sweden Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

A procedure for H/sub /spl infin// optimization of low order controllers for discrete-time and sampled-data systems is presented in this paper. Generally, low order H/sub /spl infin// controllers may be achieved by solving bilinear matrix inequalities (BMIs). In this paper an iterative alternation between two LMIs gives a suboptimal solution. To avoid local minima in this search the initial controller is obtained by a frequency weighted controller reduction scheme, where the closed loop properties of a full order controller is taken into account. A minimal number of parameters in the state space realization of the controller also reduces the complexity and improves numerical robustness. The complete presentation is based on delta operator models, which shows a close relationship between the continuous- and discrete-time solutions. The sensitivity of the ordinary discrete-time shift operator LMI formulation to small sampling periods is also analyzed.

关键词： control systems Linear matrix inequalities Sampling methods Automatic control Frequency Weight control Robust control Signal processing State-space methods Robustness

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Improved line-of-sight guidance for cruising underwater vehicles

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IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

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Petri net-based design of modular supervisors for remotely human control systems

Petri net-based design of modular supervisors for remotely h...

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SICE Annual Conference

作者： Jin-Shyan Lee Meng-Chu Zhou Pau-Lo Hsu Department of Electrical & Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Electrical & Computer Engineering New Jersey Institute of Technology Newark NJ USA Laboratory of Complex Systems & Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)4907764227

In an Internet-based control system, particular human operations may violate desired requirements and lead to destructive failure. For such human-in-the-loop systems, this paper extends the remote supervisory scheme by Lee and Hsu (2003) to a modular one so as to reduce the supervisor synthesis complexity. Also, remote human issued commands are guaranteed to meet required specifications. A rapid thermal process in semiconductor manufacturing systems is provided to show the practicability of the proposed approach.

关键词： Humans control systems Supervisory control Automatic control Internet control system synthesis Rapid thermal processing Error correction control engineering Intelligent systems

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Optimizing Supervision and control for Industrial Furnaces: Predictive control Based Design

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IFAC Proceedings Volumes 2004年第19期37卷 17-28页

作者： Georgi M. Dimirovski A. Talha Dinibütün Miomir K. Vukobratovic J. Zhao SS Cyril and Methodius University Faculty of Electrical Engineering MK-1000 Skopje Republic of Macedonia Dogus University Computer Engineering Department Faculty of Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey Institute “Mihailo Pupin” Centre of Robotics and Flexible Automation 11000 Belgrade Serbia and Montenegro Northeastern University School of Information Science and Engineering Institute of Control Theory Shenyang Liaoning 110004 P.R. of China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons.

关键词： Complex time-delay processes generalized predictive control integrated control and supervision optimization set-point control

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Tool for remote control of mobile robots with visualization by means of virtual reality 7

Tool for remote control of mobile robots with visualization ...

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7th International Conference on Telecommunications, ConTEL 2003

作者： Brščić, Dražen University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 ZagrebHR-10000 Croatia

ISBN: (纸本)9531840520

This paper presents the current work on the development of a tool for remote control of mobile robots. The tool consists of a local controller on the robot side and a user interface for simulation and remote control that connects with the robot through the network. The user interface is implemented as an HTML page with a Java applet for remote control and communication and a virtual environment written in VRML for visualization. This way users have the ability to connect to a dedicated WWW server and download the user interface. This paper describes the concept of the tool design and the developed user interface. © 2003, Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Visualization

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Multi-category classification by soft-max combination of binary classifiers

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4th International Workshop on Multiple Classifier Systems, MCS 2003

作者： Duan, Kaibo Sathiya Keerthi, S. Chu, Wei Shevade, Shirish Krishnaj Poo, Aun Neow Control Division Department of Mechanical Engineering National University of Singapore Singapore119260 Singapore Department of Computer Science and Automation Indian Institute of Science Bangalore560 012 India

ISBN: (纸本)3540403698

In this paper, we propose a multi-category classification method that combines binary classifiers through soft-max function. Posteriori probabilities are also obtained. Both, one-versus-all and one-versus- one classifiers can be used in the combination. Empirical comparison shows that the proposed method is competitive with other implementations of one-versus-all and one-versus-one methods in terms of both classification accuracy and posteriori probability estimate. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Classification (of information)

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Reconfigurable control for ship steering

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Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment 2003年第1期217卷 25-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Allt-yr-yn Campus PO Box 180 New-portNP20 5XR United States Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

This paper is concerned with the application of a heuristic approach in the design of a fault-tolerant control system for ship steering. It proposes an advanced reconfigurable control system (RCS) for ship course changing/keeping and track keeping, robust to faults in actuator, gyrocompass and global positioning system (GPS) in the presence of disturbances (waves and currents). The proposed control scheme uses a reference model for compensation of signals from fault sensors and a compensator for reducing the loss of the control performance produced by a fault in the steering machine. In the case of the occurrence of the fault in one or more components, this control system minimizes loss in the control performance and gives enough time for operators to take appropriate action in order to reduce the risk of safety hazards and avoid severe consequences of the fault. The unavoidable penalty of degradation in control performance was found to be acceptable. © 2003 Institution of Mechanical Engineers.

关键词： Linear control systems

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Direct learning control design for a class of linear time-varying switched systems

Direct learning control design for a class of linear time-va...

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Fourth International Conference on control and automation

作者： Xu, Jian-Xin Korondi, Peter Yan, Rui Guan, Zhi-Hong Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Department of Automation and Applied Informatics Budapest University of Technology and Economics Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)078037777X

In this paper, a direct learning control method for a class of switched systems is proposed. The objective of direct learning is to generate the desired control profile for a newly switched system without any feedback, even if the system may have uncertainties. This is achieved by exploring the inherent relationship between any two systems before and after a switch. The new method is applicable to a class of linear time varying, uncertain and switched systems, when the trajectory tracking control problem is concerned. A numerical simulation demonstrates the effectiveness of the proposed method. © 2003 IEEE.

关键词： Time varying control systems

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Brake control to prevent the rollover of heavy vehicles based on a linear parameter varying model

Brake control to prevent the rollover of heavy vehicles base...

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2003 European control Conference, ECC 2003

作者： Gaspar, P. Szaszi, I. Bokor, J. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 BudapestH 1111 Hungary Department of Control and Transport Automation Budapest University of Technology and Economics Muegyetem rkp. 3 BudapestH-1111 Hungary

ISBN: (纸本)9783952417379

This paper is concerned with the use of active brake systems in order to decrease the rollover risk of heavy vehicles. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamic model has a nonlinear structure. Selecting the forward velocity and the so-called normalized lateral load transfer at the rear side as scheduling parameters, a Linear Parameter Varying (LPV) model is constructed. In the control design based on the LPV model, the changes in the forward velocity, the performance requirements and the model uncertainties are taken into consideration. The control design is demonstrated in different situations. © 2003 EUCA.

关键词： Vehicles

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Robust servo control design for mechanical systems using mixed uncertainty modelling

Robust servo control design for mechanical systems using mix...

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2003 European control Conference, ECC 2003

ISBN: (纸本)9783952417379

In this paper, a servo control synthesis based on the μ method is applied. With this method, a robust compensator that achieves performance specifications can be designed, which provides the track of the predefined reference signal, rejects the effects of the disturbances and takes structured uncertainty into consideration. In the mixed μ synthesis, both the real parametric and the complex uncertainties are handled together, which usually yields a less conservative compensator than the traditional robust control design methods. The design strategy is illustrated for an inverted pendulum device, which involves real parametric uncertainties. © 2003 EUCA.

关键词： Robust control

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