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American control Conference (ACC)

作者： Jing Wu Tongwen Chen Long Wang Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Center for Systems and Control Department of Mechanics and Engineering ScienceFirst Hospital Peking University Beijing China

ISBN: (纸本)0780390989

This paper considers robust stochastic stability, stabilization and H/sub /spl infin// control problems for a class of jump linear systems with time delays. By taking some zero equations, neither model transformation nor bounding for cross terms is required to obtain the delay-dependent results, which are given in terms of linear matrix inequalities (LMIs). Maximum sizes of time delays are also studied for system stability. Furthermore, solvability conditions and corresponding H/sub /spl infin// control laws are given which provide robust stabilization with a prescribed H/sub /spl infin// disturbance attenuation level /spl gamma/. Numerical examples show that our proposed methods are much less conservative than existing results.

关键词： Robust stability control systems Linear systems Delay systems Delay lines Delay effects Equations Stability analysis control system synthesis Robust control

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All-analytic surface potential model for SOI MOSFETs

All-analytic surface potential model for SOI MOSFETs

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作者： Yu, Y.S. Kim, S.H. Hwang, S.W. Ahn, D. Department of Information and Control Engineering Hankyong National University 67 Seokjeong Anseong Gyeonggi 456-749 Korea Republic of Department of Electronics and Computer Engineering Korea University 5-1 Anam Sungbuk Seoul 136-075 Korea Republic of Institute of Quantum Information Processing and Systems University of Seoul 90 Jeonnong Dongdaemun Seoul 130-743 Korea Republic of Univesity of Seoul

An all-analytic front surface potential model for SOI MOSFETs is presented, which is not only obtained from previously developed models, but is also derived from assumptions made for approximations of various operating regions. A single formula for the drain current is obtained by smoothly connecting the analytic solutions for various operating regions. The formula can be used from accumulation to strong inversion and from the partially depleted (PD) region to the fully depleted (FD) region. Owing to the one-dimensional nature of the model, the critical gate bias at which the transition occurs between the PD and FD regions can also be obtained analytically. Most secondary effects can easily be included in the current model and the model accurately reproduces numerical and experimental results. No discontinuity in the derivative of the surface potential is found and the newly introduced parameters used in the smoothing functions do not depend strongly on the process parameters. © IEE, 2005.

关键词： MOSFET devices

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Practical approach to real-time trajectory tracking of UAV formations

Practical approach to real-time trajectory tracking of UAV f...

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2005 American control Conference, ACC

作者： Vanek, Bálint Péni, Tamás Bokor, József Balas, Gary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 1111 Budapest XI Hungary Department of Aerospace Engineering and Mechanics University of Minnesota 15 Akerman Hall 110 Union St. SE Minneapolis MN 55455

ISBN: (纸本)0780390989

An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a Model Predictive control (MPC) outer loop controller specifies the command signals for the ∞ locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed. © 2005 AACC.

关键词： Predictive control systems

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System identification and fault accommodation for thruster propelled UUVs

System identification and fault accommodation for thruster p...

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作者： Sowerby, N.W.A. Omerdic, E. Roberts, G.N. Mechatronics Research Centre University of Wales Newport United Kingdom Electronic and Computer Engineering University of Limerick Ireland Control Theory and Applications Centre Coventry University United Kingdom Seaeye Marine Ltd. University of Limerick Department of Mechatronics Control Theory and Applications Centre Coventry University Mechatronics Forum IFAC Technical Committee on Marine Systems IFAC Technical Committee on Mechatronic Systems

This paper describes the current state of the work done at The University of Wales' College Newport under the 'improve the performance of remotely operated vehicles' programmme (IMPROVES). The work incorporates advances in two interrelated parts of the project: it presents a technique to extract velocity from a low-cost MEMS inertial measurement unit for system identification and development of a combined control allocation and fault detection technique, The paper presents theoretical developments and results obtained on experimental trials.

关键词： Identification (control systems)

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Adaptive estimation and rejection of unknown disturbances through measurement feedback for a class of nonminimum phase nonlinear MIMO systems

Adaptive estimation and rejection of unknown disturbances th...

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International Conference on control and Automation (ICCA)

作者： Weiyao Lan B.M. Chen Zhengtao Ding Department of Electrical and Computer Engineering National University of Singapore Singapore Control Systems Centre School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology Manchester UK

This paper developed an adaptive estimation method to estimate unknown disturbances in a class of nonminimum phase nonlinear MIMO systems. The unknown disturbances are generated by an unknown linear exosystem. The frequencies, phases and amplitudes of the disturbances are unknown, the only available information of the disturbances is the number of distinctive frequencies. The system considered in this paper is a class of MIMO nonlinear systems in the output feedback form, the system can be nonminimum phase. The proposed estimation algorithm provides exponentially convergent estimates of system states, unknown disturbances in the system and frequencies of the disturbances characterized by the eigenvalues of the exosystem. Moreover, the disturbance rejection control law is constructed by combining the stabilization controller designed without considering the disturbances and the estimates of the disturbances. The control law compensates the unknown disturbances completely while maintains the stability of the whole closed-loop system.

关键词： Adaptive estimation Phase measurement MIMO Frequency estimation State estimation Phase estimation Nonlinear systems Output feedback Eigenvalues and eigenfunctions control systems

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Robot motion generation considering external and internal impulses

Robot motion generation considering external and internal im...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Byung Rok So Jae Hoon Lee Byung-Ju Yi Wheekuk Kim School of Electrical Engineering and Computer Science University of Hanyang South Korea Institute of Engineering Mechanics and Systems University of Tsukuba Japan Department of Control and Instrumentation Engineering University of Korea South Korea

This paper deals with motion generation algorithm considering the external and internal impulses. Initially, we analyze the trend of the impulses with a simple 3-DOF planar robot arm in various contact positions and present a problem that is in discord with the general trend. To cope with this problem, we propose a new motion generation algorithm considering both the external and internal impulse. The gradient projection method is employed to exploit the kinematic redundancy of robot systems. Initially, the effectiveness of the proposed algorithms is verified through simulation of a 3-DOF planar robot arm model, and two application examples considering both the external and internal impulses are investigated. Through simulations for the landing of a 4-DOF planar human-body model and the sawing motion by a dual-arm model, it is shown that the posture is stable and the trend of the impulses calculated by the analytical models is coincident to the human experiences.

关键词： Robot motion Manipulators Kinematics Sawing Humans Analytical models Service robots Equations Motion control control systems

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Simple feedback linearizing controller to reduce audiosusceptibility and load disturbance in the full-bridge current doubler synchronous rectifier

Simple feedback linearizing controller to reduce audiosuscep...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： J.M. Guerrero L.G. de Vicuna N. Berbel J. Sosa M. Castilla Department of Automatic Control Systems and Computer Engineering Universidad de Los Andes Merida Venezuela Department of Automatic Control Systems and Computer Engineering Sustainable Distributed Generation Systems and Renewable Energy Group Tècnica Industrial de Barcelona Barcelona Spain Department of Electronic Engineering Universitat Politècnica de Catalunya Spain Departamento: Laboratorio de Instrumentación Científica. Universidad de Los Andes Mérida Venezuela

The full-bridge converter with current-doublet synchronous rectifier (FB-CDSR) is a promising topology to implement low-voltage high-current power supplies. This paper proposes a novel control for this converter, which provides the following features: fast transient response, fixed switching frequency, and high robustness against large-signal disturbances in the input-voltage and the load-current. Furthermore, this controller avoids the use of any current sensor and can be implemented by means of cheap analog circuits, which highlights its low-cost and simplicity. The parallel operation of several HB-CDSR is also discussed Finally, experimental results are provided in order to show the validity of the proposed control technique

关键词： Linear feedback control systems Rectifiers Topology Zero voltage switching Power supplies Switching converters Bridge circuits Power engineering and energy Transient response Robustness

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IMPROVEMENT OF FAULT DETECTION METHOD FOR NONLINEAR BLACK-BOX systems BASED ON MULTI-FORM QUASI-ARMAX MODELING

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IFAC Proceedings Volumes 2005年第1期38卷 101-106页

作者： K. Kumamaru K. Inoue F. Tsubouchi T. Söderström Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka 820-8502 Fukuoka Japan Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This paper is concerned with improvement of the KDI-based fault detection method so far developed by authors for nonlinear black-box systems. When modeling the system, Quasi-ARMAX model with multi-model structure is used. A fault due to unexpected change in system parameters will appear as the change of identified model. Kullback discrimination Information (KDI) can then be used as the fault detection index to evaluate the distortion in identified model. Several schemes to improve the fault detection performance are proposed, as well as the realization of a kind of fault isolation function based on a recognition approach in the model parameter space. The effectiveness of the method is verified through simulation studies on the ship propulsion system constructed for benchmark test.

关键词： Fault detection Kullback discrimination information non-linear system parameter estimation quasi-ARMAX model ship propulsion system

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An efficient tool for planning and operation of reconfigurable converter-based transmission controllers

An efficient tool for planning and operation of reconfigurab...

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2005 IEEE Power engineering Society General Meeting

作者： Jiang, Xia Chow, Joe H. Edris, Abdel-Aty Uzunovic, Edvina Fardanesh, Bruce Parisi, Michael Wei, Xuan Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY 12180-3590 Electric Power Research Institute Palo Alto CA 94303-0813 New York Power Authority White Plains NY New York Power Authority Utica NY Guidant Corporation Saint Paul MN Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Science and Technology Division EPRI CA IEEE CIGRE Working Groups New York Power Authority Energy Control Center Cardiac Rhythm Management Division Guidant Corporation Saint Paul MN

ISBN: (纸本)078039156X

Because of their flexible performance, converter-based transmission controllers such as Unified Power Flow controller (UPFC) can be very effective in improving power transfer capability over congested transmission paths. In most published literature, a shunt converter is set to control the bus voltage and a series converter is to control the line power flow. In practical operations, however, there are other control modes that are more appropriate. In the case of the Convertible Static Compensator (CSC) installed at the New York Power Authority's Marcy substation, CSC can operate in 11 configurations of different shunt and series connections. A simulation program capable of dispatching in 49 different control modes associated with these 11 configurations is being developed. The paper discusses how these control modes can be efficiently implemented and used. © 2005 IEEE.

关键词： Power converters

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Fast norm-optimal iterative learning control for industrial applications

Fast norm-optimal iterative learning control for industrial ...

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American control Conference (ACC)

作者： J. Ratcliffe L. van Duinkerken P. Lewin E. Rogers J. Hatonen T. Harte D. Owens School of Electronics and Computer Science University of Southampton Southampton UK Department of Applied Mathematics Delft University of Technnology Delft Netherlands Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Systems Engineering Laboratory University of Oulu Oulu Finland

Norm-optimal iterative learning control has potential to significantly increase the accuracy of many trajectory tracking tasks which can be found in industry. The algorithm can achieve very low levels of tracking error and the number of iterations required to reach minimal error is small compared to many other iterative learning control algorithms. However, in the current format, the algorithm is not attractive to industry because it requires a large number of calculations to be performed at each sample instant. This implies that control hardware must be very fast which is expensive, or that the sample frequency must be reduced which can result in reduced performance. To remedy these problems, a revised version, fast norm-optimal iterative learning control is proposed which is significantly simpler and faster to implement. The new version is tested both in simulation and in practice on a three axis industrial gantry robot.

关键词： Industrial control control systems Trajectory Iterative algorithms Error correction Frequency Service robots Robotic assembly systems engineering and theory Hardware

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