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1999 European control Conference, ECC 1999

作者： Rogers, E. Gramacki, J. Gramacki, A. Galkowski, K. Owens, D.H. Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417355

This paper reports further development of the so-called ID Lyapunov equation based approach to the stability analysis of differential linear repetitive processes. In particular, it is shown that this approach leads to stability tests which can be implemented by computations with matrices which have constant entries, and that if the example under consideration is stable then physically meaningful information concerning one key aspect of 'transient' performance is available for no extra cost. The computational efficiency of these new stability tests against alternatives is also discussed and some areas for short to medium term further research briefly noted. © 1999 EUCA.

关键词： Linear systems

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Signal separation of background EEG and spike by using morphological filter

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IFAC Proceedings Volumes 1999年第2期32卷 4301-4306页

作者： Shigeto Nishida Masatoshi Nakamura Akio Ikeda Hiroshi Shibasaki Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka 811-0295 Japan Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan Department of Brain Pathophysiology Kyoto University Faculty of Medicine Kyoto 606-8507 Japan

A signal separation method for extracting background electroencephalogram (EEG) from EEG containing spikes was proposed. Morphological filters were designed for extracting spike waveforms, and then the background EEG was obtained by subtracting the detected spike waveforms from the EEG with spike . The proposed method was evaluated by using simulated EEG data, which consisted of a summation of EEG without spike and model waveform of typical spike. The background EEG separated by the method was processed by the automatic background EEG interpretation.

关键词： Signal separation Background EEG Spike Morphological filter Automatic EEG interpretation

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A new method on judgement of static stability for the quadruped robot

A new method on judgement of static stability for the quadru...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory control engineering Mechanical engineering

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Detection Filter Design in Uncertain Linear systems: Application of The Generalized Observer Scheme

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IFAC Proceedings Volumes 1999年第2期32卷 7802-7807页

作者： A. Edelmayer J. Bokor F. Szigeti Systems and Control Laboratory Computer and Automation Institute Hungarian Academy of Sciences Budapest Kende u. 13-17. H-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.p. 11. La Hechicera Venezuela

In this paper the robust fault detection and isolation (FDI) problem in linear systems, which are subjected to multiple faults and time varying system perturbations is discussed. The detection and isolation problem is treated by using algebraic methods and geometric design concepts. The idea of the classical Luenberger observer is generalized in an attempt that residual generators for solving the robust FDI problem can be designed.

关键词： Bilinear systems (c, a)-invariant subspaces luenberger observers matrix lie algebra time varying systems

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Neural-net-based nonlinear control for prevention of voltage collapse

Neural-net-based nonlinear control for prevention of voltage...

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IEEE Conference on Decision and control

作者： D. Chen R. Mohler S.A. Shahrestani D.J. Hill Siemens Power Systems Control Brooklyn Park MN USA Department of Electrical and Computer Engineering Oregon State University Corvallis OR USA Electrical Engineering Depart University of Sydney NSW Australia

ISBN: (纸本)0780352513

In this paper, power system stability is addressed which includes the regular, generator-angle, transient stability and load-driven voltage instability. Flexible ac transmission systems (FACTS) devices are utilized for improvement of power transfer capability as well as enhancement of power system stability. Techniques are developed for synthesis of nonlinear neural controllers to deal with the situation where generator dynamics and load dynamics are interlinked so that voltage instability or even voltage collapse is more likely to occur. The simulations illustrate the performance of the synthesized neural controllers. The techniques developed can be readily generalized to more general nonlinear power systems.

关键词： Voltage control Power system dynamics Power system modeling Power system stability Power system transients Power system control Nonlinear dynamical systems Power systems Power generation Power system simulation

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Integration and Comparison of FDI and Fault Masking Features in Embedded systems

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IFAC Proceedings Volumes 1999年第2期32卷 7712-7717页

作者： H. Benítez-Pérez G. Latif-Shabgahi H.A. Thompson S. Bennett P.J. Fleming J.M. Bass Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street S1 3JD UK School of Electronic Eng and Computer Systems University of Wales Bangor Dean Street Bangor UK Fax: +44-114-2731 729

This paper addresses the benefits of integrating fault masking (FM) and fault detection and identification (FDI) methods to an embedded control system. It is shown that using a “smart” sensor in a Triple Modular Redundancy (TMR) configuration improves the system performance. Within the proposed hybrid system, “smart” sensors are used as redundant modules of the TMR configuration. A novel quality measure, which indicates the confidence level of a “smart” sensor output is used by a purpose-built voting algorithm to produce outputs. The proposed voting algorithm is a modification of weighted average voter, which produces results based on both the sensor output and the associated quality measure. This algorithm performs better than the conventional weighted average voter within a simple TMR configuration for low error ratios (<16). The main reason for this improvement is the capability of hybrid system to mask similar faults. Therefore, the proposed hybrid system produces more reliable results than the fault masking approach.

关键词： Fault Detection and Isolation sensor failure smart sensor

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Efficient generation of object hierarchies from 3D scenes

Efficient generation of object hierarchies from 3D scenes

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IEEE International Conference on Robotics and Automation (ICRA)

作者： M.A. Garcia A.D. Sappa L. Basanez Department of Computer Science Engineering Rovira i Virgili University Tarragona Spain Inst. of Organization and Control of Industrial Systems Polytechnic University of Catalonia Barcelona Spain

Describes an efficient technique for computing a hierarchical representation of the objects contained in a complex 3D scene. First, an adjacency graph keeping the costs of grouping the different pairs of objects in the scene is built. Then the minimum spanning tree (MST) of that graph is determined. A binary clustering tree (BCT) is obtained from the MST. Finally, a merging stage joins the adjacent nodes in the BCT which have similar costs. The final result is an n-ary tree which defines an intuitive clustering of the objects of the scene at different levels of abstraction. Experimental results with synthetic 3D scenes are presented.

关键词： Layout Clustering algorithms Tree graphs Costs Approximation error computer science control systems Electrical equipment industry Industrial control Merging

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H/sub /spl infin// control for asymptotically stable nonlinear systems

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IEEE Transactions on Automatic control 1999年第5期44卷 989-993页

作者： Weizhou Su C.E. de Souza Lihua Xie Department of Electrical and Computer Engineering University of Newcastle NSW Australia Department of Systems and Control LaboratóorioNacional de Computação Científica-LNCC/CNPq Petropolis Rio de Janeiro Brazil School of Electrical and Electronic Engineering Nanyang Technological University Singapore

This paper deals with the problem of H/sub /spl infin// control for a class of nonlinear systems. The system under consideration is assumed to be globally asymptotically stable with a known Lyapunov function. Based on this Lyapunov function and using the notion of dissipativeness, a state feedback controller is designed which renders the closed-loop system globally asymptotically stable with a prescribed bound on the L/sub 2/-gain from the disturbance input to the controlled output. The proposed controller design method is based on the explicit construction of a Lyapunov function for the closed-loop system, which represents a significant advantage over existing methods.

关键词： Nonlinear control systems control systems Nonlinear systems Automatic control State feedback Lyapunov method Asymptotic stability Design methodology Linear matrix inequalities Delay effects

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control of a III-V epitaxial MOCVD process using ultraviolet absorption concentration monitoring

Control of a III-V epitaxial MOCVD process using ultraviolet...

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IEEE Conference on control Technology and Applications (CCTA)

作者： M.S.G. Flynn R.S. Smith P. Abraham S.P. DenBaars Litton Guidance and Control Systems Goleta CA USA Department Materials University of California Santa Barbara CA USA Department Electrical & Computer Engineering University of California Santa Barbara CA USA

Metalorganic chemical vapor deposition (MOCVD) is a promising technology for the growth of epitaxial semiconductors. It has traditionally lacked real-time growth monitoring and control, which limits the precise reproducibility needed for high performance devices. Two complementary control approaches are investigated experimentally. The first is a feedforward disturbance rejection strategy using ultrasonic concentration measurements to reject source gas bubbler disturbances. The second is a feedback system using an ultraviolet absorption sensor for real-time monitoring of reaction chamber gas concentrations. Postgrowth X-ray analysis of InP/GaInAs superlattice test devices is used to evaluate control system performance.

关键词： III-V semiconductor materials MOCVD Monitoring Chemical vapor deposition Chemical technology Reproducibility of results Ultrasonic variables measurement Feedback Electromagnetic wave absorption Gas detectors

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On regularized numerical observers

On regularized numerical observers

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IEEE Conference on Decision and control

作者： S. Diop J.W. Grizzle S. Ibrir Supelec Laboratoire des Signaux and Systemes Gif-Sur-Yvette France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

ISBN: (纸本)0780352513

Diop et al. previously (1994) proposed a general observer design methodology based upon numerical differentiation and the interpretation of observability of a system as the solvability of the system's dynamical equations for the state vector in terms of a finite number of derivatives of the output and input. Numerical differentiation-base observers are alternatives to asymptotic observers for nonlinear systems. Various techniques are known to be efficient for the estimation of the few first derivatives from data with low frequency content, such as polynomial- and spline-based least squares, and averaged central differences. The main advantages of such observers are intuitiveness, flexibility and speed. However, as is the case of many inverse problems, differentiation is an ill-posed operator. This communication proposes the use of regularization to partially overcome the noise sensitivity that is inherent in the standard numerical differentiation. Regularization of numerical derivatives from experimental data consists of two operations: filtering and differentiation. Mollification is a method of filter design that is fairly well amenable to a mathematical analysis, including computation of estimation error bounds. In this method experimental data is projected onto Sobolev spaces of signals with less high frequency content, which may then be differentiated stably. The filters in question are infinite dimensional. They can be implemented approximately by means of digital Fourier transformation on finite moving windows of the data.

关键词： Design methodology Observers Frequency estimation Least squares approximation Filters Observability Differential equations Nonlinear equations Nonlinear systems Polynomials

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