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International Conference on control, Automation and systems ( ICCAS)

作者： Hyochoong Bang Sangjong Lee Haechang Lee Department of AeroSpace Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea Advanced Flight Control Department Korea Aerospace Research Institute Daejeon South Korea Air Vehicle System Department Korea Aerospace Research Institute Daejeon South Korea

This paper discussed a nonlinear trajectory tracking problem for stratospheric airship platform and a novel approach of the nonlinear control scheme is applied. Target airship model is the 200 m stratospheric airship platform capable of flying upto 20 km altitude. Full 6-DOF nonlinear dynamics of unmanned airship are defined according to the target airshippsilas configuration including the moving wind field. Based on this airship model, a backstepping design formulation for the trajectory tracking control is described. The tracking control strategy of vectorial backstepping is applied to derive the tracking control law and global asymptotically stability is proved by Lyapunov stability analysis. Finally, numerical simulations have been carried out to assess the performance of the proposed tracking controller.

关键词： Trajectory Backstepping Nonlinear control systems control systems Aerospace control Target tracking Vehicle dynamics Lyapunov method Nonlinear equations Aerospace engineering

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Humanitarian demining: Reality and the challenge of technology - The state of the arts

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International Journal of advanced Robotic systems 2007年第2期4卷 151-172页

作者： Habib, Maki K. Department of Advanced System Control Engineering Graduate School Sciences and Engineering Saga University Japan

In the context of humanitarian demining it is essential to have a reliable and accurate sensor or an integration of heterogeneous/homogeneous sensors with efficient and reliable data fusion and processing techniques. In addition, it is necessary to overcome the constrain on the resources to speed up the demining process in terms of time, cost, and safety enhancement of personnel and operation. A portable handheld mine detection approach to sensor movement is slow and hazardous for individual deminers. Armored vehicles may not thoroughly protect the occupants and may be of only limited usefulness in off-road operations. Robotized solutions with effective sensing capabilities properly sized with suitable modularized mechanized structure and well adapted to local conditions of minefields can greatly improve the safety of personnel as well as work efficiency and flexibility. Such intelligent and flexible machines can speed the clearance and perform verifying processes when used in combination with handheld mine detection tools. Furthermore, the use of many robots working and coordinating their movement will improve the productivity of the overall mine detection process through the use of team cooperation and coordination. This paper evaluates the available mine clearance technologies and disscusses their development efforts and limitations to automate tasks related to demining *** addition, it introduces technical features and design capabilities of a mobile platform needed to accelerate the demining process and achieve safety with cost effective measures.

关键词： Sensor data fusion

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A novel multifunctional angular position sensor with magnetic fluid

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IEEJ Transactions on Sensors and Micromachines 2007年第5期127卷 290-296+4页

作者： Quan, Wei Shida, Katsunori Department of Advanced System Control Engineering Graduate School of Saga University 1 Honjo-machi Saga 840-8502 Japan Saga University Japan

A sphere-shape angular position sensor for measurement inclination angle and inclined direction simultaneously based on multifunctional sensing approach is proposed, which is characterized in the following respects, such as the measurement of two angles, a full-range measurement, and has a compact and single structure. Three coils wound on the surface of a plastic ball with half sphere compose three inductances as the outputs of sensor. Magnetic fluid is selected as the inertial element attributed to its liquidity and electromagnetism character. We herein discuss the working principle of the sensor, its detailed configuration and its geometrical analysis. A prototype is built, the measuring results of which examines the feasibility of proposed method. Two angular parameters are successfully evaluated by using 2-D cubic spline interpolation.

关键词： Sensors

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Adaptive congestion estimation and control in active queue management

Adaptive congestion estimation and control in active queue m...

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International Conference on control, Automation and systems, ICCAS 2007

作者： Ostadabbas, Sarah Haeri, Mohammad Advanced Control System Lab. Department of Electrical Engineering Sharif University of Technology Tehran Iran Department of Electrical Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)8995003871

Active Queue Management (AQM) policies provide an early indication of incipient congestion to the source. In this paper, we propose a new AQM policy that predicts the instantaneous queue length at next time instant using adaptive filtering technique. To use the algorithm in fast routers, we reduce its computational complexity using a direct method to compute the manipulating signals. We show that adaptive congestion estimation is able to control the oscillations in the instantaneous queue length. We compare the performance of our method with respect to other well-known AQM methods such as RED and PI which are also simulated by MATLAB. We also compare the computational complexity of these algorithms with each other. © ICROS.

关键词： Computational complexity

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Active Queue Management of TCP/IP Networks Using Rule-Based Predictive control

Active Queue Management of TCP/IP Networks Using Rule-Based ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Bahram Marami Nooshin Bigdeli Mohammad Haeri Advanced Control System Laboratory Electrical Engineering Department Sharif University of Technology Tehran Iran

Model predictive controllers, due to their capability to control the time variant and delayed systems, are considered for congestion control in computer networks. To extend the application of these controllers as an active queue management (AQM) system in dynamic TCP/IP networks, a new rule-based predictive controller is proposed. This controller uses the small signal linearized fluid-flow model of the TCP/IP networks and simulates the future behavior of control system by applying few candidate control sequences. Using the extremes of the resulted predicted output sequences, optimal control signal is determined based on some appropriate rules. This approach benefits from the mentioned capabilities of the model predictive controllers while the computational complexity is reduced compared to the commonly used MPC schemes. Low queue fluctuation, fast response and good disturbance rejection are the features of the proposed controller which are compared via simulations with those of PI and RED, the two well-known AQM methods.

关键词： TCPIP IP networks Predictive control Computer network management Predictive models control systems Computational modeling Delay systems Delay effects Application software

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The Mimo Predictive Pid controller Design

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Asian Journal of control 2008年第4期4卷

作者： M.H. Moradi M.R. Katebi M.A. Johnson Department of Electronic and Electrical Engineering University of Strath-clyde Glasgow GI 1QE UK. Dr. Moradi is a Lecturer in the Department of Electronic and Electrical Engineering University of Bu-Ali Sina in Iran. He obtained the BSc and MSc in 1991 and 1993 from the Sharif University of Technology and Tarbiat Modarres University respectively. Dr. Moradi joined the Bu-Ali Sina University in 1993. In 2002 he obtained his PhD degree from the University of Strath-clyde Glasgow Scotland. His theoretical research interests include predictive PID control advanced classical control generalised predictive control system identification and fault monitoring robust control design computer networks and more recently control through networks. His industrial interests are in the areas of large-scale systems especially power systems and power plant modelling and control supervisory control and process control. Dr. Moradi has published a number of Journal and Conference papers. Dr. Katebi is a senior lecturer in the Department of Electronic and Electrical Engineering University of Strathclyde. His theoretical research interests are currently focused on Non-linear Control and Filtering for Complex Systems Autonomous Control Design System integration and Fault monitoring and Reconfiguration Plant Monitoring through the Internet Discrete Event Simulation Process Optimisation and Robust Control Design. The industrial research interests are in the area of Hot and Rolling for Steel and Aluminium Power Plant Modelling and Control Marine Control Systems Process Control and Wastewater Treatment Control. Dr Katebi is the author/co-author of four books and more than 150 papers and industrial reports. Professor Johnson's academic education began at Coventry University (1969) and continued under the supervision of Professor Greyham Bryant in the field of Control Systems at Imperial College London. He obtained the DIC MSc and PhD from Imperial College leaving for industry in 1978. Subsequent experience was in the

This paper is concerned with the design of Multi-Inputs and Multi-Outputs (MIMO) predictive PID controllers, which have similar performance to that obtainable from model-based predictive controllers. A new PID control structure is defined which incorporates the prediction of future outputs and uses future set point. A method is proposed to calculate the optimal values of the PID gains from generalised predictive control results. A decentralized version of the predictive PID controllers is presented and the stability of the closed loop system is studied. Simulation studies demonstrate the superior performance of the proposed controller compared with a conventional PID controller. The results are also compared with generalised predictive control solutions.

关键词： PID control design predictive PID MIMO controller optimisation

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Adaptive congestion estimation and control in active queue management

Adaptive congestion estimation and control in active queue m...

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International Conference on control, Automation and systems ( ICCAS)

作者： Sarah Ostadabbas Mohammad Haeri Advanced Control System Lab Department of Electrical Engineering Sharif University of Technology Tehran Iran Department of Electrical Engineering Sharif University of Technology Tehran Iran

关键词： Programmable control Adaptive control Computational complexity Automatic control control systems Feedback Conference management Technology management engineering management Computational modeling

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Direct-DMC for AQM computational complexity reduction in TCP/IP networks

Direct-DMC for AQM computational complexity reduction in TCP...

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International Conference on control, Automation and systems ( ICCAS)

Active queue management (AQM) mechanisms are designed to provide better support for end-to-end congestion control mechanisms of transmission control protocol (TCP) in TCP/IP networks. This paper introduces direct dynamic matrix control (D-DMC) as a new AQM method in dynamic TCP networks. Ability of the controller in handling system delay along with its simplicity and low computational loads makes D-DMC a privileged AQM method in high speed networks. The controller is designed based on a small signal linearized fluid-flow model of TCP/AQM networks. The computational complexity analysis as well as the MATLAB simulation results shows the out-performance of the developed controller for both queue regulation and complexity reduction. Fast response, low queue fluctuations (and consequently low delay jitter), and low packet marking probability are other features of the developed method with respect to other well-known AQM methods such as RED and PI which are also simulated for comparison.

关键词： Computational complexity TCPIP IP networks Fluid dynamics Computer network management Protocols control systems Delay systems Computer networks High-speed networks

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Biomass SOFC-MGT hybrid system - Effect of fuel composition 4

Biomass SOFC-MGT hybrid system - Effect of fuel composition

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4th International Conference on Fuel Cell Science, engineering and Technology

作者： Sucipta, Made Song, Tae Won Kimjima, Shinji Suzuki, Kerjiro Graduate School of Engineering Shibaura Institute of Technology Japan Department of Machinery and Control System Shibaura Institute of Technology Japan Energy Laboratory Samsung Advanced Institute of Technology South Korea

ISBN: (纸本)9780791842478

Performance analysis of the solid oxide fuel cell - micro gas turbine (SOFC-MGT) hybrid system has been made assuming the fuel to be methane-based artificial ones including H-2, CO, CO2, H2O or N-2 of different concentration in preparation for the study of biomass fuelled SOFC-MGT hybrid system. This is based on the fact that the chemical composition of biomass fuel produced from different fuel production processes is diversified, i.e. in one case one chemical species rich in concentration and in another case another chemical species rich. In the analysis is used the multi-stage model for internal reforming SOFC module developed previously with some modification. With this model, studies cover not only the performance of the hybrid system but also the spatial distributions of temperature and concentration of some chemical species inside the module, namely in the cell stack and in the internal reformer.

关键词： Hybrid systems

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