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作者： Findeisen, Rolf Grüne, Lars Pannek, Jürgen Varutti, Paolo Otto-von-Guericke-Universität Magdeburg Institute for Automation Engineering Department of Systems Theory and Automatic Control Germany University of Bayreuth Institute of Mathematics Department of Applied Math. Germany Curtin University of Technology Perth Australia

ISBN: (纸本)9783902661937

control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction based compensation schemes. Instead of a single input, a sequence of (predicted) future controls is submitted and implemented at the actuator. If suitable, so-called prediction consistent compensation and control schemes, such as certain predictive control approaches, are used, stability of the closed loop in the presence of delays and packet losses can be guaranteed. In this paper, we show that control schemes employing prediction based delay compensation approaches do posses inherent robustness properties. Specifically, if the nominal closed loop system without delay compensation is ISS with respect to perturbation and measurement errors, then the closed loop system employing prediction based delay compensation techniques is robustly stable. We analyze the influence of the prediction horizon on the robustness gains and illustrate the results in simulation. © 2011 IFAC.

关键词： Closed loop systems

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Dependency analysis for learning class structure for novice Java programmer

Dependency analysis for learning class structure for novice ...

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2011 IEEE 2nd International Conference on Software engineering and Service Science, ICSESS 2011

作者： Wakabayashi, Tomoyoshi Ogata, Shinpei Matsuura, Saeko Department of Electronic Engineering and Computer Science Graduate School of Engineering Shibaura Institute of Technology SIT Saitama Japan Functional Control Systems Graduate School of Engineering Shibaura Institute of Technology SIT Saitama Japan

ISBN: (纸本)9781424496969

Novice Java programmers often cannot make well structured program, so that the program does not have much maintainability. Inappropriate dependency between fields and methods in classes often causes such inappropriate class structure, so responsibility of each class becomes unclear and the readability of the program is reduced. Such programs are difficult to identify the causes of bugs, so that novice programmers often lose the desire to learn programming. This paper proposes a way to learn how to develop a well structured Java program, which includes subject design, evaluation tool, and a web-based programming exercise environment by analyzing some source codes of novice Java programmers. © 2011 IEEE.

关键词： Java programming language

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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A new method for hybrid-fuzzy identification

A new method for hybrid-fuzzy identification

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作者： Núñez, Alfredo Sáez, Doris Škrjanc, Igor De Schutter, Bart Delft Center for Systems and Control Delft University of Technology Delft Netherlands Electrical Engineering Department Universidad de Chile Santiago Chile Faculty of Electrical and Computer Engineering University of Ljubljana Slovenia

ISBN: (纸本)9783902661937

In this paper a new identification method for non-linear hybrid systems that have mixed continuous and discrete states by using fuzzy clustering and principal component analysis is described. The method first determines the hybrid characteristic of the system inspired by an inverse form of the merge method for clusters, which makes it possible to identify the unknown switching points of a process based on just input-output data. Using the switching points, a hard partition of the input-output space is obtained. Then, we propose to use Takagi-Sugeno (TS) fuzzy models with Gaussian MFs as sub-models for each partition. Thus, the overall model is hybrid-fuzzy and will include explicitly the hybrid behavior of the system (the detected switching points) by means of binary MFs, and in each partition all the other non-linearities by means of TS sub-models. An illustrative experiment on a hybrid-tank system is conducted to present the benefits of the proposed approach. © 2011 IFAC.

关键词： Principal component analysis

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Simulators for control engineers advanced learning

Simulators for control engineers advanced learning

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作者： Acebes, L.F. Merino, A. Gómez, L. Alves, R. Mazaeda, R. Acedo, J. Department of Systems Engineering and Automatic Control University of Valladolid Higher Tech. College of Industrial Engineering c/Real de Burgos s/n 47011 Valladolid Spain Department of Informatics and Automatic Control University of Salamanca Faculty of Sciences P/de Fray Luis de León 1-8 37008 Salamanca Spain Madrid Spain

ISBN: (纸本)9789898425782

The paper purpose is to show a Windows© NT/XP/7 application oriented to learn control skills to process engineers and it is used successfully in an industrial master of instrumentation and process control. This tool contains two sets of process control problems that are very diverse ones, both in the type of process as well as control techniques (twenty three modules are available). It is possible to study cascade, ratio, selective, override and feedforward control techniques and the tuning, configuration and operation of PID controllers. It also allows analyzing complex systems control installed in boilers, furnaces, distillation columns or reactors and some special control techniques to ensure the process safety. When a module is selected a dynamic simulation and its graphical user interface are started. So, as example, one of the simplest modules is shown. Finally, an overview of the methodology and software used to develop this tool is also outlined. In particular, an object oriented modeling tool is used to develop the simulation models, a SCADA is used as graphical user interface and the simulation-SCADA communications are supported by the OPC standard.

关键词： Process control

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Semi-adaptive feedback active control of MRI noise

Semi-adaptive feedback active control of MRI noise

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40th International Congress and Exposition on Noise control engineering 2011, INTER-NOISE 2011

作者： Meller, Michal Niedzwiecki, MacIej Tetsu, Hirofumi Kajikawa, Yoshinobu Faculty of Electronics Telecommunications and Computer Science Department of Automatic Control Gdansk University of Technology ul. Narutowicza 11/12 Gdansk Poland Department of Electrical and Electronic Engineering Faculty of Engineering Science Kansai University Suita-shi Osaka 564-8680 Japan

A feedback controller is proposed for cancellation of magnetic resonance imaging (MRI) noise. The design of the controller takes into account specific features of the MRI noise signal. Simulation results show that a c... 详细信息

ISBN: (纸本)9781618392800

关键词： Magnetic resonance imaging

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A Dual Comparison Principle for the Analysis and Design of Discrete-Time Dynamical systems

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IFAC Proceedings Volumes 2011年第1期44卷 6437-6442页

作者： George Bitsoris Nikolaos Athanasopoulos Control Systems Laboratory Department of Electrical and Computer Engineering University of Patras 26500 Patras Greece

Abstract In this article, two new comparison principles for studying positive invariance and stability of linear and nonlinear discrete-time systems are presented. First, a general comparison principle enabling one to determine necessary and sufficient conditions of positive invariance of sets described by their “border surfaces” is developed. Then, a dual comparison principle describing the dynamics of the “vertices” of these sets is established. Both results can be used for the stability analysis and the control design of nonlinear systems.

关键词： comparison principle discrete-time systems positive invariance stability nonlinear systems

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On state-constrained control of a CSTR

On state-constrained control of a CSTR

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作者： Bayer, Florian Bürger, Mathias Guay, Martin Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Chemical Engineering Queen's University Kingston ON K7L 3N6 Canada

ISBN: (纸本)9783902661937

In this note, we study the problem of multiple hard output constraints imposed on a continuous stirred tank reactor (CSTR) subject to external disturbances. Constraints on the concentration and on the temperature are considered. We show, analytically and with simulations, that there are critical combinations of constraints, where robust constraint satisfaction cannot be guaranteed. As a consequence violation of at least one constraint has to be allowed. © 2011 IFAC.

关键词： Robust control

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Mapping different communication traffic over DDS in industrial environments

Mapping different communication traffic over DDS in industri...

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作者： Etxeberria-Agiriano, Ismael Calvo, Isidro Pérez, Federico De Albeniz, Oier Garcísa Dept. of Computer Languages and Systems University of the Basque Country C/Nieves Cano 12 01006 Vitoria-Gasteiz Spain Dept. of Automatic Control and Systems Engineering University of the Basque Country C/Nieves Cano 12 01006 Vitoria-Gasteiz Spain

ISBN: (纸本)9789899624757

This paper describes the different communication patterns followed in industrial communications and maps them into DDS (Data Distribution Service) which is a recent middleware specification. This specification follows the publisher/subscriber paradigm and it is characterized by providing an API that allows tuning the QoS (Quality of Service) of the applications with a large set of parameters. This paper proposes using DDS as the backbone for industrial communications at the control level. In particular, we advocate its use to combine sending critical information such as alarms and real-time periodic information with less critical information related to configuration, diagnostic or maintenance operations. © 2011 AISTI.

关键词： Quality of service

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A mapping technique from n to i and its application to nonlinear sliding control systems

A mapping technique from n to i and its application to nonli...

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作者： Xu, Xu Du, Chunyan Banks, Stephen P. Mahfouf, Mahdi Yang, Yongyao Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3J United Kingdom School of Electrical Engineering and Automation Tianjin University 92 Weijin Road Tianjin 300072 China

ISBN: (纸本)9783902661937

In this paper, we introduce a bijective mapping ν″ nwhich maps an n-dimensional unit space IIn to a subset of the one-dimensional interval , by using a symbolic, 2-adic representation of each point of the space. We also demonstrate an application of this method to obtaining sliding manifolds of certain classes of sliding mode control systems. © 2011 IFAC.

关键词： Sliding mode control

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