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IEEE Conference on Decision and control

作者： Mathias Burger Giuseppe Notarstefano Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Engineering University of Lecce Via per Monteroni 73100 Lecce Italy

ISBN: (纸本)9781612848006

In this paper we propose a distributed algorithm for solving linear programs with combinations of local and global constraints in a multi-agent setup. A fully distributed and asynchronous algorithm is proposed. The computation of the local decision makers involves the solution of two distinct (local) optimization problems, namely a local copy of a global linear program and a smaller problem used to generate "problem columns". We show that, when running the proposed algorithm, all decision makers agree on a common optimal solution, even if the original problem has several optimal solutions, or detect unboundedness and infeasibility if necessary.

关键词： decision makers optimal solution linear programming distributed algorithms original problem decision making Simplex Distribute local optimization

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Multi-objective Optimization of Stewart-Gough Manipulator Using Global Indices

Multi-objective Optimization of Stewart-Gough Manipulator Us...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： F.A. Lara-Molina J. M. Rosario D. Dumur Mechanical Engineering School State University of Campinas Campinas Brazil Automatic Control Department SUPELEC Systems Sciences (E3S) Gif Sur Yvette France

ISBN: (纸本)9781457708381

The paper addresses the optimal design of parallel manipulators based on multi-objective optimization. The objective functions used are: Global Conditioning Index (GCI), Global Payload Index (GPI), and Global Gradient Index (GGI). These indices are evaluated over a required workspace which is contained in the complete workspace of the parallel manipulator. The objective functions are optimized simultaneously to improve dexterity over a required workspace, since single optimization of an objective function may not ensure an acceptable design. A Multi-Objective Evolution Algorithm (MOEA) based on the control Elitist Non-dominated Sorting Genetic Algorithm (CENSGA) is used to find the Pareto front.

关键词： Objective function Workplace dexterity Optimal design Indexes multi-objective control Pareto optimisation evolutionary algorithm General Communication Interface

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The influence of the spatial separation of control elements on the workload for mobile information systems 11

The influence of the spatial separation of control elements ...

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13th International Conference on Human-computer Interaction with Mobile Devices and Services, Mobile HCI 2011

作者： Ziegler, Jens Graube, Markus Suhrbier, Alexander Wessel, Niels Malberg, Hagen Urbas, Leon Department of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology 01062 Dresden Germany Institute for Applied Computer Science KIT Karlsruhe Institute of Technology 76344 Eggenstein-Leopoldshafen Germany Department of Physics Humboldt-Universität Zu Berlin 10115 Berlin Germany Institute for Biomedical Engineering Dresden University of Technology 01062 Dresden Germany

ISBN: (纸本)9781450305419

Mobile information systems (MIS) are finding their way into private and business every-day activities. There are also increased attempts to establish MIS for on-site activities in industrial facilities. Industrial environments, however, place significantly higher demands on mobile user interfaces than office or home environments. Common interaction styles are often unsuitable for this domain. MIS comprising specialized configurations like wearable systems might overcome current limitations. Wearable systems make it possible to arrange system components in the immediate environment of the user's body in order to create an ergonomic and intuitive user interface. However, the use of distributed, body-worn user interfaces, and in particular separation of input and output devices, might increase the workload for the user. This study examines the extent to which the separation of input and output devices affects the workload for wearable MIS. Three interaction styles in two different configurations are investigated with four different measures to determine the workload covering both objective and subjective indicators. This investigation shows that there is no significant increase of workload in general. However, the measurement of the heart rate variability revealed subtle but significant differences between the two configurations, particularly for one interaction style. These findings indicate that physiological measures can provide more detailed and subtle information about additional workload and its source than other measures. © 2011 ACM.

关键词： Human computer interaction

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Mathematical Relationships Between Representations of Structure in Linear Interconnected Dynamical systems

Mathematical Relationships Between Representations of Struct...

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2011 American control Conference (ACC)

作者： E. Yeung J. Goncalves H. Sandberg S. Warnick Control and Dynamical Systems California Institute of Technology USA Control Group Department of Engineering University of Cambridge Cambridge UK Automatic Control Laboratory KTH School of Electrical Engineering Stockholm Sweden Information and Decision Algorithms Laboratories Brigham Young University Provo UT USA

A dynamical system can exhibit structure on multiple levels. Different system representations can capture different elements of a dynamical system's structure. We consider LTI input-output dynamical systems and present four representations of structure: complete computational structure, subsystem structure, signal structure, and input output sparsity structure. We then explore some of the mathematical relationships that relate these different representations of structure. In particular, we show that signal and subsystem structure are fundamentally different ways of representing system structure. A signal structure does not always specify a unique subsystem structure nor does subsystem structure always specify a unique signal structure. We illustrate these concepts with a numerical example.

关键词： Transfer functions Periodic structures Computational modeling Equations Silicon Input variables Laboratories

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Trajectory extension methods for model predictive direct torque control

Trajectory extension methods for model predictive direct tor...

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

作者： Yashar Zeinaly Tobias Geyer Bo Egardt Delft Center for Systems and Control Delft University of Technnology Netherlands Department of Electrical and Computer Engineering University of Auckland New Zealand Department of Signals and Systems Chalmers University of Technology Sweden

This paper focuses on model predictive direct torque control (MPDTC), which is a recent control scheme for three-phase ac electric drives combining the notions of model predictive control (MPC) and direct torque control (DTC). Using a dynamic model of the drive, MPDTC predicts several future switch transitions, extends the outputs and chooses the inverter switch positions that minimize the switching frequency or the switching losses. The performance of MPDTC depends on the accuracy of the predictions. However, MPTDC schemes with very accurate predictions are computationally demanding necessitating very fast controller hardware. New methods for extending the output trajectories are proposed that yield fast yet accurate predictions giving rise to a computationally efficient MPDTC scheme. The advantages of the proposed methods are shown in terms of the associated computational complexity and the accuracy of the predictions.

关键词： Trajectory Stators Switches Rotors Inverters Computational modeling Predictive models

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Effect of buffers on stability of Internet congestion controllers

Effect of buffers on stability of Internet congestion contro...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： Somayeh Sojoudi Steven H. Low John C. Doyle Department of Control and Dynamical Systems California Institute of Technology USA Computer Science and Electrical Engineering Departments California Institute of Technology USA

Almost all existing fluid models of congestion control assume that the fluid flow at the output of a link is the same as the fluid flow at the input of the link. This means that all links in the path of a flow see the original source rate. In reality, a fluid flow is modified by the queueing processes on its path, so that an intermediate link will generally not see the original source rate. In this paper, we propose a simple model that explicitly takes into account of the effect of buffering on output flows. We study the dual and primal-dual algorithms that use implicit feedback and show that, while they are always asymptotically stable if feedback delay is ignored, they can be unstable in the new model.

关键词： Heuristic algorithms Equations Delay Stability analysis Asymptotic stability Aggregates Internet

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Robust control and Scheduling Codesign for Networked Embedded control systems

Robust Control and Scheduling Codesign for Networked Embedde...

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IEEE Conference on Decision and control

作者： Sanad Al-Areqi Daniel Gorges Steven Liu Institute of Control Systems Department of Electrical and Computer Engineering University of Kaiserslautern Erwin-Schrodinger-Str. 12 67663 Kaiserslautern Germany

ISBN: (纸本)9781612848006

Robust control and scheduling for networked embedded control systems (NECS) with uncertain but interval-bounded time-varying computation and transmission delay is addressed in this paper. The NECS is described by a set of continuous-time plant models and associated quadratic cost functions. Since the uncertainty of the computation and transmission delay affects the discretized plant models and cost functions in a nonlinear manner, a polytopic overapproximation of the uncertainty utilizing a Taylor series expansion is considered. For the resulting discrete-time switched system model with polytopic uncertainty, a periodic control and online scheduling (PCS_(on)) strategy is proposed to guarantee stability and performance of the resulting controlled system. The design is based on a periodic parameter-dependent Lyapunov function and exhaustive search. Furthermore, a method for reducing the online complexity of the PCS_(on) strategy is presented. The effectiveness of modeling and design is evaluated for networked embedded control of a set of inverted pendulums.

关键词： Robust control control systems Transport delay Cost functions plant models INVERTED PENDULUM Uncertainty embedding Series expansions Liapunov function

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On State-Constrained control of a CSTR *

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IFAC Proceedings Volumes 2011年第1期44卷 6079-6084页

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

Abstract 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.

关键词： State-Constraints Process control Robust control

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Payoff-based accumulative effect promotes cooperation in spatial prisoner’s dilemma

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Chinese Physics B 2010年第9期19卷 53-58页

作者：刘永奎李智陈小杰王龙 Center for Complex Systems Department of Automatic Control EngineeringXidian University State Key Laboratory for Turbulence and Complex Systems Center for Systems and ControlCollege of EngineeringPeking University

We study the effect of accumulative payoff on the evolution of cooperation in the evolutionary prisoner＇s dilemma on a square lattice. We introduce a decaying factor for the accumulative payoff, which characterizes the extent that the historical payoff is accumulated. It is shown that for fixed values of the temptation to defect, the density of cooperators increases with the value of the decaying factor. This indicates that the more the historical payoff is involved, the more favourable cooperators become. In the critical region where the cooperator density converges to zero, cooperators vanish according to a power-law-like behaviour. The associated exponents agree approximately with the two-dimensional directed percolation and depend weakly on the value of the decaying factor.

关键词： payoff accumulative effect prisoner＇s dilemma cooperation

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A linear multi-agent systems approach to diffusively coupled piecewise affine systems: Delay robustness

A linear multi-agent systems approach to diffusively coupled...

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IEEE Conference on Decision and control

作者： Kenji Kashima Antonis Papachristodoulou Frank Allgöwer Graduate School of Information Science and Engineering Tokyo Institute of Technology Tokyo Japan Department of Engineering Science University of Oxford Oxford UK Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781612848006;9781612848013

In this paper, we investigate ultimate boundedness of large-scale arrays consisting of piecewise affine (PWA) sub-systems linearly interconnected through channels with delays. Under an assumption on subsystem dynamics, it is shown that ultimate boundedness can be reduced to the stability of a linear delay differential system. This enables us to use linear multi-agent system theory. As a result, we obtain sufficient conditions for ultimate boundedness taking the robustness of the interconnection topology into account. The usefulness of the results is examined through its application to the FitzHugh-Nagumo model.

关键词： Delay Europe Silicon Biology

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