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2011 7th International Workshop on Multidimensional (nD) systems, nDS 2011

作者： El-Kasri, Chakir Hmamed, Abdelaziz Alvarez, Teresa Tadeo, Fernando Department of Physics Faculty of Sciences University of Dhar El Mehraz BP 1796 Fes-Atlas Morocco Department of Systems Engineering and Automatic Control University of Valladolid 47005 Valladolid Spain

ISBN: (纸本)9781612848167

The problem of robust Hinfin filtering for uncertain two-dimensional (2-D) continuous systems described by the Roesser state-space model is investigated when the parameter uncertainties are polytopic. A sufficient linear matrix inequality (LMI) condition for the existence of a 2-D continuous filter such that, for all admissible uncertainties, the error system is asymptotically stable, and the Hinfin norm of the transfer function from the noise signal to the estimation error is below a prespecified level. A sequence of standard LMI conditions that ensure the existence of homogeneous polynomially parameter-dependent (HPPD) matrices of arbitrary degree, that are solutions to the parameter-dependent LMIs is provided in terms of the vertices of the polytope. The proposed method includes results in the quadratic framework and the linearly parameter-dependent framework as special cases. Finally, an example is provided to demonstrate the effectiveness and advantages of the proposed filter design methodology. © 2011 IEEE.

关键词： Linear matrix inequalities

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Sliding-mode control of coordinated nonholonomic mobile manipulators

Sliding-mode control of coordinated nonholonomic mobile mani...

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International Conference on system Theory, control, and Computing (ICSTCC)

作者： Razvan Solea Daniela Cristina Cernega Faculty of Automatic Control Computers Electrical and Electronics Engineering Dunarea de Jos University of Galati Romania

Coordinated systems of multiple mobile manipulators can be much more flexible than single mobile manipulator in order to accomplish complex and changeable tasks. In this paper, sliding-mode control strategies are used to control the coordinated multiple mobile manipulators which carry a common object. The control ensures that the output tracking errors of the system converge to zero. Simulation studies show the effectiveness of the proposed scheme.

关键词： Manipulators Mobile communication Trajectory Mobile robots Kinematics Robot kinematics

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Design and control of a biped robot

Design and control of a biped robot

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International Conference on system Theory, control, and Computing (ICSTCC)

作者： Alexandru Ionut Botas Razvan Solea Faculty of Automatic Control Computers Electric and Electronic Engineering Dunarea de Jos University of Galati Romania

This paper aims to present the practical realization of a biped robot and its remote control via bluetooth communication using C++ language. With a height of about 25 centimeters, the robot has six degrees of freedom, given by the six servomotors that are used to move it. Dimensions and the small number of motors are an advantage over conventional robots, because it does not need external energy sources and big hardware or software resources. The design allows the robot's straight movement and turning left or right. The presence of infrared sensors allows the robot to avoid static obstacles and stop at the edges of the surface displacement to avoid any accidents. The robot is able through an infrared proximity sensor used to avoid obstacles, to achieve grayscale images of objects is used a line-by-line scanning algorithm. The software allows the live creation of the images pixel by pixel. Those images can be stored or used to identify shapes or objects.

关键词： Robot sensing systems Legged locomotion Servomotors Software Kinematics Gray-scale

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Multi-objective PSO based augmented control of a twin rotor system

Multi-objective PSO based augmented control of a twin rotor ...

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IEEE International Conference on Mechatronics

作者： Toha, S.F. Tokhi, M.O. Department of Mechatronics Faculty of Engineering International Islamic University Malaysia P.O. Box 10 50728 Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781612844350

control of vibration suppressions is crucial for applications in engineering particularly in the area of aircraft system. An augmented control approach encompasses of using a feedforward intelligent command shaping technique with combination of intelligent PID feedback control is presented in this paper. The advantage of using command shaping is to reduce system vibration. However, it can cause delay in system response resulting to a conflict between vibration suppression and rise time response. Multi-objective particle swarm optimization with spread factor (MOPSO-SF) is employ in this paper to determine a set of solutions for the amplitudes and corresponding time locations of impulses on an extra sensitive (El) command shaping as well as gain parameters for the PID controller. The effectiveness of the proposed technique is assessed both in the time domain and the frequency domain. Moreover, a comparative assessment of the performance of the technique with the system response and unshaped finite step input is presented. © 2011 IEEE.

关键词： Particle swarm optimization (PSO)

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Partitioning methods used in DBS treatments analysis results

Partitioning methods used in DBS treatments analysis results

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International Joint Conference on Neural Networks (IJCNN)

作者： Oana Geman Cornel Turcu Department of Automatic Control and Computers Faculty of Electrical Engineering and Computer Science University Stefan cel Mare of Suceava Suceava Romania

Parkinson's disease is a neurodegenerative disorder and is associated with motor symptoms, including tremor. The DBS (Deep Brain Stimulation) involves electrode implantation into subcortical structures for long-term stimulation at frequencies greater than 100Hz. The mechanism by which chronic, electrical Deep Brain Stimulation with high frequency, suppresses tremor in Parkinson's disease is unknown, but might involve a gradual change in network properties controlling the generation of tremor. First, we performed linear and nonlinear analysis of the tremor signals to determine a set of parameters and rules for recognizing the behavior of the investigated patient and to characterize the typical responses for several forms of DBS. Second, we found patterns for homogeneous group for data reduction. We used Data Mining and Knowledge discovery techniques to reduce the number of data. Then, we found "clusters" the most well-known used and commonly partitioning methods used: K-means and K-medoids. To support such predictions, we develop a model of the tremor, to perform tests determining the DBS reducing the tremor or inducing tolerance and lesion if the stimulation is chronic.

关键词： Satellite broadcasting Clustering algorithms Time series analysis Correlation Algorithm design and analysis Mathematical model Software algorithms

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Sliding mode control for linear systems with time-varying input and state delays

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Circuits, systems, and Signal Processing 2011年第3期30卷 629-641页

作者： Xia, Yuanqing Yang, Hongjiu Fu, Mengyin Shi, Peng Department of Automatic Control Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom School of Engineering and Science Victoria University PO Box 14428 Melbourne VIC 8001 Australia

This paper deals with a sliding mode control for linear systems with input and state time-varying delays. Two different time delays are considered for the sliding mode control of a continuous linear system. Delay-dependent sufficient conditions are given for the existence of sliding manifolds in terms of linear matrix inequalities. A reaching motion controller is also proposed for such systems by means of both reaching law and inequality approach. An inverted pendulum system is utilized to illustrate the effectiveness of the developed techniques. © 2010 Springer Science+Business Media, LLC.

关键词： Linear matrix inequalities

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Application of soft computing techniques to dam safety monitoring

Application of soft computing techniques to dam safety monit...

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2nd International Conference on Soft Computing Technology in Civil, Structural and Environmental engineering, CSC 2011

作者： Rankovic, V. Grujovic, N. Divac, D. Milivojevic, N. Milanovic, G. Department for Applied Mechanics and Automatic Control Faculty of Mechanical Engineering University of Kragujevac Serbia Jaroslav Cerni Institute for the Development of Water Resources Belgrade Serbia HES Vrbas Mrkonjic Grad Bosnia and Herzegovina

ISBN: (纸本)9781905088485

The radial displacements of points of a dam are important behaviour indicators and they are a nonlinear function of hydrostatic pressure, temperature and other unexpected unknown causes. The artificial intelligence techniques are capable to modelling such a complex system. The objective of this study is to develop a feedfoward neural network (FNN) and an adaptive network-based fuzzy inference system (ANFIS) to predict the radial displacement of arch dams. The FNN and ANFIS models were developed and tested using experimental data collected over eleven years. Comparing the values predicted by the FNN and the ANFIS with the experimental data indicates that soft computing models provide accurate results. These models can be applied for predicting displacement. ©Civil-Comp Press, 2011.

关键词： Hydrostatic pressure

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Finite State control of FES-Assisted Walking with Spring Brake Orthosis

Finite State Control of FES-Assisted Walking with Spring Bra...

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International Conference on Computer Modeling and Simulation, UKSIM

作者： R. Jailani M.O. Tokhi S.C. Gharooni M. Jogtaei Department of Automatic Control and System Engineering University of Sheffield UK Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Malaysia

This paper presents finite state control (FSC) of paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured subjects. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Fuzzy logic control (FLC) is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D and finite state control is used to control the transaction between all walking states. Finite state control (FSC) is used to control the switching of brakes, FES and spring during walking cycle.

关键词： Knee Hip Power capacitors Legged locomotion Muscles Leg Springs

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Reduction of low-resolution incremental encoder usage effects on control performance by using a fuzzy controller

Reduction of low-resolution incremental encoder usage effect...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Alvin Abdagic Adisa Sinanovic Jasmin Velagic Nedim Osmic Department for Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Sarajevo Bosnia and Herzegovina

Different methods for position control of a DC servomotor are examined. Position is measured with a low-resolution incremental encoder that is a cheap solution that allows for free movement of motor shaft. This kind of measurement affects control and degrades its performance. Entire system is first identified using Matlab system Identification Toolbox. P and PD controllers, along with cascaded and observer-based controllers are synthesised and tested. Sugeno type fuzzy controller with two inputs and constant output membership functions shows the best results of the tested controllers in both simulation and testing done on a real system. Simulation is performed with Matlab Simulink. control system prototyping is done using DS1104 board.

关键词： Transfer functions Shafts PD control Oscillators Servomotors Input variables Permanent magnet motors

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An Anti-Slip Predictive controller for a V-PRA Vehicle

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IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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