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作者： Nguyen, H.N. Gutman, P.-O. Olaru, S. Hovd, M. Colledani, F. Automatic Control Department Gif sur Yvette France CEA-LIST Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Israel Department of Engineering Cybernetics Norwegian University of Science and Technology Norway CEA LIST Interactive Robotics Laboratory 18 route du Panorama F-92265 Fontenay-au-Roses France

ISBN: (纸本)9781457700804

This paper addresses the problem of regulating a discrete-time linear uncertain and time-varying system to the origin. It is shown that, based on an interpolation technique, by minimizing an appropriate objective function, how feasibility and a robustly and asymptotically stable closed-loop behavior can be achieved. It is shown that the control is a piecewise affine and continuous function of the state. Several simulations demonstrate the performance of our results. © 2011 AACC American automatic control Council.

关键词： Discrete time control systems

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Linear Quadratic Regulator (LQR) approach for lifting and stabilizing of two-wheeled wheelchair

Linear Quadratic Regulator (LQR) approach for lifting and st...

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International Conference on Mechatronics (ICOM)

作者： Salmiah Ahmad M. O. Tokhi Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations.

关键词： Wheelchairs Mathematical model Wheels Equations Regulators Differential equations Aerospace electronics

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Modeling and identification of a large multi-zone office building

Modeling and identification of a large multi-zone office bui...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Samuel Prívara Zdeněk Váňa Dimitrios Gyalistras Jiří Cigler Carina Sagerschnig Manfred Morari Lukáš Ferkl Department of Control Engineering (DCE) Faculty of Electrical Engineering (FEE) Czech Technical University Prague Czech Republic Automatic Control Laboratory (ACL) Department of Information Technologyand Electrical Engineering (DITEE) ETH Zurich Switzerland DCE FEE CTU Prague Czech Republic Automatic Control Laboratory DITEE ETH Zurich Switzerland Gruner AG Basel Switzerland

Predictive control in buildings has undergone an intensive research in the past years. Model identification plays a central role in a predictive control approach. This paper presents a comprehensive study of modeling of a large multi-zone office building. Many of the common methods used for modeling of the buildings, such as a detailed modeling of the physical properties, RC modeling, etc., appeared to be unfeasible because of the complexity of the problem. Moreover, most of the research papers dealing with this topic presents identification (and control) of either a single-zone building, or a single building sub-system. On contrary, we proposed a novel approach combining a detailed modeling by a building-design software with a black-box subspace identification. The uniqueness of the presented approach is not only in the size of the problem, but also in the way of getting the model and interconnecting several computational and simulation tools.

关键词： Buildings Heating Mathematical model Cooling Data models Predictive models Computational modeling

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Active Vibration control on Flexible Plate Structure using Bio-inspired Algorithm

Active Vibration Control on Flexible Plate Structure using B...

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International Conference on Computational Intelligence, Modelling and Simulation (CSSIM)

作者： Salihatun Md Salleh Osman Tokhi Department of Engineering Mechanics Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia Department of Automatic Control and Systems Engineering Faculty of Engineering University of Sheffield UK

This article presents the active vibration control with bio-inspired algorithms model based system utilising genetic algorithm (GA), particle swarm intelligence (PSO) and artificial immune system (AIS). The parameter of the model is estimated and the transfer function of the active vibration controller is characterized implementing GA with real coded execution, PSO with spreading factor and AIS implemented AiNet type of algorithms. The comparisons of AVC based bio inspired algorithms are validated using time and frequency domain response, mean squares of error and correlation tests. The performances of the algorithm are assessed through determination of dominant vibration modes using spectral density of the response.

关键词： Computational modeling Computational intelligence

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Parallel compensators for systems controlled by twisting algorithm

Parallel compensators for systems controlled by twisting alg...

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Annual Conference of Industrial Electronics Society

作者： A. Rosales I. Boiko L. Fridman Faculty of Electrical Engineering Control Department Universidad Nacional Autónoma de México Mexicali Mexico Honeywell University of Calgary Calgary AB Canada Department of Automatic Control Department of Electrical Engineering Engineering Faculty CINVESTAV Mexico Distrito Federal Mexico

The paper presents a way to improve the behavior of systems controlled by Second Order Sliding Modes in the presence of disturbances and parasitic dynamics. This is done through the addition of a parallel compensator to the twisting controller. The behavior of the system is improved by increasing the equivalent gain of the Second Order Sliding Mode. When the parallel compensator is added to the system the equivalent gain is increased, thereby increasing the robustness of the controller against coupled disturbances. The analysis of the system is carried out via the Locus of a Perturbed Relay system (LPRS) methodology. Simulations and experimental results are presented.

关键词： Algorithm design and analysis Frequency domain analysis Steady-state Actuators Heuristic algorithms Relays

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Robust H∞ filtering for uncertain 2-D continuous systems, based on a polynomially parameter-dependent Lyapunov function

Robust H∞ filtering for uncertain 2-D continuous systems, b...

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International Workshop on Multidimensional (nD) systems

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

The problem of robust H ∞ 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 H ∞ 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.

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Ship's roll stabilization by anti-roll active tanks

Ship's roll stabilization by anti-roll active tanks

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OCEANS - Europe

作者： M. Haro R. Ferreiro F.J. Velasco Faculty of Nautical Sciences University of Cádiz Cadiz Spain Department Industrial Engineering University of A Coruña Spain Department Electronic Technology Systems Engineering and Automatic Control University of Cantabria Spain

This paper examines the control of the heeling angle of a ship in still waters based on the utilisation of anti-heeling tanks operated by pressurized air. The proposed objective attempts to reduce the list angle to a null value during the loading process in a fast ferry ship. A nonlinear adaptive controller has been designed as a means of counteracting the parameter inaccuracies that are involved in the nonlinear model. These are the linear and quadratic damping coefficients and the size of the cargo that is being handled. The design is based on a relatively new methodology, the backstepping procedure. With the objective of reducing the number of sensors a model reference based nonlinear observer has been introduced. The controller thus designed provides a robust control system under parametric uncertainties and state variable errors. The designed control implies an improvement on the actual systems based on the PID control implemented under programmable logic controllers (PLCs).

关键词： Marine vehicles Damping Torque Backstepping Stability criteria Atmospheric modeling

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Gradient-based classification and representation of features from volume data

Gradient-based classification and representation of features...

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

作者： Marius Gavrilescu Vasile Manta Eduard Gröller Technical University of Iasi Romania Vienna University of Technology Austria Faculty of Automatic Engineering and Computer Control Technical University of Iasi Romania Computer Science Department University of Bergen Norway

The extraction and representation of information from volume data are important research avenues in computer-based visualization. The interpretation of three- or multi-dimensional data from various scanning devices is important to medical imaging, diagnosis and treatment, reliability and sustainability analyses in various industrial branches, and, in more general terms, information visualization. In this paper, we present several approaches for the classification and representation of relevant information from volume data sets. The techniques are based on the gradient vector, a property directly derived from the original volume data. We show how this property can be computed and subsequently used for classification through gradient-based one- and multi-dimensional transfer functions, as well as for the enhancement of surface features. The described techniques are illustrated through images generated using our volume rendering framework, from Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) data sets. The resulting images show how gradient-based techniques are suited for improved volume classification and the better extraction of meaningful information.

关键词： Transfer functions Image color analysis Rendering (computer graphics) Computed tomography Magnetic resonance imaging Skin Support vector machine classification

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A novel approach for protein spots quantification in two-dimensional gel images

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2011年第1期4卷 1-14页

作者： Rashwan, Heshmat A. Sarhan, Amany M. Faheem, Muhammed Talaat Youssef, Bayumy A. Knowledge-Based Systems Department Informatics Research Institute Mubarak City for Science and Technology Borg ElArab Alexandria Egypt Computers and Automatic Control Engineering Department Faculty of Engineering University of Tanta Tanta Egypt Computer-Based Applications Department Informatics Research Institute Mubarak City for Science and Technology Borg ElArab Alexandria Egypt

Two-dimensional polyacrylamide gel electrophoresis of proteins is a robust and reproducible technique. It is the most widely used separation tool in proteomics. Current efforts in the field are directed at development of tools for expanding the range of proteins accessible with two-dimensional gels. Proteomics was built around the two-dimensional gel. The idea that multiple proteins can be analyzed in parallel grew from two-dimensional gel maps. Proteomics researchers needed to identify interested protein spots by examining the gel. This is time consuming, labor extensive and error prone. It is desired that the computer can analyze the proteins automatically by first detecting then quantifying the protein spots in the 2-D gel images. In our previous work, we presented a new technique for segmentation of 2-D gel images using the fuzzy c-means algorithm using the notion of fuzzy relations. In this paper, we will describe the new relational fuzzy c-means algorithm (RFCM) and use it for automatic protein spots quantification. We will also use two methods to evaluate its performance: the unsupervised evaluation method and comparison with the expert spots quantification.

关键词： Proteins

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Nonlinear high-gain observers with integral action: Application to bioreactors

Nonlinear high-gain observers with integral action: Applicat...

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International Conference on Electrical engineering, Computing Science and automatic control (CCE)

作者： A. Rodríguez-Mata J. Torres-Muñoz A.R. Domínguez D. Hernandez-Villagran S. Celikovsky Department of Automatic Control UMI-LAFMIA 3175 Cinvestav CNRS Mexico Department of Biotechnology and Bioengineering Cinvestav Mexico UTIA-Academy of Sciences of the Czech Republic Faculty of Electrical Engineering Czech Technical University Czech Republic

ISBN: (纸本)9781457710117

This paper deals with the problem of estimating the states in nonlinear systems with parameters that are not precisely known through the implementation of proportional nonlinear high gain observers with additional integral action. It is known that non-linear observers (NL-P) show excellent results in the estimation of state variables but these depend heavily on precise knowledge of model parameters, this is not always possible because in many process the parameters may suffer sudden shifts as in the biological processes, which in turn will certainly broke the asymptotical convergence observer property. We propose the addition of a integral action in order to deal with possible change of parameters. In this work it is showed that the so called nonlinear integral high gain observers (NL-PI) are able to cancel the dynamical disturbances due to parameter changes. We studied the substrate estimation in a wastewater treatment bioreactor. The simulation study was carried on the basis of experimental data of a batch culture of Spirulina maxima for the pollutant removal present in the culture media.

关键词： Observers Biological system modeling Bioreactors Observability Microorganisms Mathematical model

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