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Risk-Sensitive Cubature Filtering for Jump Markov Nonlinear systems and Its Application to Land Vehicle Positioning ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 20-25页

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the proposed filter could exhibit improved numerical stability with respect to the derivation of the square-root covariance, for which the unscented transform technique might halt the operations due to the presence of non-positive definite covariance. The performance of the proposed filter is illustrated through a simulation study of tracking a land vehicle with maneuvers.

关键词： Markov models Kalman filters estimation theory target tracking

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Adaptive Iterative Learning control for Uncertain Delay systems Based on Model Matching Technique

Adaptive Iterative Learning Control for Uncertain Delay Syst...

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2011 American control Conference (ACC)

作者： Haixia Su Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

In this paper, an adaptive iterative learning control (ILC) scheme is proposed for trajectory tracking of uncertain delay systems based on model matching technique. The reference model is a delay system operating over in a finite time interval. An iterative model matching controller is designed and an iteration domain adaptive law is chosen to estimate the unknown parameters. It shows that the model matching technique can be applied in a straightforward method to ILC problem. A simulation example is included to illustrate the designed scheme.

关键词： Adaptation models Polynomials Adaptive systems Delay effects Delay systems

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Gaussian Mixture PHD Smoother for Jump Markov Models in Multiple Maneuvering Targets Tracking

Gaussian Mixture PHD Smoother for Jump Markov Models in Mult...

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2011 American control Conference (ACC)

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD filters, our aim is to approximate the dynamics of the linear Gaussian jump Markov system (LGJMS) by a best-fitting Gaussian (BFG) distribution so that the GM-PHD smoother can be carried out with respect to an approximated linear Gaussian system. Our approach is inspired by the recognition that the BFG approximation provides an accurate performance measure for the LGJMS. Furthermore, the multiple model estimation is avoided and less computational cost is required. The effectiveness of the proposed smoother is verified with a numerical simulation.

关键词： Target tracking Approximation methods Markov processes Covariance matrix Smoothing methods Radar tracking Computational efficiency

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Real-time leak isolation based on state estimation in a plastic pipeline

Real-time leak isolation based on state estimation in a plas...

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Navarro O. Begovich G. Besançon Jf. Dulhoste Research and Advanced Studies Center National Polytechnic Institute Guadalajara Jalisco Mexico Control Systems Department (ex-LAG) of Gipsa-Laboratory Ense3 Grenoble Institute of Technology Saint-Martin dHeres France Institut Universitaire de France France Departamento de Ciencias Térmicas-Escuela de Ingeniería Mecánica University de los Andes Merida Venezuela

A Leak Detection and Isolation (LDI) algorithm based on a State Estimation Observer is designed and tested in real-time to locate a water-leak on a plastic pipeline prototype. In order to tackle the problem of friction variations in such a pipeline, the explicit so-called Swamee-Jain equation is implanted for the friction, instead of a constant parameter as in other studies. The observer is then designed as an Extended Kalman filter on the basis of a discretized model both in time and in space. The space discretization is nonuniform depending on the unknown leak location, and the time variable is discretized with the Heun's method. The approach assumes only flow and pressure sensors at the ends of the duct, and experimental results with data obtained from the pipeline prototype are presented to assess the method efficiency.

关键词： Pipelines Mathematical model Friction Estimation Equations Kalman filters Prototypes

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THD reduction with grid synchronized inverter's power injection of renewable sources

THD reduction with grid synchronized inverter's power inject...

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2010 International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM 2010

作者： Gorbe, Peter Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia 8200 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute 1518 Budapest Hungary

ISBN: (纸本)9781424449873

A control method for small domestic power plants using renewable energy is described in this paper. This method is not only capable of optimizing the working point of the plant but also implements active power factor correction and lowers the extant harmonic distortion in the line. The novel element in the proposed complex controller structure is the upper harmonic controller that minimizes the amplitudes of the 3rd, 5th 7th, 9th, and the 11th upper harmonic component in the output voltage. The proposed controller has been investigated by simulation in Matlab environment, and as a result, substantial improvement of the output voltage and current waveform could be achieved. Robustness of the method against nonlinear loads has also been tested. 0 © 2010 IEEE.

关键词： Solar power generation

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Automatic estimation of light sleep level during short nap

Automatic estimation of light sleep level during short nap

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15th International Symposium on Artificial Life and Robotics, AROB '10

作者： Wang, Bei Sugi, Takenao Wang, Xingyu Shirakawa, Shuichiro Nakamura, Masatoshi Department of Automation East China University of Science and Techonology Shanghai China Department of Electrical and Electronic Engineering Saga University Saga Japan National Centre of Neurology and Psychiatry Tokyo Japan Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9784990288044

Short nap is a good relaxation way when people feel sleepy and tired during the day time. An automatic light sleep level estimation technique was presented for short nap sleep evaluation. Parameters were extracted from the polysommnographic sleep record. Sleep stages of open eyes awake, close eyes awake, and stage 1 were determined automatically based on the conditional probability. The conditional probability indicated the possibility of occurrence of sleep stages during short nap. The light sleep level was estimated based on the continuous change of conditional probability of awake. The developed technique can be usable for comfortable short nap sleep control. © 2010 ISAROB.

关键词： Probability

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Online Process Simulator with Hybrid Model of Physical Model and Just-In-Time Model

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IFAC Proceedings Volumes 2011年第1期44卷 1640-1645页

作者： Makoto Nakaya Yoshihiro Ikegaya Akio Nakabayashi Tetsuya Ootani Dong Chen Xinchun Li Dong Wang Marina Gravina Ogata Products Planning D&E Dept. IA Control Systems Development & Engineering Center Industrial Automation Business Headquarters Yokogawa Electric Corp. 2-9-32 Nakacho Musashino-shi Tokyo Japan (Tel:+81-422-52-6224) Instrument and Control Research Center Corporate R&D Headquarters Yokogawa Electric Corp. 2-9-32 Nakacho Musashino-shi Tokyo Japan (Tel: +81-422-52-8052) Research and Development Division Yokogawa Beijing Development Center 9F Jinbao Tower No. 89 Jinbao Street Doncheng District Beijing China (Tel: +010-8522-1600 Engineering Department Yokogawa South America Praca Acapulco 31-Santo Amaro Sao Paulo/SP Brazil (Tel: +55-11-3513-16160)

Abstract A tracking simulator that runs in parallel with the plant and perfectly simulates the plant behavior has been developed. This tracking simulator is currently in the validation phase at a commercial plant site. The tracking simulator strongly depends on the physical model based on physical and chemical laws, and it cannot simulate unknown phenomena in the plant. A hybrid model consisting of a physical model and a statistical model using the historical plant operation data was proposed. The estimation accuracy of the statistical model was improved using the virtual input from the tracking simulator. Although the Kalman filter technique is applied to conventional software sensors for quality estimation as a model updating function, deterioration of estimation accuracy is often seen with marked changes in plant behavior and the analyzers shut down. To resolve these issues, we applied Just-In-Time modeling based on the historical data modeling technique with the tracking simulator, and the plant model coverage of the tracking simulator was expanded for various processes.

关键词： Process Simulator Tracking Simulator Soft Sensor Just-In-Time Model Physical Model Hybrid Model

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Dynamic modeling and model analysis of a large industrial synchronous generator

Dynamic modeling and model analysis of a large industrial sy...

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作者： Fodor, Attila Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia 8200 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9788070438657

A simple dynamic model of an industrial size synchronous generator operating in a nuclear power plant is developed in this paper based on first engineering principles. The constructed state-space model consists of a nonlinear state equation and a bi-linear output equation. It has been shown that the model is locally asymptotically stable with parameters obtained from the literature for a similar generator. The effect of load disturbances on the partially controlled generator has been analyzed by simulation using a traditional PI controller. It has been found that the controlled system is stable and can follow the set-point changes in the effective power well. The disturbance rejection of the controller is also satisfactory.

关键词： Disturbance rejection

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Considering predicted road conditions in vehicle control design using H∞ method

Considering predicted road conditions in vehicle control des...

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作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902661722

The paper focuses on the design of a velocity control system which takes into consideration the knowledge of the predicted inclinations of the road along the track of the vehicle. By using this velocity control it is possible to reduce the operations of the actuators, i.e. the powertrain and the brake system. The longitudinal dynamics of the vehicle is formulated in a simplifed control-oriented model, which contains the longitudinal control force and disturbances such as aerodynamic force, rolling resistance and road slope. If the inclination of the road surface is assumed to be known, it is considered in the calculation of the velocity tracking or the reference velocity. The design of the velocity tracking system is based on the H∞ control theory. In order to take into consideration the efects of dynamic disturbances and sensor noises weighting functions of quality performances in the controlled system are designed. The operation of the method is demonstrated through simulation examples in Matlab/Simulink and CarSim environments. © 2010 IFAC.

关键词： Robust control

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Nested backward compensation of unmatched effects of unknown inputs based on HOSM identification

Nested backward compensation of unmatched effects of unknown...

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2010 11th International Workshop on Variable Structure systems, VSS 2010

作者： Ferreira, Alejandra Punta, Elisabetta Department of Control Engineering Faculty C.P. 04510. México DF Mexico Institute of Intelligent Systems for Automation National Research Council of Italy ISSIA-CNR Genoa Italy

ISBN: (纸本)9781424458318

The paper considers the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and perturbation estimation. It is introduced a controller with a compensation strategy based on the identified perturbation values. When the system satisfies quite restrictive assumptions, the method ensures exact regulation of the unmatched states. In order to deal with the general case it is proposed a nested backward strategy to design the sliding surface, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded. © 2010 IEEE.

关键词： Linear time-invariant system

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