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International Conference on Applied Electronics, AE

作者： Attila Fodor Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

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： Mathematical model Equations Synchronous generators Torque Windings Rotors

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Application of GA based neuro - fuzzy automatic generation for teleoperation systems

Application of GA based neuro - fuzzy automatic generation f...

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International Conference on Digital Content, Multimedia Technology and its Applications (IDC)

作者： Sara Manifar Mahdi Aliyari Shoorhedeli Department of Mechatronics Engineering Islamic Azad University Science and Research Tehran Iran Department of Mechatronics Engineering and Advanced Process Automation and Control (APAC) Research Group K.N. Toosi University of Technology Tehran Iran

This paper discusses the design of a controller for teleoperation systems which operate in contact with unknown environments. For this purpose, the controller in the slave part is designed to use a classical controller and a neuro-fuzzy controller. To have a haptic teleoperation, the force feedback from the contact point to the master side is needed. In this study virtual force is fed back to the master instead of the measured contact force and the feedback force is the position error i.e. the difference between the position of master and slave robots. Primary, classical controller was designed for this object, the gains of this controller is obtained by standard genetic algorithm (GA), in offline and optimization method at nominal operating point. In master-slave robot with classical controller, when, robot works in soft or hard environment and the operating point was changed, the obtained controller are not suitable. For this reason, online neuro - fuzzy gain scheduling controller are designed for this system to tune the controller's parameters. The NF trained in offline mode based on GA and in online application tuned the controller based on monitoring of operating point of system. This method makes the system robust to uncertainties such as modeling errors, parameter mismatches and disturbances. The simulation results show the ability of proposed method in compare of other controllers such as Kalman filter.

关键词： Force Equations Monitoring Iron Mathematical model

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Development of assistive technologies for safe operation of electric wheelchairs on sloping sidewalks and grade height differences

Development of assistive technologies for safe operation of ...

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IEEE/SICE International Symposium on System Integration

作者： Toshinobu Takei Yusuke Suzuki Osamu Matsumoto Yoshitaka Adachi Yu Sasaki Mitsuhiro Kamo Graduate School of Systems and Information Engineering University of Tsukuba Japan Department of Machinery and Control Systems College of Systems Engineering Shibaura Institute of Technology Japan Aisin Seiki Company Limited Japan Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan Department of Machinery and Control Systems Shibaura Institute of Technology College of Systems Engineering Japan

Accidents involving electric wheelchairs in Japan have increased as the nation's population ages. About half of all accidents are caused when the chair tips over sideways or backwards on a sidewalk. The authors have developed two kinds of safe technology intending to prevent such accidents. The first prevents the wheelchair from falling sideways on a sidewalk when the wheelchair is moving across the slope of a sidewalk. On a slope, the wheelchair easily swerves from the desired direction and goes down the slope because of gravity. The second measure prevents a large backward tipping angle when the wheelchair is moving up over grade height differences and slopes. The authors have configured a wheelchair which has a posture sensor, magnetic brake bar and small control board. Results of indoor experiments on not only simulated slopes and grade height differences but also in real outdoor environments have confirmed the effectiveness of the authors' support technology.

关键词： Wheelchairs Acceleration Angular velocity Wheels Safety Electromagnetics Accidents

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Sensor data fusion using fuzzy control for VOR-based vision tracking system

Sensor data fusion using fuzzy control for VOR-based vision ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hyun-il Kwon Jaehong Park Wonsang Hwang Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision tracking system to achieve high recognition performance under dynamic circumstances, using a fuzzy logic controller. The main concept of the proposed system is based on the vestibulo-ocular reflex (VOR) and the opto-kinetic reflex (OKR) of the human eye. To realize the VOR concept, MEMS inertial sensors and encoders are used for robot motion detection. This concept turns the camera towards a selected target, counteracting the robot motion. Based on the OKR concept, the targeting errors are periodically compensated, using vision information. The fuzzy logic controller uses sensor data fusion to detect slip or collision occurrences. To calculate a heading angle of the camera accurately, the output of the fuzzy logic controller and the vision information from the camera are combined, using an extended Kalman filter. The proposed vision tracking system is implemented in a mobile robot and evaluated experimentally. The experimental results are obtained as the tracking and the recognition success rate using a mobile robot. The developed system achieved the excellent tracking and recognition performance during slip or collision occurrences under dynamic circumstances.

关键词： Cameras Mobile robots Robot vision systems Machine vision Fuzzy logic

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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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International Workshop on Variable Structure systems, VSS

作者： Alejandra Ferreira Elisabetta Punta Department of Control Engineering Faculty Universidad Nacional Auténoma de México Mexico Mexico National Research Council of Italy Institute of Intelligent Systems for Automation ISSIA-CNR Genoa Italy

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.

关键词： Sliding mode control Uncertainty control systems Robustness Nonlinear control systems Observers State estimation Design methodology Robust control Variable structure systems

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High performance vision tracking system for mobile robot using sensor data fusion with Kalman filter

High performance vision tracking system for mobile robot usi...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jaehong Park Wonsang Hwang Hyun-il Kwon Jong-hyeon Kim Chang-hun Lee M. Latif Anjum Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Inter-University Semiconductor Research Center Seoul South Korea South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper introduces a high performance vision tracking system for mobile robot using sensor data fusion. For mobile robots, it is difficult to collect continuous vision information due to robot's motion. To solve this problem, the proposed vision tracking system estimates the robot's position relative to a target and rotates the camera towards the target. This concept is derived from the human eye reflex mechanism, known as the Vestibulo-Ocular Reflex (VOR), for compensating the head motion. This concept for tracking the target results in much higher performance levels, when compared with the conventional method that rotates the camera using only vision information. The proposed system do not require heavy computing loads to process image data and can track the target continuously even during vision occlusion. The robot motion information is estimated using data from accelerometer, gyroscope, and encoders. This multi-sensor data fusion is achieved using Kalman filter. The proposed vision tracking system is implemented on a two-wheeled robot. The experimental results show that the proposed system achieves excellent tracking and recognition performance in various motion scenarios, including scenarios where camera is temporarily blocked from the target.

关键词： Robot sensing systems Target tracking Machine vision Kalman filters Cameras

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A block-based adaptive super-exponential deflation algorithm for blind deconvolution of MIMO systems using the matrix pseudo-inversion lemma

A block-based adaptive super-exponential deflation algorithm...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Kiyotaka Kohno Mitsuru Kawamoto Yujiro Inouye Department of Electronic Control Engineering Yonago National College of Technology Yonago Tottori Japan Information Technology Research Institute National Institute for Advanced Industrial Science and Technology Koto Tokyo Japan Department of Electronic Control Systems Engineering Shimane University Matsue Shimane Japan

The matrix inversion lemma gives an explicit formula of the inverse of a positive-definite matrix A added to a block of dyads (represented as BB H ). It is well-known in the literature that this formula is very useful to develop a block-based recursive least-squares algorithm for the block-based recursive identification of linear systems or the design of adaptive filters. We already extended this result to the case when the matrix A is singular, and presented the matrix pseudo-inversion lemma. Such a singular case may occur in a situation where a given problem is overdetermined in the sense that it has more equations than unknowns. In this paper, based on these results, we propose a block-based adaptive multichannel super-exponential deflation algorithm. We present simulation results for the performance of the block-based algorithm in order to show the usefulness of the matrix pseudo-inversion lemma.

关键词： Deconvolution MIMO

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A class of data-driven based controller design and its parameters tuning method

A class of data-driven based controller design and its param...

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Chinese control Conference (CCC)

作者： Weihong Wang Zhongsheng Hou Haibo Huo Shangtai Jin School of Mechanical Engineering and Automation Beihang University Beijing 100191 China Advanced Control Systems Lab. School of Electronics and Information Engineering Beijing Jiaotong University 100044 China Department of Electrical Engineering Shanghai Ocean University 201306 China

Data-based control technique becomes a research hot point because of the controller design need the system I/O data only. A class of data-based controller design and its parameters tuning method (IFT-MFAC) was proposed for a class of discrete-time nonlinear system in this paper. Three controller structures are deduced according to non-parameters time-varying dynamic linearization theorem, then the controller parameters are tuning by IFT technique. The rationality of the 3 structures of the controller is assured by the theorem, whereas, the controller structure is designed blindly by IFT. Obviously, the new method settles down this problem more properly. Finally, the three data-based methods IFT-MFAC, MFAC and IFT were compared through 3 examples. And the simulation results show the validity of the IFT-MFAC.

关键词： Tuning Electronic mail Adaptive control Educational institutions Adaptation model Nonlinear dynamical systems Electrical engineering

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

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IFAC Proceedings Volumes 2010年第7期43卷 396-401页

作者： Balázs Németh Peter Gáspár Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary； Fax: +36-1-4633087； Phone: +36-1-4635574 Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary； Fax: +36-1-4667503； Phone: +36-1-2796171

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 simplified 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 effects 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.

关键词： vehicle dynamics velocity control robust control robust stability and performance automotive control

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