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Design of H_(infinity) Command and control Loops for Unmanned Aerial Vehicles using Static Output-Feedback

Design of H_(infinity) Command and Control Loops for Unmanne...

引用

Proceedings of the 46th IEEE Conference on Decision and control, Pages 1-459

作者： J. Gadewadikar F. Lewis K. Subbarao Ben M. Chen Systems Research Institute Department of Advanced Technologies Alcorn State University USA Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Mechanical and Aerospace Department University of Texas Arlington TX USA Department of Electrical & Computer Engineering National University of Singapore Singapore

The aim of this paper is to design a helicopter position control system with guaranteed performance that allows tracking control of Unmanned Aerial Vehicle positions -^sX, Y, Z, and yaw while preserving a structure that is generally accepted in the helicopter control community. The paper presents an approach for designing compensators for shaping the closed-loop inertial positions and yaw step response using H_(infinity) output-feedback design techniques. Simplified conditions are used which only require the solution of two coupled matrix design equations. H_(infinity) framework is utilized to pose the problem of stabilization as an outer position command loop and an inner control loop. Inner loop controls attitude rates along with roll and pitch and provides robustness and structure. This paper thereby presents a design for hover and station-keeping control of UAV helicopters. It is shown that the rotorcraft model can be first loop shaped to achieve desired characteristics about the hover operating condition. A numerically efficient solution algorithm to solve the H_(infinity) coupled design equations for both inner and outer loops is used. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example.

关键词： Helicopters Unmanned aerial vehicles control systems Attitude control Riccati equations Vehicle dynamics Output feedback Linear matrix inequalities Shape control USA Councils

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Robust Super-exponential methods for blind deconvolution of MIMO-FIR systems with Gaussian noise

Robust Super-exponential methods for blind deconvolution of ...

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European Signal Processing Conference (EUSIPCO)

作者： Kiyotaka Kohno Yujiro Inouye Mitsuru Kawamoto Department of Electronic and Control Systems Engineering Shimane University Matsue Shimane Japan Shimane Daigaku Matsue Shimane JP Information Technology Research Institute National Institute of Advanced Industrial Science and Technology Central 2 Tsukuba Ibaraki Japan

The so called “super-exponential” methods (SEMs) are attractive methods for solving multichannel blind deconvolution problem. The conventional SEMs, however, have such a drawback that they are very sensitive to Gaussian noise. To overcome this drawback, the robust super-exponential methods (RSEMs) were proposed for single-input single-output infinite impulse response (SISO-IIR) channels and for multi-input multi-output (MIMO) static channels (instantaneous mixtures). While the conventional SEMs use the second-and higher-order cumulants of observations, the RSEMs use only the higher-order cumulants of observations. Since higher-order cumulants are insensitive to Gaussian noise, the RSEMs are robust to Gaussian noise. We proposed an RSEM extended to the case of MIMO-FIR channels (convolutive mixtures). To show the validity of the proposed RSEM, some simulation results are presented.

关键词： Gaussian noise Robustness Deconvolution Equalizers Signal to noise ratio MIMO

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Polytopic Decomposition of the Linear Parameter-varying Model of the Parallel-type Double inverted Pendulum

Polytopic Decomposition of the Linear Parameter-varying Mode...

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IEEE International Conference on Intelligent Engineering systems (INES)

作者： Szabolcs Nagy Zoltan Petres Peter Baranyi Laszlo Szeidl Pal Michelberger Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Budapest Tech Polytechnical Institution Budapest Hungary Department of Vehicle and Light Weight Structures Analysis Budapest University슠of슠Technology슠and슠Economics Hungary

Most of the formal controller synthesis approaches require conditions like controllability, observability of the systems, however it is still difficult to verify these properties in general. In case of polytopic models these conditions and the feasibility of the linear matrix inequalities (LMI) based design strongly depends on the weighting of the LTI vertex components of the polytopic model. With tensor product (TP) model transformation it is possible to decompose linear parameter-varying (LPV) models into polytopic forms in various ways and also provides the appropriate weighting functions. The objective of this paper is to use this decomposition on the the parallel-type double inverted pendulum control problem.

关键词： Tensile stress Strontium Automatic control control system synthesis Lighting control Linear matrix inequalities Matrix decomposition Concurrent computing automation Electronic mail

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Experimental verifications on control and sensing of bucky gel actuator/sensor

Experimental verifications on control and sensing of bucky g...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Norihiro Kamamichi Masaki Yamakita Kinji Asaka Zhi-Wei Luo Toshiharu Mukai Bio-mimetic Control Research Center (BMC) The Institute of Physical and Chemical Research (RIKEN) Nagoya Japan Department of Robots and Mechatronics School of Future Science Tokyo Denki University Tokyo Japan BMC RIKEN Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Tokyo Japan BMC RIKEN Research Institute for Cell Engineering National Institute of Advanced Industrial Science and Technology (AIST) Odaka Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Since sensor and actuator functions exist in a same device, flexible and miniature integrated actuator-sensor systems for soft robotics can be constructed easily. In this study, we conduct some experiments to verify the possibility of the bucky gel actuator/sensor. Feedback controls of the actuator are demonstrated and the characteristics of the sensor are investigated. By utilizing both functions of the actuator and the sensor, feedback control based on the sensor signal is demonstrated.

关键词： Actuators Sensor phenomena and characterization Polymer gels Feedback control Electrodes Casting Shape Force sensors Sensor systems Robot sensing systems

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Ramp metering based on adaptive critic designs

Ramp metering based on adaptive critic designs

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ITSC 2006: 2006 IEEE Intelligent Transportation systems Conference

作者： Xu, Jing Yu, Wen-Sheng Wang, Fei-Yue Institute of Automation Chinese Academy of Sciences Beijing 100080 China University of Arizonas Systems and Industrial Engineering Department Program in Advanced Research of Complex Systems Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences

ISBN: (纸本)1424400945

This paper presents the technique of adaptive critic designs (ACDs) for resolving some traffic control problems, such as urban traffic signal control, ramp metering, highway speed control and so on. ACDs are adaptive optimal methods, whose main idea is to approximate dynamic programming solutions by using a function approximation structure such as neural networks to approximate the cost function or its derivatives. They combine the positive features of both the traditional dynamic programming (e.g., optimality and feedback) and the neural networks (e.g., numerical and real-time properties). Due to these exciting merits, they are promising in handling the traffic control problems which have strong nonlinear, stochastic and real-time characteristics. In this paper, a close look at two typical adaptive critic designs is conducted. Specifically, we demonstrate the use of a specific adaptive critic design for the local on-ramp metering control problem. Simulation results indicate that the proposed controller has good performance. © 2006 IEEE.

关键词： Traffic control

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An agent-based controller for vehicular automation

An agent-based controller for vehicular automation

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ITSC 2006: 2006 IEEE Intelligent Transportation systems Conference

作者： He, Feng Wang, Fei-Yue Tang, Shuming IEEE Key Laboratory for Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing China Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States Institute of Automation Shandong Academy of Sciences Jinan 250014 China

ISBN: (纸本)1424400945

In this paper, we present a design of controller for vehicular automation based on mobile agent technology. In this approach, the control goal is conducted by coordinating active or default agents based on sensory feedback and vehicle conditions. A hosting mechanism determines which agent has the right to control the vehicle and make the decision. Those agents are divided into two groups: default agents which are developed by fuzzy rules, and active agents which are produced by neural networks. Fuzzy agents locate in the vehicle and neural network agents locate in remote server. Two types of agents have similar function but different performance, so those agents produced by neural network can transfer back to the vehicle after learning to replace default fuzzy agents according to mobile agent technology. The performance of the proposed technique is illustrated by simulation studies of a vehicle longitudinal control system. © 2006 IEEE.

关键词： Land vehicle propulsion

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Adaptive pseudo linear RBF model for process control

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Yu, Ding-Wen Yu, Ding-Li Department of Automation Northeast University Qinhuangdao China Control Systems Research Group School of Engineering Liverpool John Moores University Byrom Street Liverpool L3 3A United Kingdom

ISBN: (纸本)3540344373

A pseudo-linear radial basis function (PLRBF) network is developed in this paper. This network is used to model a real process and its weights are on-line updated using a recursive orthogonal least squares (ROLS) algorithm. The developed adaptive model is then used in model predictive control strategy, which is applied to a pilot multivariable chemical reactor. The first stage of the project, simulation study, has been investigated and is presented. The effectiveness of the adaptive control in improving the closed-loop performance has been demonstrated for process time-varying dynamics and model-process mismatch. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Process control

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Modeling and analysis of artificial transportation system based on multi-agent technology

Modeling and analysis of artificial transportation system ba...

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ITSC 2006: 2006 IEEE Intelligent Transportation systems Conference

作者： He, Feng Miao, Qinghai Li, Yuantao Wang, Fei-Yue Tang, Shuming IEEE Key Laboratory for Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences CO 100080 Beijing China Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States Institute of Automation Shandong Academy of Sciences Jinan 250014 China

ISBN: (纸本)1424400945

This paper presents the multi-agent architecture for artificial transportation system. In this architecture, Petri net is used as basic model to represent agents. At an intersection, the agents are divided into two groups: one for the traffic-signal and the other for the vehicle flow, which are integrated to represent the behavior of this intersection. In addition, those agents can be used as the modularity to represent urban network of more scale. To coordinate different intersection agents, game theory is used to design coordination strategy between agents. The iterated elimination of strictly dominated strategies algorithm is presented to find Nash equilibrium. © 2006 IEEE.

关键词： Transportation

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Modeling interactions in artificial transportation systems using petri net

Modeling interactions in artificial transportation systems u...

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ITSC 2006: 2006 IEEE Intelligent Transportation systems Conference

作者： Zhu, Fenghua Wang, Zhixue Wang, Fei-Yue Tang, Shuming IEEE Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences CO 100080 Beijing China Key Laboratory for Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing China Program for Advanced Research in Complex Systems Department of Systems and Industrial Engineering University of Arizona Tucson AZ 85719 United States Institute of Automation Shandong Academy of Sciences Jinan 250014 China

ISBN: (纸本)1424400945

Agents and interactions between them are two key roles in modeling artificial transportation systems. This paper presents a formal theory to describe interactions between agents, which, together with the well developed models to describe components as agents, completes the first step towards establishing the formal structure for artificial transportation systems. By describing individual agents and the interactions between them as independent simple sequence processes and directive communication channels respectively, we models the whole system as one sequential communications system, which is one special type of Petri net. The theory is flexible enough to model diversified interactions between agents, and the resultant model possesses favorable properties. A case study of modeling road network has been conducted for the purpose of illustration. © 2006 IEEE.

关键词： Transportation

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Robust Super-Exponential Methods for Blind Equalization of MIMO-IIR systems

Robust Super-Exponential Methods for Blind Equalization of M...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： K. Kohno Y. Inouye M. Kawamoto Department of Electronic and Control Systems Engineering Shimane University Shimane Japan Information Technology Research Institute National Institute of Advanced Industrial Science and Technology Ibaraki Japan

The so called "super-exponential" methods (SEMs) are attractive methods for solving multichannel blind deconvolution problem. The conventional SEMs, however, have such a drawback that they are very sensitive to Gaussian noise. To overcome this drawback, the robust super-exponential method (RSEM) were proposed for single-input single-output infinite impulse response (SISO-IIR) channels and for multi-input multi-output (MIMO) static channels (instantaneous mixtures). While the conventional SEMs use the second- and higher-order cumulants of observations, the RSEM uses only the higher-order cumulants of observations. Since higher-order cumulants are insensitive to Gaussian noise, the RSEM is robust to Gaussian noise. We proposed an RSEM extended to the case of MIMO-IIR channels (convolutive mixtures). To show the validity of the proposed RSEM, some simulation results are presented

关键词： Blind equalizers Gaussian noise Noise robustness MIMO Deconvolution Independent component analysis Signal processing Industrial electronics Centralized control control systems

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