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American control Conference (ACC)

作者： B. Vanek T. Peni J. Bokor G. Balas Department of AeroSpace Engineering and Mechanics University of Minnesota Minneapolis MN USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

An unmanned aerial vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compressed by polynomial functions with respect to the flight envelope constraints and transmitted to the followers, where a model predictive control (MPC) outer loop controller specifies the command signals for the 7-h locally controlled dynamics with respect to the nonlinear constraints of the aircraft dynamics. Real time feasibility issues associated with the design are discussed.

关键词： Trajectory Unmanned aerial vehicles Communication system control Aerodynamics Aircraft Vehicle dynamics Predictive models Predictive control Aerospace control Polynomials

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Generating multi-folded torus chaotic attractors

Generating multi-folded torus chaotic attractors

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International Conference on Physics and control

作者： Simin Yu Jinhu Lu Henry Leung Guanrong Chen College of Automation Guangdong University of Technology Guangzhou China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Calgary AB Canada Department of Electronic Engineering City University of Hong Kong China

A systematic methodology for generating multi-folded torus chaotic attractors from a simple three-dimensional piecewise-linear system is presented in this paper. Theoretical analysis shows that multi-folded torus chaotic attractors can be created via alternative switching between two piecewise-linear systems. A novel circuit diagram is designed for physically creating multi-folded torus chaotic attractors. This is the first time in the literature to experimentally verify a maximum 9-folded torus chaotic attractor that is generated by an analog circuit.

关键词： Chaos Piecewise linear techniques Oscillators Laboratories Analog circuits Electric breakdown Bifurcation Educational institutions automation Automatic generation control

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Design exploration in HW/SW co-design of real-time object-oriented embedded systems: the scheduler object

Design exploration in HW/SW co-design of real-time object-or...

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Workshop on Object-Oriented Real-Time Dependable systems (WORDS)

作者： E.T. Silva M.A. Wehrmeister L.B. Becker F.R. Wagner C.E. Pereira Computer Science Institute Federal University of Rio Grande do Sul Brazil Automation and Control Systems Department Federal University of Santa Catarina Brazil Electrical Engineering Department Federal University of Rio Grande do Sul Brazil

This paper discusses a design flow for multithread object-oriented real-time applications, running on top of an embedded, platform-based, customizable Java processor, which is prototyped using affordable FPGAs. The proposed approach enforces design space exploration activities, taking into account aspects like temporal behavior, memory footprint, and power/energy consumption. A case study containing a task scheduler implementation as both software and hardware modules is presented. While both implementations are compatible with the developed program from an interface point of view, they lead to different timing and footprint requirements. Their evaluation in terms of memory occupation and number of FPGA logic cells is presented.

关键词： Real time systems Embedded system Processor scheduling Field programmable gate arrays Application software Java Software prototyping Prototypes Space exploration Energy consumption

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An object-oriented platform-based design process for embedded real-time systems

An object-oriented platform-based design process for embedde...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： M.A. Wehrmeister L.B. Becker F.R. Wagner C.E. Pereira Computer Science Institute Federal University of Rio Grande do Sul Brazil Automation and Control Systems Department Federal University of Santa Catarina Brazil Electrical Engineering Department Federal University of Rio Grande do Sul Brazil

The growing complexity of today's embedded real-time systems demands new methods and tools in order to manage the problems of design, analysis, integration and validation of complex systems. This paper describes an object-oriented platform-based design process for real-time embedded systems. The proposed approach promotes a smooth transition from high-level UML specification to implementation, which is composed by hardware and software components. The transition from higher to lower abstraction levels is facilitated by the use of an OO realtime API, whose underlying facilities can be optimized according to the application needs and selected platform. An integrated toolset is used to support the intermediate steps of the design process. In order to illustrate the proposed approach and related toolset the design of an embedded real-time automation system for an "intelligent" wheelchair is presented.

关键词： Process design Real time systems Embedded system Hardware Embedded software Design methodology Unified modeling language Design automation Object oriented modeling Java

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control of pendulum from human adaptive mechatronics

Control of pendulum from human adaptive mechatronics

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2005中国控制与决策学术年会

作者： Katsuhisa Furuta Masami Iwase Karl Astrom Deptartment of Computers and Systems Engineering Tokyo Denki UniversitySaitama 350-0394Japan Department of Automation Control Lund Institute of Institute of TechnologyBox 118 SE-221 00 Lund. Sweden.

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A bandwidth allocation scheme on MS/TP protocol

A bandwidth allocation scheme on MS/TP protocol

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IEEE International Conference on Industrial Informatics (INDIN)

作者： S.H. Hong W.S. Song Y.C. Kwon T.C. Park Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Ansan South Korea I Controls Inc. Seongnam South Korea Automation R&D Center LG Industrial Systems Anyang South Korea

The use of network-based control has become widespread in building automation systems. BACnet(building automation and control networks) adopts master-slave/ token-passing(MS/TP) protocol as one of its local area networks. This study introduces a bandwidth allocation scheme in the MS/IP protocol. The bandwidth allocation scheme improves the capability of real-time communication of the original MSA IT protocol. The bandwidth allocation scheme introduced in this paper can he easily implemented in the existing MS/TP protocol with a slight modification. In this study, we examined the validity of bandwidth allocation scheme using simulation models. The results from the simulation experiment show that the proposed scheme satisfies the requirements of real-time communication.

关键词： Channel allocation Protocols Automatic control Communication system control Buildings control systems automation Local area networks Telecommunication traffic Electronic mail

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DISTRIBUTED CONTINUOUS PROCESS SIMULATION: AN INDUSTRIAL CASE STUDY

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IFAC Proceedings Volumes 2005年第1期38卷 147-152页

作者： Raúl Alves Santos Julio E. Normey-Rico Alejandro Merino Gómez Cesar de Prada Moraga Department of Automation and Systems. Federal University of Santa Catarina. 88040-900 CTC-UFSC. Florianópolis-SC Brazil Center of Sugar Tecnology. University of Valladolid. Edificio Alfonso VIII 47011. Valladolid. Spain Department of Systems Engineering and Automatic Control. University of Valladolid c/ Real de Burgos s/n 47011 Valladolid Spain

This paper presents a case study of the creation of distributed continuous simulations using DCOM components. The proposed approach considers each part of the simulation as a DCOM component and uses an efficient simulation modeling language, EcosimPro, to perform the simulations contained in each one. This procedure has been applied to an industrial scale simulation corresponding to a sugar beet factory. The effect of the distribution degree in the performance has been studied. The simulation has been used to test advanced control algorithms and also in the construction of a simulator training system.

关键词： Distributed Simulation Process control Process Simulators Training

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Adaptive H∞ RBFN tracking control for nonlinear systems with unknown hysteresis

Adaptive H∞ RBFN tracking control for nonlinear systems wit...

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Proceedings of the 2004 IEEE International Symposium on Intelligent control - 2004 ISIC

作者： Tong, Zhao Tan, Yonghong Department of Automation Shanghai Jiaotong University Shanghai 20030 China Lab. of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China

In this paper, a radial basis function network (RBFN) based adaptive H ∞ control scheme for nonlinear systems with unknown hysteresis nonlinearity is developed. This scheme applies the method of pseudo-control to the design of the control strategy for the systems with hysteresis that can not be measured directly. For the uncertainty of unknown hysteresis, H ∞ optimal control technique based on RBF neural network is utilized. Therefore, the tracking error of the system is suppressed to a prescribed small region. Finally, the effectiveness of the proposed control scheme is illustrated through simulation. © 2004 IEEE.

关键词： Tracking (position)

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Output Feedback control of Networked systems

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International Journal of automation and computing 2004年第1期1卷 26-34页

作者： Shumei Mu, Tianguang Chu, Long Wang Intelligent control Laboratory, Center for systems and control, department of Mechanics and engineering Science Peking University, Beijing 100871, PRC Wensheng Yu Institute of automation Chinese Academy of Sciences, Beijing 100080, PRC Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing PRC Institute of Automation Chinese Academy of Sciences Beijing PRC

This paper considers the problem of control of networked systems via output feedback. The controller consists of two parts: a state observer that estimates plant state from the output when it is available via the communication network, and a model of the plant that is used to generate a control signal when the plant output is not available from the network. Necessary and sufficient conditions for the exponential stability of the closed loop system are derived in terms of the networked dwell time and the system parameters. The results suggest simple procedures for designing the output feedback controller proposed. Numerical simulations show the feasibility and efficiency of the proposed methods.

关键词： Networked control systems (NCSs) output feedback global exponential stability

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A bisection algorithm for the mixed μ upper bound and its supremum

A bisection algorithm for the mixed μ upper bound and its s...

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Proceedings of the 2004 American control Conference (AAC)

作者： Fransson, Carl-Magnus Saunders, Michael A. Control and Automation Laboratory Department of Signals Chalmers University of Technology SE-412 96 Göteborg Sweden Systems Optimization Laboratory Dept. of Mgmt. Sci. and Engineering Stanford University Stanford CA 94305-4026 United States

A new approach to computing the mixed μ upper bound (ν) is presented. The method exploits the fact that a positive definite matrix V(α) becomes singular when the scalar parameter a decreases to a critical value for a given frequency. A two-level optimization strategy is used with a bisection algorithm branching on the definiteness of V in an outer loop, and a Semi-Definite Programming (SDP) problem is formulated in an inner loop. Three different formulations are posed for the inner loop. The first uses a feasibility formulation (no objective function) with a constraint V 0, which tends to make V singular if possible. The second introduces an additional variable that makes the SDP feasible at all times. In the third formulation, the trace of V is minimized with the constraint V 0, which tends to minimize the rank of V and hence make V singular. The method is applied to a distillation column benchmark problem. Although it is computationally more expensive than existing methods when computing ν for a single frequency, it is a conceptually simple method that can be efficient when computing the supremum of ν with respect to frequency.

关键词： control system analysis

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