作者：
Xin CaiShaoyuan LiNing LiKang LiDepartment of Automation
Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics
Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK
This paper investigates variation of infinite horizon (IH) performance of Model Predictive control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equat...
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This paper investigates variation of infinite horizon (IH) performance of Model Predictive control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equations (DRE), an upper bound and a lower bound of the ratio between variation of IH performance of MPC and finite horizon (FH) optimal cost are obtained. The result shows the dynamic behavior of IH performance of closed-loop MPC systems as the optimization horizon varies.
In this paper we apply an optimal control technique to derive control fields that transfer an electron between ends of a chain of donors or quantum dots. We formulate the transfer as an optimal steering problem, and t...
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In this paper we apply an optimal control technique to derive control fields that transfer an electron between ends of a chain of donors or quantum dots. We formulate the transfer as an optimal steering problem, and then derive the dynamics of the optimal control. A numerical algorithm is developed to effectively generate control pulses. We apply this technique to transfer an electron between sites of a triple quantum dot and an ionized chain of phosphorus dopants in silicon. Using the optimal pulses for the spatial shuttling of phosphorus dopants, we then add hyperfine interactions to the Hamiltonian and show that a 500 G magnetic field will transfer the electron spatially as well as transferring the spin components of two of the four hyperfine states of the electron-nuclear spin pair.
Aim at enhancing dexterous and safe operation in unstructured environment, a cable-driven soft robotic manipulator is designed in this paper. Due to soft material it made of and nearly infinite degree of freedom it ow...
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ISBN:
(纸本)9781467363563
Aim at enhancing dexterous and safe operation in unstructured environment, a cable-driven soft robotic manipulator is designed in this paper. Due to soft material it made of and nearly infinite degree of freedom it owns, the soft robotic manipulator has higher security and dexterity than traditional rigid-link manipulator, which make it suitable to perform tasks in complex environments that is narrow, confined and unstructured. Though the soft robotic manipulator possesses advantages above, it is not an easy thing for it to achieve precise position control. In order to solve this problem, a kinematic model based on piecewise constant curvature hypothesis is proposed. Through building up three spaces and two mappings, the relationship between the length variables of 4 cables and the position and orientation of the soft robotic manipulator end-effector is obtained. Afterwards, a depth-independent image Jacobian matrix is introduced and an image-based visual servo controller is presented. Applied by adaptive algorithm, the controller could estimate unknown position of the feature point online, and then Lyapunov theory is used to prove the stability of the proposed controller. At last, experiments are conducted to demonstrate rationality and validity of the kinematic model and adaptive visual servo controller.
A multiple anti-windup loops under multiple dynamic activations strategy is proposed to enlarge the domain of attraction. This work is parallel to the multiple activation case with static *** traditional anti-windup c...
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ISBN:
(纸本)9781479900305
A multiple anti-windup loops under multiple dynamic activations strategy is proposed to enlarge the domain of attraction. This work is parallel to the multiple activation case with static *** traditional anti-windup compensator is activated immediately as the saturation *** was shown recently that,by delaying the activation of the anti-windup mechanism to a certain level,the performance can be improved for the closed-loop *** was further shown that better performance can be obtained by activating an anti-windup mechanism in anticipation of actuator saturation,in comparison with the delayed activation *** paper considers the anti-windup design problem of enlarging domain of attraction under a dynamic multiple activation *** this multiple activation scheme,the anticipatory,delayed and immediate activation mechanism is incorporated in the same framework simultaneously.A furthermore significant performance improvements over both the immediate and delayed activation schemes can be *** proposed dynamic multiple activation scheme established a unified anti-windup framework and can be readily extended to the traditional immediate,delayed and anticipatory activation anti-windup mechanisms.
Social media is widely utilized in the tobacco control campaigns. It is a great challenge to evaluate the efficiency of tobacco control policies on social network sites and find gaps among tobacco-oriented social netw...
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This paper addresses an issue of short-term traffic flow prediction in urban traffic networks with traffic signals in intersections. An effective spatial prediction approach is proposed based on a macroscopic urban tr...
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In the research field of Intelligent Transportation systems (ITS), traffic flow prediction is a key technology for traffic guidance and advanced control strategy. Accuracy and immediacy are the main requirements for p...
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An innovative sliding mode controller for looper and tension control in hot strip finishing mills was developed based on approximately linearized model. Firstly, a fictitious controller of the reduced order subsystem ...
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An innovative sliding mode controller for looper and tension control in hot strip finishing mills was developed based on approximately linearized model. Firstly, a fictitious controller of the reduced order subsystem was designed according to desired dynamics, by which, the angle and tension loops were decoupled on the sliding manifold. Then, a sliding mode controller was used to validate finite time convergence of the state vector to the manifold which guaranteed the stability and performances of the overall system. This solution was considered owing to its well- known robustness and simplicity characteristics concerning disturbances and unmodelled dynamics. Simulation results showed the effectiveness of the proposed controller compared with conventional ones.
作者：
史元浩王景成章云锋Department of Automation
Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education
Since the combustion system of coal-fired boiler in thermal power plant is characterized as time varying, strongly coupled, and nonlinear, it is hard to achieve a satisfactory performance by the conventional proportio...
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Since the combustion system of coal-fired boiler in thermal power plant is characterized as time varying, strongly coupled, and nonlinear, it is hard to achieve a satisfactory performance by the conventional proportional integral derivative (PID) control scheme. For the characteristics of the main steam pressure in coal-fired power plant boiler, the sliding mode controlsystem with Smith predictive structure is proposed to look for performance and robustness improvement. First, internal model control (IMC) and Smith predictor (SP) is used to deal with the time delay, and sliding mode controller (SMCr) is designed to overcome the model mismatch. Simulation results show the effectiveness of the proposed controller compared with conventional ones.
Background extraction is a fundamental task in many computer vision applications. This paper presents a novel method based on K-means Clustering Algorithm. First, the intensity values are divided into several groups b...
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