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作者： Ruiz, Magda Villez, Kris Sin, Gurkan Colomer, Joan Vanrrolleghem, Peter Control Engineering and Intelligent Systems Group -eXiT Department of Electronics Computer Science and Automatic Control University of Girona CP 17071 Girona Spain Department of Applied Mathematics Biometrics and Process Control Ghent University Coupure Links 653 B-9000 Ghent Belgium

ISBN: (纸本)9783902661142

The data set of batch biological and biotechnological processes can be organized in a three-way data matrix. In this paper the usefulness of different PCA approaches for monitoring is analyzed. Different ways of unfolding and scaling of data have been applied to a pilot-scale SBR data. PCA is used to reduce the dimensionality and to remove the non-linearity dynamic of the data. Moreover, a new method to select the number of principal components is proposed. Loadings graphics are used to determinate the predominant variables for each one. The results show that whatever model can be applied depending on the goal of the monitoring, however the models implicate possible false alarms or faults omission. Copyright © 2006 IFAC.

关键词： Process monitoring

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Robust stability checking of a class of linear interval fractional order system using lyapunov inequality

Robust stability checking of a class of linear interval frac...

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作者： Ahn, Hyosung Chen, YangQuan Podlubny, Igor Department of Electrical and Computer Engineering Utah State University Logan UT 84322-4160 United States Department of Applied Informatics and Process Control Technical University of Kosice B. Nemcovej 3 04200 Kosice Slovakia

ISBN: (纸本)9783902661128

This paper provides a new analytical robust stability checking method of fractional-order linear time invariant interval uncertain system. This paper continues the authors' previous work (Chen et al., 2005a) where matrix perturbation theory was used. For the new robust stability checking, Lyapunov inequality is utilized for finding the maximum eigenvalue of a Hermitian matrix. Through numerical examples, the usefulness and the effectiveness of the newly proposed method are verified.

关键词： Invariance

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Self-Tuning control for Rotation Type Inverted Pendulum Using Two Kinds of Adaptive controllers

Self-Tuning Control for Rotation Type Inverted Pendulum Usin...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Hiroshi Hirata Koji Haga Masatoshi Anabuki Shigeto Ouchi Phornsuk Ratiroch-Anant Department of Applied Computer Engineering Tokai University Hiratsuka Japan Department of Control Engineering Faculty of Engineering King Mongkut's Institute of Technology Bangkok Thailand

This paper presents the self-tuning control method for the rotation type inverted pendulum that the momentum of inertia of the pendulum part changes widely. The control system prepares two kinds of adaptive controllers, and the stabilization of inverted pendulum is achieved by separating the control mode to two stages. The rotational angle of the pendulum is stabilized by VSS (variable structure system) adaptive control method to unknown parameter system at the first stage, and whole basic parameters are simultaneously estimated in the parameter estimation system. After the eigenvalue of the inverted pendulum system converge sufficiently, the controller is changed to LQ (linear quadratic) control at the second stage. It is verified by the practical experiment that the proposed self-tuning strategy is very useful as one of the on-line tuning method

关键词： Programmable control Adaptive control control systems Variable structure systems Parameter estimation Eigenvalues and eigenfunctions Sliding mode control Nonlinear control systems Robots Recursive estimation

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Non-gradient Extremum Seeking control of Feedback Linearizable Systems with Application to ABS Design

Non-gradient Extremum Seeking Control of Feedback Linearizab...

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IEEE Conference on Decision and control

作者： Chunlei Zhang Raul Ordonez Etch Control Engineering Applied Materials Sunnyvale CA USA Department of Electrical and Computer Engineering University of Dayton Dayton OH USA

ISBN: (纸本)1424401704;9781424401703

In this paper, the extremum seeking control problem is treated as a real time optimization problem with dynamic system constraints. We propose a non-gradient trust region-based extremum seeking control scheme for state feedback linearizable systems, then extend to input-output feedback linearizable systems with some minor modifications. The main contribution of the trust region-based extremum seeking control is that we no longer require gradient information of the performance function and is of global convergence. We also present the convergence and robustness analysis. Simulation study of antilock braking system (ABS) design is addressed to illustrate the feasibility of the proposed scheme

关键词： Linear feedback control systems control systems Force measurement Design optimization State feedback Regulators Friction Sliding mode control Real time systems Nonlinear control systems

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Extremum Seeking control based on Numerical Optimization and State Regulation - Part II: Robust and Adaptive control Design

Extremum Seeking Control based on Numerical Optimization and...

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IEEE Conference on Decision and control

作者： Chunlei Zhang Raul Ordonez Applied Materials Etch Control Engineering Sunnyvale CA USA Department of Electrical and Computer Engineering University of Dayton Dayton OH USA

ISBN: (纸本)1424401704;9781424401703

We consider the employment of numerical optimization and state regulation to solve the extremum seeking control problem. For state feedback linearizable systems, we propose a novel design of the state regulator via output tracking in the companion paper (Zhang and Ordonez, 2006), where we trade off the finite time state regulation to obtain flexibility in designing robust extremum seeking controller in this paper. We employ existing techniques such as nonlinear damping and nonlinear adaptive control to deal with input disturbance and unmodeled plant dynamics, respectively. The results of the robust extremum seeking control design are illustrated by simulation

关键词： Design optimization Robust control Adaptive control Employment State feedback Regulators Linear feedback control systems control systems Damping control design

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Adaptive controller Design for Anti-Slip System of EV

Adaptive Controller Design for Anti-Slip System of EV

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Phornsuk Ratiroch-Anant Hiroshi Hirata Masatoshi Anabuki Shigeto Ouchi Department of Control Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Applied Computer Engineering Tokai University Hiratsuka Japan

The design strategy of adaptive controller for anti-slip system of EV (electric vehicle) is proposed. The proposed system is constructed by preparing both systems of disturbance observer and parameter estimation. The load variation of the tire slip is observed as the equivalent disturbance of motor system by employing the adaptive disturbance observer, and the vehicle speed is estimated. The tire slip is appropriately controlled by means of the feedback of the speed deviation between wheel speed and estimated vehicle speed. It is proved by the numerical simulations that the proposed methods provide satisfactory performance. Furthermore, the practical DC motor experiment set, which can give various slips, is constructed in order to investigate the effect of proposed anti-slip control system. It is verified that the proposed strategy is useful as one approach of anti-slip control

关键词： Programmable control Adaptive control control systems Tires DC motors Electric vehicles Parameter estimation Load management Feedback Wheels

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Computational issues of signal analysis in time domain

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WSEAS Transactions on computers 2006年第12期5卷 2919-2926页

作者： Hlupić, Nikica Basch, Danko Fertalj, Krešimir Department of Applied Computing University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb 10000 Croatia Department of Control and Computer Engineering University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb 10000 Croatia

This paper elaborates the present stage and predictable direction of future development of Sine Wave Calculator (SWC), a simple method for signal analysis in time domain that provides accuracy comparable to the best classical methods (relative errors about few times 10-6). The main SWC advantages are extreme simplicity, possibility of selection of samples and straightforward calculations, which makes it preferable solution for quick implementation. The main shortage is still unknown mathematical analysis of errors, which are probably unequal for different signal parameters.

关键词： Time domain analysis

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A control-design-based solution to robotic ecology: Autonomy of achieving cooperative behavior from a high-level astronaut command

A control-design-based solution to robotic ecology: Autonomy...

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作者： Wang, Jing Qu, Zhihua Ihlefeld, Curtis M. Hull, Richard A. Department of Electrical and Computer Engineering University of Central Florida Orlando FL 32816 United States Kennedy Space Center FL 32899 United States Lockheed Martin Missiles and Fire Control 5600 Sand Lake Rd. MP-450 Orlando FL 32819 United States School of Electrical and Computer Science University of Central Florida IEEE AIAA University of Central Florida Department of Electrical and Computer Engineering National Aeronautics and Space Administration Kennedy Space CenterKennedy Space Center Applied Physics Lab. Advanced Concepts Business Unit Science Applications International Corporation SAIC IEEE Control System Society

In this paper, we propose a cooperative control strategy for a group of robotic vehicles to achieve the specified task issued from a high-level astronaut command. The problem is mathematically formulated as designing the cooperative control for a general class of multiple-input-multiple-output (MIMO) dynamical systems in canonical form with arbitrary but finite relative degrees such that the outputs of the overall system converge to the explicitly given steady state. The proposed cooperative control for individual vehicle only need to use the sensed and communicated outputs information from its local neighboring vehicles. No fixed leader and time-invariant communication networks are assumed among vehicles. Particularly, a set of less-restrictive conditions on the connectivity of the sensor/communication networks are established, under which it is rigorously proven by using the newly found nice properties of the convergence of sequences of row stochastic matrices that the cooperative objective of the overall system can be achieved. Simulation results for a group of vehicles achieving a target and surrounding a specified object in formation are provided to support the proposed approach in this paper.

关键词： Robotics

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INFLUENCE OF SCALING AND UNFOLDING IN PCA BASED MONITORING OF NUTRIENT REMOVING BATCH PROCESS

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IFAC Proceedings Volumes 2006年第13期39卷 114-119页

作者： Magda Ruiz Kris Villez Gurkan Sin Joan Colomer Peter Vanrrolleghem 1Control Engineering and Intelligent Systems Group –eXiT Department of Electronics Computer Science and Automatic Control University of Girona Campus Montilivi CP 17071 Building PIV Girona - Spain Department of Applied Mathematics Biometrics and Process Control Ghent University Coupure Links 653 B-9000 Ghent – Belgium

关键词： Biological Process Process monitoring Multiway Principal Component Analysis (MPCA)

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Robustness and Performance Evaluation of the Fuzzy Texture Spectrum encoding

Robustness and Performance Evaluation of the Fuzzy Texture S...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： A. Barcelo P. Sobrevilla E. Montseny Center of Research in Biomedical Engineering Technical University of Catalonia Barcelona Spain Applied Mathematics Department Technical University of Catalonia Barcelona Spain Computer Engineering and Automatic Control Department Technical University of Catalonia Barcelona Spain

In a previous work we introduced the fuzzy texture spectrum (FTS) as a texture spectrum (TS)-based method wherein, for capturing the ambiguity of texture definitions and texture features variability of real images, unlike the original method the concepts of equal, greater, and smaller grey-levels were considered as fuzzy sets. In this paper both methods are analyzed and compared for robustness evaluation. To compare the FTS and the TS for texture characterization an entropy measure and a similarity-discriminatory criterion are considered for performance and robustness evaluation. Moreover, to make the fuzzy texture spectrum rotations invariant, texture units are grouped into classes.

关键词： Robustness Encoding Histograms Fuzzy sets Humans Biomedical engineering Entropy Statistics Image texture analysis Stochastic processes

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