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2008 IEEE International Conference on Acoustics, Speech and Signal Processing, Pages 3617-4068

作者： Shenpeng Li Jingxin Zhang Li Chai Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia Department of Automatic Control Wuhan University of Science and Technology China

This paper is concerned with signal predictive subband quantization in oversampled filter banks. It uses the analysis tools of robust filtering and control to obtain a worst case power spectral analysis of the prediction error system. The analysis removes the unrealistic assumptions on the quantization noises in the present literature and leads to the definition of H_(infinity) optimal signal predictor. Based on this analysis, an LMI optimization based method is obtained to design the H_(infinity) optimal signal predictor with guaranteed inverse stability. Simulation results are presented to show the advantages of the H_(infinity) optimal signal predictor over the conventional signal predictor.

关键词： Quantization Filter bank Signal analysis Noise robustness Robust control Filtering control systems Spectral analysis Error correction Design optimization

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Newton Method based Iterative Learning control of the Upper Limb

Newton Method based Iterative Learning Control of the Upper ...

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2008 American control Conference (ACC), vol.9

作者： I. L. Davies C. T. Freeman P. L. Lewin E. Rogers D. H. Owens School of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

A non-linear iterative learning control algorithm is used for the application of functional electrical stimulation to the human arm. The task is to track trajectories in the horizontal plane and stimulation is applied to the triceps muscle. A model of the system is first produced, and then the equations required to implement the control law are derived. Practical considerations are high-lighted and the issue of parameter selection is discussed. Experimental results are subsequently presented, and are used to confirm that the algorithm is capable of exhibiting robustness together with achieving a high level of performance when practically applied to a control problem.

关键词： Newton method Iterative methods Robots control systems Neuromuscular stimulation Trajectory Muscles Electrical stimulation Iterative algorithms Humans

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Ride-through improvement of wind-turbines via feedback linearization

Ride-through improvement of wind-turbines via feedback linea...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jose Matas Pedro Rodriguez Josep M. Guerrero Juan C. Vasquez Department Electronic Engineering Universitat Politecnica de Catalunya Barcelona Spain Department Automatic Control Systems and Computer Universitat Politecnica de Catalunya Barcelona Spain

As the grid code specifies, wind turbines have to remain connected to the grid at voltage levels far below the nominal values. The improvement of wind turbine performance under such conditions has become a problem of general concern. However, this performance usually relies on conventional linear controllers that operate at network faults far off the nominal point for which they were designed. As a consequence, wind turbines should operate with increasing converter currents, which may result in converter damage. This paper proposes a nonlinear controller for converter-based wind turbines that ensures that the currents are maintained within the design limits, even at deepest voltage dips, thus improving the wind turbines fault ride-through capability. The controller is based on feedback linearization theory and linearizes the system by a control approach that takes into account the energy stored on the converter dc-link capacitor. This controller has few nonlinear terms and is feasible to implement into modern floating, or fixed point, digital signal processors.

关键词： Power system stability Feedback Wind turbines Voltage fluctuations Circuit faults Wind farms Wind energy Power generation Synchronous generators Voltage control

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Combining PMD and Stereo camera for Motion Estimation of a Mobile Robot

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IFAC Proceedings Volumes 2008年第2期41卷 5417-5422页

作者： C. Netramai O. Melnychuk C. Joochim H. Roth Center for Sensor Systems (ZESS). Paul-Bonatz-Strasse 9-11 57076 Institute of Automatic Control Engineering Department of Electrical Engineering and Computer Science. Hoelderlinstr. 3 57068. University of Siegen Germany

This paper introduces an improvement to the 6D motion estimation solution by combining the Photonic Mixer Device (PMD) and Stereo Camera. The main feature of the stereo camera is the higher resolution of the 2D image compared to the one from the PMD camera. Whereas the depth information derived from a PMD is usually far superior to the result from a stereo camera. This work hence proposes a combination scheme for the PMD and stereo camera in order to improve the results of the motion estimation. The combined setup was placed on a mobile robot and carried on the 6D motion estimation task using a provided artificial landmark. The robot was moved around while the combined setup simultaneously captures 3D images of the landmark from each new position. The motion was estimated based on the matching of the captured 3D images between two successive positions. The classical singular value decomposition (SVD) algorithm was used to solve the matching problem. The referent points for the SVD algorithm were extracted from the landmark using a robust corner detection algorithm. The experiments were fulfilled using 1) stereo 2) PMD and 3) combination of stereo and PMD camera. The results of these three arrangements are compared and the outcome of the comparing are presented.

关键词： Stereo vision Motion estimation Mobile robots Singular value decomposition Range images PMD camera

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On the existence and uniqueness of solutions for the concept values in Fuzzy Cognitive Maps

On the existence and uniqueness of solutions for the concept...

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IEEE Conference on Decision and control

作者： Yiannis Boutalis Theodoros Kottas Manolis Christodoulou Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Electrical Electronic and Communication Engineering Chair of Automatic Control University of Erlangen Nuremberg Germany Department of Electrical and Computer Engineering Democritus University of Thrace Thrace Greece Electronic and Computer Engineering Technical University of Crete Crete Greece

ISBN: (纸本)9781424431236

Fuzzy cognitive maps (FCM) have been introduced by Kosko to model complex behavioral systems in various scientific areas. One issue that has not been adequately studied so far is the conditions under which they reach a certain equilibrium point after an initial perturbation. This is equivalent to studying the existence and uniqueness of solutions for their concept values. In this paper, we study the existence of solutions by using an appropriately defined contraction mapping theorem. It is proved that when the weight interconnections fulfill certain conditions the concept values will converge to a unique solution regardless the exact values of the initial concept values perturbations. Otherwise the existence or the uniqueness of equilibrium can not be assured. The results are considered very significant because set the basis for the development of reliable system identification and control schemes based on the concept of FCM. In view of these results recently proposed extensions of FCM, the fuzzy cognitive networks are invoked.

关键词： Fuzzy cognitive maps System identification control systems Fuzzy control Fuzzy systems Humans Power system modeling Decision making Power engineering and energy automatic control

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Utilizing Model Structure for Efficient Simultaneous Localization and Mapping for a UAV Application

Utilizing Model Structure for Efficient Simultaneous Localiz...

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IEEE Conference on Aerospace

作者： Rickard Karlsson Thomas B. Schon David Tornqvist Gianpaolo Conte Fredrik Gustafsson Division of Automatic Control Department of Electrical Engineering Linköping University Linkoping Sweden Division of Artificial Intelligence and Integrated Computer System Department of Computer and Information Science Linköping University Linkoping Sweden

This contribution aims at unifying two recent trends in applied particle filtering (PF). The first trend is the major impact in simultaneous localization and mapping (SLAM) applications, utilizing the FastSLAM algorithm. The second one is the implications of the marginalized particle filter (MPF) or the Rao-Blackwellized particle filter (RBPF) in positioning and tracking applications. Using the standard FastSLAM algorithm, only low-dimensional vehicle models are computationally feasible. In this work, an algorithm is introduced which merges FastSLAM and MPF, and the result is an algorithm for SLAM applications, where state vectors of higher dimensions can be used. Results using experimental data from a UAV (helicopter) are presented. The algorithm fuses measurements from on-board inertial sensors (accelerometer and gyro) and vision in order to solve the SLAM problem, i.e., enable navigation over a long period of time.

关键词： Simultaneous localization and mapping Unmanned aerial vehicles Particle filters Filtering Particle tracking Computational modeling Helicopters Fuses Time measurement Sensor fusion

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Guaranteed Dominant Pole Placement with PID controllers

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IFAC Proceedings Volumes 2008年第2期41卷 5842-5845页

作者： Qing-Guo Wang Zhiping Zhang Karl Johan Astrom Yu Zhang Yong Zhang Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Automatic Control Lund Institute of Technology Sweden Global Research Shanghai GE China Technology Center Pudong Shanghai 201203 China

Pole placement is a well-established design method for linear control systems. Note however that with an output feedback controller of low-order such as PID one cannot achieve arbitrary pole placement for a high-order or delay system, and then partially or hopefully, dominant pole placement becomes the only choice. To the best of the authors’ knowledge, no method is available in the literature to guarantee dominance of the assigned poles in the above case. This paper proposes two simple and easy methods which can guarantee the dominance of the assigned two poles for PID control systems. They are based on Root-Locus and Nyquist plot, respectively. If a solution exists, the parametrization of all the solutions is explicitly given. Examples are provided for illustration.

关键词： PID controllers Dominant Poles Pole Placement Root-Locus Nyquist Plot

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MIMO Quantitative Robust control of a Wastewater Treatment Plant for Biological Removal of Nitrogen and Phosphorus

MIMO Quantitative Robust Control of a Wastewater Treatment P...

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2008 Mediterranean Conference on control Automation, vol.1

作者： M. Garcia-Sanz I. Eguinoa M. Gil-Martinez I. Irizar E. Ayesa The Automatic Control and Computer Science Department Public University of Navarra Pamplona Spain The Electrical Engineering Department University of La Rioja Logrono Spain CEIT San Sebastian Spain

This paper applies a recent full-matrix multi-input-multi-output QFT controller design methodology to simultaneously regulate nitrogen and phosphorus concentrations in the effluent of a wastewater treatment plant (WWTP) according to environmental standard policies. The robust controller is based on two terms: a non-diagonal pre-compensator for decoupling and a diagonal controller for robust performance and stability. Simulation results show the benefits of the control strategy for WWTP-type complex processes with large channel-interaction and uncertainty.

关键词： Quantitative Feedback Theory (QFT) Robust MIMO control Wastewater treatment plants

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Adaptive droop control applied to distributed generation inverters connected to the grid

Adaptive droop control applied to distributed generation inv...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Juan C. Vasquez Josep M. Guerrero Eduard Gregorio Pedro Rodriguez Remus Teodorescu Frede Blaabjerg Department Automatic Control Systems and Computer Engineering Universitat Politecnica de Catalunya Barcelona Spain Department of Electrical Engineering Universitat Politecnica de Catalunya Terrassa Spain Institute of Energy Technology University of Aalborg Aalborg Denmark

This paper proposes a novel control for voltage source inverters connected to the grid. The control scheme is based on the droop method, and it uses some estimated variables from the grid such as the voltage and the frequency, and the magnitude and angle of the grid impedance. Hence, the inverter is able to inject independently active and reactive power to the grid. The controller provides a proper dynamics decoupled from the grid impedance. Simulation results are provided in order to show the feasibility of the control proposed.

关键词： Distributed control Programmable control Adaptive control Inverters Voltage Frequency Impedance Reactive power Adaptive filters automatic control

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Nonlinear PI control for dissolved oxygen tracking at wastewater treatment plant

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IFAC Proceedings Volumes 2008年第2期41卷 13587-13592页

作者： Y. Han M.A. Brdys R. Piotrowski Department of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK Department of Automatic Control Gdansk University of Technology ul. G. Narutowicza 11/12 80 952 Gdansk Poland

The paper addresses design, implementation and simulation of a novel type of softly switched Takagi-Sugeno fuzzy PI control system for dissolved oxygen concentration ( DO ) tracking at wastewater treatment plant ( WWTP ). The proposed control system is designed, including tuning the PI controllers, entirely based on the experimental data. This control system is validated by simulation.

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