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Fundamental principle and synthesis of variable structure control for nonlinear neutral control systems with time-delays *

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IFAC Proceedings Volumes 1999年第2期32卷 2227-2232页

作者： Cun-Chen Gao Zhen-Guang Yung Xin-Zheug Zhang Yong-Qing Liu Department of Mathematics and Computer Science Yantai Teachers University Yantai 264025 P.R.China Department of Automatic Control Engineering South China University of Technology Guangzhou 510641 P.R.China

This paper investigates the practicality problem of the equivalent control method for nonlinear neutral type variable structure control system (VSCS) with time-delays. Existence of the sliding mode for the system is given, and the conditions under which the sliding process has nothing to do with the external disturbance and parameter perturbation are obtained. At last, the synthetical method of the VSCS is provided and illustrated by an example of chemical process.

关键词： nonlinear neutral variable structure control delays sliding-mode control.

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Lyapunov stability theory for linear repetitive processes - The 1D equation approach

Lyapunov stability theory for linear repetitive processes - ...

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1999 European control Conference, ECC 1999

作者： Rogers, E. Gramacki, J. Gramacki, A. Galkowski, K. Owens, D.H. Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417355

This paper reports further development of the so-called ID Lyapunov equation based approach to the stability analysis of differential linear repetitive processes. In particular, it is shown that this approach leads to stability tests which can be implemented by computations with matrices which have constant entries, and that if the example under consideration is stable then physically meaningful information concerning one key aspect of 'transient' performance is available for no extra cost. The computational efficiency of these new stability tests against alternatives is also discussed and some areas for short to medium term further research briefly noted. © 1999 EUCA.

关键词： Linear systems

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Vision based assisted operations in underwater environments using ropes

Vision based assisted operations in underwater environments ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Amat A. Casals J. Fernandez Institut of Robotics (INI) UPC-CSIC Barcelona Spain Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain

This paper faces up the problem of carrying out simple tasks, such as to fasten an object, tasks that become relatively complex in operations using robots, specially in underwater environments. The goal of this work is to perform such tasks by using intelligent strategies that plan step by step allowing for compensation of the robots own limitations. The strategy is based on the use of information from stereo vision and the required auxiliary devices or tools to contribute to the development of the task.

关键词： Arm Intelligent robots Remotely operated vehicles control systems Robotics and automation Intelligent sensors Grippers Prototypes Marine vehicles automatic control

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Practical H/sub /spl infin// weighting functions and their application to real-time control of a pilot plant

Practical H/sub /spl infin// weighting functions and their a...

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American control Conference (ACC)

作者： J. Hu C. Bohn H.R. Wu Department of Electrical & Electronic Engineering University of Melbourne Parkville VIC Australia Automatic Control Laboratory of Electrical Engineering Ruhr University of Bochum Bochum Germany School of Computer Science and Software Engineering Clayton Australia

In this paper, the selection of H/sub /spl infin// weighting functions for general practical applications is investigated. Uncertainty weighting functions for typical low-order plants with parametric uncertainties are derived. It is shown that H/sub /spl infin// weighting function for a general SISO plant can be obtained by the combination of these elementary low-order plants. Weighting functions of reflecting other system specifications in H/sub /spl infin// design are also investigated. Explicit weighting function expressions are given to address position and rate limits of an actuator, tracking error performance, overshoot, etc. Finally, the proposed methods are demonstrated by the roll-angle control design of a laboratory-scale model of a vertical take-off aircraft via simulation and real-time control.

关键词： Uncertainty Frequency Upper bound automatic control Laboratories Damping computer science Application software Actuators control design

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Smart reconfigurable miniature vision system for mobile robots

Smart reconfigurable miniature vision system for mobile robo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.B. Martinez E.X. Martin C. Torrens J.M. Ibanez Department of Automatic Control and Computer Engineering Universitat Poliltècnica de Catalunya Barcelona Spain Institute of Industrial Robotics Universitat Poliltècnica de Catalunya Barcelona Spain

The robot vision system presented consists of a PCB with a hardware-reconfigurable image processor, and a PCB with a standard commercial microprocessor. The microprocessor board interfaces with the host robot, configures the hardware of the image processor and runs the high-level image algorithms. Both boards occupy a volume of 10/spl times/10/spl times/3 cm/sup 3/ and consume less than 1A.

关键词： Machine vision Mobile robots Intelligent sensors Service robots Robot vision systems computer vision Microprocessors Hardware Robot sensing systems Robotics and automation

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MATLAB based tools for 2D linear systems with application to iterative learning control schemes

MATLAB based tools for 2D linear systems with application to...

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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： J. Gramacki A. Gramacki K. Galkowski E. Rogers D.H. Owens Institute of Informatics and Electronics Technical University of Zielona Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of 2D systems of both theoretic and practical interest. For example, they arise in the study of industrial processes such as long-wall coal cutting operations and also in the modeling of classes of iterative learning control schemes. This paper describes the development of MATLAB based tools for control related analysis/controller design in the case of so-called discrete linear repetitive processes with particular emphasis on the iterative learning control application. Some areas for short to medium term further development are also briefly noted.

关键词： MATLAB Linear systems control systems Iterative algorithms Electrical equipment industry Industrial control Mathematical model Machining Metals industry Informatics

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Interactive on-line evaluation of robot motion control

Interactive on-line evaluation of robot motion control

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Valera A. Robertsson K. Nilsson R. Johansson Department of System Engineering & Automation Valencia Technical University Valencia Spain Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Lund Institute of Technology Department of Computer Science Lund University Lund Sweden

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.

关键词： Robot motion Motion control Robot control Industrial control control systems Electrical equipment industry Service robots Robot sensing systems Safety Logic

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Integration and Comparison of FDI and Fault Masking Features in Embedded Systems

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IFAC Proceedings Volumes 1999年第2期32卷 7712-7717页

作者： H. Benítez-Pérez G. Latif-Shabgahi H.A. Thompson S. Bennett P.J. Fleming J.M. Bass Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street S1 3JD UK School of Electronic Eng and Computer Systems University of Wales Bangor Dean Street Bangor UK Fax: +44-114-2731 729

This paper addresses the benefits of integrating fault masking (FM) and fault detection and identification (FDI) methods to an embedded control system. It is shown that using a “smart” sensor in a Triple Modular Redundancy (TMR) configuration improves the system performance. Within the proposed hybrid system, “smart” sensors are used as redundant modules of the TMR configuration. A novel quality measure, which indicates the confidence level of a “smart” sensor output is used by a purpose-built voting algorithm to produce outputs. The proposed voting algorithm is a modification of weighted average voter, which produces results based on both the sensor output and the associated quality measure. This algorithm performs better than the conventional weighted average voter within a simple TMR configuration for low error ratios (<16). The main reason for this improvement is the capability of hybrid system to mask similar faults. Therefore, the proposed hybrid system produces more reliable results than the fault masking approach.

关键词： Fault Detection and Isolation sensor failure smart sensor

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Some properties of switched systems

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IFAC Proceedings Volumes 1999年第2期32卷 4794-4798页

作者： Bo Bernhardsson Karl Henrik Johansson Jörgen Malmborg Department of Automatic Control Lund Institute of Technology Box 118 S-221 00 Lund fax: +46 46 13 81 18 Sweden Department of Electrical Engineering & Computer Sciences UC Berkeley 333 Cory Hall # 1770 Berkeley CA 94720-1770 U.S.A. Space Systems Sweden AB Amiralsgatan 20 S-211 55 Malmö Sweden

Various aspects of dynamical systems with switches are studied. The two concepts “higher-order sliding” and “fast sliding” are defined and a result for stability of second order sliding is given. The linear case i... 详细信息

关键词： Hybrid modes Sliding mode control Nonlinear control systems Discontinuities

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A FPGA implementation of a video rate multi-target tracking system

A FPGA implementation of a video rate multi-target tracking ...

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EUROMICRO Conference

作者： J. Aranda J. Climent A. Grau Department of Computer Engineering and Automatic Control Barcelona Spain

Large and expensive specific hardware are usually required for tracking systems based on computer vision. This circumstance limits their extensive application in industrial processes. With the aim of overcoming this fact, a low-cost image processor has been implemented. This specific single-board processor permits a standard industrial PC to perform the tracking of some relevant local features at video rate (50 Hz). Local features in the image are transformed to a polar representation in order to simplify the recognition and location processes prior to rotations. This transformation is provided in real time by the presented image processor, so the host only has to apply the recognition algorithm. For image processor implementation, FPGA technology has been used.

关键词： Field programmable gate arrays Target tracking Image recognition Target recognition Hardware Image processing Costs Pattern recognition automatic control computer vision

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