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2007 9th European control Conference, ECC 2007

作者： Wei, Xiukun Liu, Lihua Verhaegen, Michel Liu, Xiaohe Delft Center for Control and Systems Delft University of Technology Delft Netherlands Department of Computer Science and Automation Beijing Institute of Machinery Beijing China

ISBN: (纸本)9783952417386

This paper addresses the state feedback H∞ control for a class of nonlinear system based on its L2 gain computation, where the technique of the sum of squares decomposition is applied. By reformulating the Hamilton-Jacobin inequality as a linear semi-definite optimization problem, the L2 gain of the considered nonlinear systems can be estimated with the help of the software SOSTOOLS [1] under the sum of squares framework. A new iterative state feedback H∞ control synthesis algorithm for the considered nonlinear system is proposed, where a state feedback H∞ controller is synthesized iteratively based on an initial controller that can stabilize the system to a finite L2 gain. Some examples are shown to illustrate the effectiveness of the proposed algorithm. The iterative algorithm is extended for the output feedback synthesis at the end of this paper. © 2007 EUCA.

关键词： State feedback

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Hybrid mobile robot navigational strategy for efficient data collection in sparsely deployed sensor networks

Hybrid mobile robot navigational strategy for efficient data...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

作者： Soares, Marcelo B. Campos, Mario F. M. Dutra, Dimas A. Da S. Campos, Víctor C. Pereira, Guilherme A. S. Department of Computer Science Federal University of Minas Gerais Brazil Department of Control and Automation Engineering Federal University of Minas Gerais Brazil Department of Electrical Engineering Federal University of Minas Gerais Brazil

ISBN: (纸本)1424409128

We propose and implement a hybrid navigational strategy for mobile robots for data collection tasks in sparsely deployed sensor networks. Our approach presents an alternative to the routing algorithms used in wireless sensor networks which focus on the minimization of energy consumption of each node which is mainly due to data transmission. The method has two layers: i) Reactive Layer in which the data collected from a sensor node is modelled as a potential function whose gradient attracts the robot and ii) Planning Layer, that dictates the action the robot must take to collect sensor data. Results from both simulation and real world experiments showing the performance of the proposed methodology are shown, compared and discussed. ©2007 IEEE.

关键词： Mobile robots

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Study on area measurement based on active contour

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2007年第6期18卷 710-713页

作者： Zhao, Peng Pu, Zhao-Bang Zhang, Tian-Wen Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150001 China Department of Computer Science and Engineering Harbin Institute of Technology Harbin 150001 China

A novel and precise measurement scheme for the planar object's surface area is proposed. This scheme consists of two steps which are the measurement of the image target's pixel area and the calibration of the pixel's size equivalence. A 2D image measuring machine is used to obtain the detected object's image. A cubic B-spline active contour is applied to converge to the target's contour edge. The image target's pixel area is computed with the area formula of a closed cubic B-spline curve. Similarly, the centroid coordinate of the convergent active contour is computed. A novel centroid-self-calibration method is devised, which measures the pixel's size equivalence with the displacement of the centroid coordinate and that measured by a dual-frequency laser. This scheme is applied to measure the small circular aperture's true area in a work surface, which indicates that when the control point number is 20, the measuring repetition error of the true area is less than 0.30%.

关键词： Light measurement

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An Initial Rotor Position Estimation Method for Switched Reluctance Motor without Using Machine Parameter

An Initial Rotor Position Estimation Method for Switched Rel...

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International Conference on Electrical Machines and Systems 2007(ICEMS2007)(第十届国际电机与系统会议)

作者： K. Tungpimolrut S. Kachapornkul P.Somsiri P. Jitkreeyarn Tadashi Fukao Akira Chiba Industrial Control and Automation Laboratory Section National Electronics and Computer Technology C Department of Electrical Engineering Faculty of Science and Technology Tokyo University of Science

In this paper a method to estimate the initial rotor position of the switched reluctance motor (SRM) at the stand still condition is proposed. The proposed method can be implemented by the simple microcontroller based system, and it is not necessary to know the magnetization curves. The impulse gate drive signal is applied and the winding current is detected and its approximate value is used for calculating the rotor position. The compensation method to reduce the estimation error thorough one cycle is also mentioned. The proposed method is implemented with the 6-stator-pole and 4- rotor-pole, 1.5 kW 3-phase switched reluctance motor.

关键词： Switched reluctance motor initial rotor position estimation

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LPV control for the Air Path System of Diesel Engines

LPV Control for the Air Path System of Diesel Engines

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International Conference on control and automation (ICCA)

作者： Lihua Liu Xiukun Wei Xiaohe Liu Department of Computer Science and Automation Beijing Institute of Machinery Beijing China Delft Center for Control and Systems Delft University of Technnology Delft Netherlands

This paper addresses the gain scheduled H infin control issue for the air path system of diesel engines. The air path system is modeled as a linear parameter varying (LPV) system, where the system matrices are dependent on two exogenous variables: the engine speed and the turbine vane position. The open loop frequency property is presented as well as the detailed synthesis procedure of the gain scheduled controller such as the weighting function selection and design. A comparative study between the gain scheduled LPV control and the H infin control is investigated. Simulation results are shown to demonstrate the effectiveness of the gain scheduled LPV controller.

关键词： control systems Diesel engines Job shop scheduling Open loop systems control system synthesis Automatic control automation Nonlinear control systems computer science Machinery

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Hybrid mobile robot navigational strategy for efficient data collection in sparsely deployed sensor networks

Hybrid mobile robot navigational strategy for efficient data...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Marcelo B. Soares Mario F. M. Campos Dimas A. Dutra Victor C. da S. Campos Guilherme A. S. Pereira Department of Computer Science Federal University of Minas Gerais Brazil Department of Control and Automation Engineering Federal University of Minas Gerais Brazil Department of Electrical Engineering Federal University of Minas Gerais Brazil

关键词： Mobile robots Navigation Wireless sensor networks Robot sensing systems Sensor systems Routing Temperature sensors Data communication Mobile agents Vehicles

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NEURAL-ADAPTIVE control BASED ON ADALINE NEURONS WITH APPLICATION TO A POWER SYSTEM

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IFAC Proceedings Volumes 2007年第18期40卷 457-464页

作者： Ioan Filip Octavian Prostean Florin Dragan Cristian Vasar Department of Control System Engineering “Politehnica” University from Timisoara Faculty of Automation and Computer Science 300223 Timisoara Romania Phone: (+40) 0256-403238 E-Mail: ioan.filip@aut.upt.ro

A neural-adaptive control solution is exposed in this paper. The control strategy is based on the linear adaptive neuron, which is called ADALINE. Unlike other neural control solutions, based on perceptrons neurons characterized by a long time learning process and a difficult on-line tuning of weights, this approach uses a fast algorithm, which adapts on-line the neuron's weights. Therefore the non-linear character of control law is induced by the permanent changes of neuron weights, which are variable parameters of controller. A set of study cases is done, with application to the excitation control of a synchronous generator.

关键词： adaptive control neural networks ADALINE modelling simulation synchronous generator

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SHORT TERM ELECTRIC LOAD FORECAST WITH ARTIFICIAL NEURAL NETWORKS

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IFAC Proceedings Volumes 2007年第18期40卷 443-449页

作者： Vasar Cristian Szeidert Iosif Filip Ioan Prostean Gabriela Department of Control System Engineering “Politehnica” University from Timisoara Faculty of Automation and Computer Science 300223 Timisoara Romania Phone: (+40) 256-403237 E-Mail: cristian.vasar@aut.upt.ro

This paper presents issues regarding short term electric load forecasting using feedforward and Elman recurrent neural networks. The study cases were developed using measured data representing electrical energy consume from Banat area. There were considered 35 different types of structure for both feedforward and recurrent network cases. For each type of neural network structure were performed many trainings and best solution was selected. The issue of forecasting the load on short term is essential in the effective energetic consume management in an open market environment.

关键词： neural networks prediction problems load forecasting feedforward networks simulation

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATLAB Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATLAB Pneumatic systems control systems Level control Costs

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Ridgelet transform with application in ground penetrating radar processing

Ridgelet transform with application in ground penetrating ra...

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International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Zhi-Yu Zhang Jiu-Long Zhang Hai-Yan Yu Yan-Jun Lu School of Automation and Information Engineering Xi''an University of Technology Xi'an China School of Computer Science and Engineering Xi''an University of Technology Xi'an China Department of Information & Control Xi''an Institute of Posts and Telecommunications Xi'an China

Ridgelet is the new development of wavelet dealing with line singularities in signals. In goundpenetrating radar (GPR) signal, the direct wave is a strong noise which has line singularity. In time-space domain, the useful information in GPR signal is badly polluted by strong direct wave so that the underground targets can not be recognized correctly. Ridgelet overcomes the disadvantages of wavelets in dealing with high dimensions that it can effectively represent singularities along lines or hyperplanes. Concerning the characteristics of GPR signals, the ridgelet transform is employed to remove the background noise and separate the direct wave. The simulation results for real GPR signals demonstrate its effectiveness.

关键词： Ground penetrating radar Wavelet transforms Continuous wavelet transforms Wavelet analysis Noise reduction Pattern analysis Pattern recognition Signal processing Pollution

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