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2007 Mediterranean Conference on control and automation, MED

作者： Edelmayer, A. Miranda, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary Faculty of Engineering Department of Chemical Engineering Mérida Venezuela

ISBN: (纸本)142441282X

This paper discusses the application of the idea of federated filtering to the estimation of intrinsically nonlinear distributed systems by examining its impacts on filtering performance by using the Extended Kalman Filter (EKF) as state estimator. Specifically, the performance of the traditional centralized solution is compared with the filtering structure obtained using the federating idea, and their conceptions, and their ability to balance between fault tolerance and estimation accuracy is examined. Our research demonstrates how successfully the EKF for solving nonlinear estimation problems in federated structures can be used, noting that the idea of federation have only been demonstrated for linear problems previously. In addressing the demands of both fault tolerance and estimation accuracy, it is shown that increased filtering accuracy is relied on the proper choice of sharing of the error covariance information between local filters, while sensor fault tolerance is provided by the utilization of an appropriate resetting policy of the filter. ©2007 IEEE.

关键词： Fault tolerance

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Foundation of Notation and Classification of Nonconventional Static and Dynamic Neural Units

Foundation of Notation and Classification of Nonconventional...

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IEEE International Conference on Cognitive Informatics

作者： Ivo Bukovsky Zeng-Guang Hou Jiri Bila Madan M. Gupta Department of Instrumentation and Control Engineering Czech Technical University Czech Republic Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences China Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan Canada

The paper introduces basic types of nonconventional artificial neural units and focuses their notation and classification: namely; the notation and classification of dynamic higher-order nonlinear neural units, time-delay dynamic neural units, and time-delay higher-order nonlinear neural units is introduced. Brief introduction into the simplified parallel of higher-order nonlinear aggregating function of artificial nonconventional neural units and synaptic and somatic operation of biological neurons is made. Based on still simplified mathematical notation, it is proposed that nonlinear aggregating function of neural inputs should be understood as composition of synaptic as well as partial somatic neural operation also for static neural units. Thus it unravels novel, simplified, yet universal insight into understanding more computationally powerful neurons. The classification of nonconventional artificial neural units is founded first according to nonlinearity of aggregating function, second according to the dynamic order, third according to time-delay implementation within neural units.

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On testing and measurement tools for control of wireless telecommunication networks

On testing and measurement tools for control of wireless tel...

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MIPRO 2007 - 30th Jubilee International Convention: Telecommunications and Information

作者： Gadewadikar, Jyotirmay Kuljaca, Ognjen Sijak, Tomislav Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Fort Worth TX 76118 United States Department of Advanced Technology Systems Research Institute Alcorn State University Lorman MS 39096 United States Brodarski Institute Control Engineering Department Av. V. Holjevca 20 10020 Zagreb Croatia

ISBN: (纸本)9789532330281

Over the years a lot of rigorous mathematical analysis has been done by the systems and controls community for optimization of multivariable systems with a mathematically rigorous systems theoretic approach. In parallel, wireless telecommunication industry was working on performance measurement analysis tools and achieved demonstrable optimization. This paper will elaborate on the need for finding common grounds between optimization of telecommunication networks and optimal control theory;some existing measurement tools will be presented. Decision on measurement tools for designing optimal, reliable telecommunications networks implies tradeoffs between reliability, capacity, and the economics of meeting present and future customer demands. The creation of efficient wireless networks is an everyday challenge in front of service providers. In this paper there are first identified the parameters which can and should be measured to facilitate the optimization for performance of telecommunication networks. Secondly, there are given available resources on measurements tools for these parameters, together with a comparative analysis. Finally, the hardware setup for the some of these measurements will be explained. © 2007 by MIPRO.

关键词： Telecommunication industry

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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MOVEMENT -Modular Versatile Mobility Enhancement System

MOVEMENT -Modular Versatile Mobility Enhancement System

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IEEE International Conference on Robotics and automation (ICRA)

作者： Peter Mayer Georg Edelmayer Gert Jan Gelderblom Markus Vincze Peter Einramhof Marnix Nuttin Thomas Fuxreiter Gernot Kronreif Institute integrated study University of Technology Vienna Vienna Austria Institute for Rehabilitation and Research Hoensbroek Netherlands Automation and Control Institute University of Technology Vienna Vienna Austria Department of Mechanical Engineering Katholieke Universiteit Leuven Leuven Belgium Department of Clinical Systems & Simulation Austrian Research Centers GmbH Wien Austria Department of Mechatronik Automation Systems Austrian Research Centers GmbH Seibersdorf Austria

Although powered wheelchairs provide a well established solution for severely impaired persons they do not cover all needs regarding mobility of people with impairment. In the course of the EC funded research project MOVEMENT a novel approach for a highly adaptable and modular mobility enhancement system is targeted to cover additional user needs. A system consisting of a robotic platform and several dockable application modules is developed that additionally provides assistance for the driving process itself to the user or even takes over the complete driving autonomously. The project also includes development of new solutions for navigation of mobile robot systems including a "low-cost" sensor system as well as adaptable HMI components. This paper describes the concept and the first prototyping results.

关键词： Wheelchairs Navigation Mobile robots Robotics and automation Automatic control Robot sensing systems Intelligent robots control systems Sensor systems Prototypes

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Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems

Federated filtering for fault tolerant estimation and sensor...

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Mediterranean Conference on control and automation (MED)

作者： A. Edelmayer M. Miranda Faculty of Engineering Department of Chemical Engineering Laboratory of Unit Operations University de Los Andes Merida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

关键词： Fault tolerant systems Sensor systems Redundancy Nonlinear filters Fault tolerance control systems Information filtering Information filters Computer architecture Sensor arrays

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A two-input two-output robust multiple model adaptive control (RMMAC) case study

A two-input two-output robust multiple model adaptive contro...

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American control Conference (ACC)

作者： S. Fekri M. Athans A. Pascoal Instituto Superior Técnico Institute for Systems and Robotic Lisboa Portugal Research Associate in Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK Department of EE&CS MIT Cambridge MA USA

We use the RMMAC architecture and design methodology, introduced in the work of M. Athans et al. (2005) and S. Fekri et al. (2004), to design and evaluate a truly multivariable adaptive control system; this fills a void that is present in the literature. A three-cart problem with two uncertain parameters, two controls, and two outputs is used as the case study. We show that the RMMAC significantly improves disturbance-rejection compared with the "best" non-adaptive controller designed by mixed-mu synthesis. In the example considered, in addition to two uncertainties in mass and spring constants, there are unmodeled dynamics as well as (unmeasured) stochastic disturbance inputs and noisy sensor measurements. Numerous simulation results are presented that demonstrate the superior performance of the RMMAC

关键词： Robust control Adaptive control Computer aided software engineering Design methodology Stochastic processes control system synthesis control systems Robust stability Robustness Springs

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Uncertainty vs Performance Trade-Offs in Robust Feedback control: A Mimo Case Study

Uncertainty vs Performance Trade-Offs in Robust Feedback Con...

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IEEE Conference on Decision and control

作者： J.F. Vasconcelos M. Athans S. Fekri C. Silvestre P. Oliveira Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal EECS (emeritus) M.I.T. USA Research Associate Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK

ISBN: (纸本)1424401704;9781424401703

We use a non-trivial MIMO three-cart Mass-Spring-Dashpot (MSD) system to demonstrate how performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased in the presence of unmodeled dynamics. All designs are carried out by the mixed-mu robust synthesis methodology. Comparisons are made: (a) in the frequency-domain, (b) by RMS values of key signals and (c) in time-domain simulation results

关键词： Uncertainty Robust control Feedback control MIMO Robustness Robust stability Frequency domain analysis Mathematical model control systems MATLAB

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