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Modified Iterative-Learning-control-Based Ramp Metering Strategies for Freeway Traffic control With Iteration-Dependent Factors

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IEEE Transactions on Intelligent Transportation Systems 2012年第2期13卷 606-618页

作者： Zhongsheng Hou Jingwen Yan Jian-Xin Xu Zhenjiang Li Advanced Control Systems Laboratory of School of Electronic and Information Engineering Beijing Jiaotong University Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China

For a freeway traffic system with strict repeatable pattern, iterative learning control (ILC) has been successfully applied to local ramp metering for a macroscopic freeway environment by formulating the original ramp metering problem as an output tracking, disturbance rejection, and error compensation problem. In this paper, we address the freeway traffic ramp-metering system under a nonstrict repeatable pattern. ILC-based ramp metering and ILC add-on to ALINEA strategies are modified to deal with the presence of iteration-dependent parameters, iteration-dependent desired trajectory, and input constraints. Theoretical analysis and extensive simulations are used to verify the effectiveness of the proposed approaches.

关键词： Traffic control Trajectory Mathematical model Vehicles Equations Feedback control

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Development of Prosthesis Grasp control Systems on a Robotic Testbed

Development of Prosthesis Grasp Control Systems on a Robotic...

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IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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On Optimality Criteria for V2G Charging Strategies

On Optimality Criteria for V2G Charging Strategies

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International Conference on Connected Vehicles and Expo (ICCVE)

作者： S. Stüdli W. Griggs E. Crisostomi R. Shorten Centre for Complex Dynamic Systems and Control School of Electrical Engineering and Computer Science University of Newcastle Australia Hamilton Institute National University of Ireland Maynooth Ireland Department of Energy and Systems Engineering University of Pisa Italy

ISBN: (纸本)9781467347051

There is a growing interest in treating EVs not only as controllable loads, but also as storage systems, which are able to reduce stresses on the grid during peak times by injecting power back, also known as Vehicle to Grid (V2G). In this paper, we formulate the problem of returning electrical load to the grid as an optimisation problem whose goal is to minimise the costs of drawing energy from the vehicles, while maintaining the effect of energy return on the environment below a safety level.

关键词： optimisation reduce energy Energy sources vehicle energy feedback Peak time Electric loads grids Cache Memory System Grid computing CHARGING(ACCOUNTTNG) optimality charging Reduce Reduce

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Experimental verification of constrained iterative learning control using successive projection

Experimental verification of constrained iterative learning ...

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2012 UKACC International Conference on control, control 2012

作者： Chu, Bing Cai, Zhonglun Owens, David H. Rogers, Eric Freeman, Chris T. Lewin, Paul L. Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom Faculty of Engineering and the Environment University of Southampton Southampton SO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom Italian Institute of Technology Via Morego 30 16163-Genova Italy

ISBN: (纸本)9781467315609

In many practical applications, constraints are often present on, for example, the magnitudes of the control inputs. Recently, based on a novel successive projection framework, two constrained iterative learning control (ILC) algorithms were developed with different convergence properties and computational requirements. This paper investigates the effectiveness of these two methods experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained demonstrate the effectiveness of the algorithms in solving one form of the general constrained ILC problem. © 2012 IEEE.

关键词： Iterative methods

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Power Quality control of Hybrid Wind Power Systems Using Robust Tracking controller

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IFAC Proceedings Volumes 2012年第21期45卷 729-734页

作者： Su-Hyung Yang Ho-Chan Kim Chang-Jin Boo Young Il Lee Jae Sik Lim Hee-Sang Ko Kwang Y. Lee Department of Electrical Engineering Jeju National University Jeju Korea (Tel: 303-555-5555) Department of Control and Instrumentation Engineering Seoul National University of Science and Technology Seoul Korea Product Development Team/Wind Turbine Division Samsung Heavy Industries Co. Changwon Korea Department of Electrical and Computer Engineering Baylor University Waco TX 76798 USA

This paper presents a modeling and a controller design for a hybrid wind turbine generator with a battery storage system and a dumpload. The proposed control scheme is based on the robust tracking controller. In the simulation study, the proposed robust tracking controller (RTC) is compared with the conventional proportional-integral (PI) controller. Simulation results show that the RTC is more effective than the PI controller against disturbances caused by wind speed and load variation. Thus, better quality of the hybrid wind power system is achieved.

关键词： Wind power generation battery storage dumpload robust tracking control

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A proportional plus damping injection controller for teleoperators with joint flexibility and time-delays

A proportional plus damping injection controller for teleope...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Emmanuel Nuño Ioannis Sarras Luis Basañez Michel Kinnaert Emmanuel Nuño is with the Department of Computer Science at the University of Guadalajara (UdG) Guadalajara Mexico Michel Kinnaert are with the Control Engineering and Systems Analysis Department (SAAS) Université Libre de Bruxelles (ULB) Brussels Belgium Institute of Industrial and Control Engineering (IOC) at the Technical University of Catalonia (UPC) Barcelona Spain Control Engineering and Systems Analysis Department (SAAS) at the Université Libre de Bruxelles (ULB) Brussels Belgium Institute of Industrial and Control Engineering (IOC) Technical University of Catalonia Barcelona Spain

The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80's. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is still an open problem. In the present paper we report two versions of a proportional plus damping injection controller that are capable of globally stabilizing a nonlinear bilateral teleoperator with joint flexibility and variable time-delays. The first version controls a teleoperator composed by a rigid local manipulator and a flexible joint remote manipulator and the second version deals with local and remote manipulators with joint flexibility. For both schemes, it is proved that the joint and motor velocities and the local and remote position error are bounded. Moreover, if the human operator and remote environment forces are zero then velocities asymptotically converge to zero and position tracking is established. Simulations are presented to show the performance of the proposed controllers.

关键词： Joints Teleoperators Humans Manipulator dynamics Damping Convergence

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An adaptive controller for bilateral teleoperators: Transatlantic experiments using the internet

An adaptive controller for bilateral teleoperators: Transatl...

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Proceedings of the Biannual World Automation Congress

作者： Emmanuel Nuño Luis Basanez Carlos de Alba-Padilla Carlos López-Franco Department of Computer Science CUCEI. University of Guadalajara (UDG) Guadalajara Mexico Institute of Industrial and Control Engineering (IOC) Technical University of Catalonia (UPC) Barcelona Spain Electronics Department. CUCEI University of Guadalajara (UDG) Guadalajara Mexico Department of Computer Science. CUCEI. University of Guadalajara (UDG). Mexico

A bilateral teleoperator is composed of a local and a remote manipulators interconnected through a communication channel. A human operator interacts with the local manipulator to remotely execute a given task via the remote manipulator and the interaction of the remote manipulator with the remote environment is reflected back to the human operator. Thus, the control objective is to establish local and remote position synchronization. This paper employs adaptive control techniques, that can achieve the desired control objective, to an experimental setup composed of two nonlinear manipulators. In these novel experimental results the local and remote manipulators are located in Guadalajara, Mexico, and in Barcelona, Spain, respectively. The manipulators are two Sensable's PHANToM Omni ® devices and are interconnected through the Internet. It is shown, experimentally, that the adaptive controllers provide asymptotic stability of the local and remote position error even in the presence of variable time-delays.

关键词： Delay

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Sensor Data Scheduling for Linear Quadratic Gaussian control with Full State Feedback

Sensor Data Scheduling for Linear Quadratic Gaussian Control...

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American control Conference

作者： Ling Shi Ye Yuan Huanshui Zhang Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Control Group Department of Engineering University of Cambridge Cambridge CB2 1PZ U.K. School of Control Science and Engineering Shandong University Jinan 250061 Shandong P. R. China

ISBN: (纸本)9781457710957

Networked control systems (NCSs) have attracted much attention in the past decade due to their many advantages and growing number of applications. Different than classic control systems, resources in NCSs, such as network bandwidth and communication energy, are often limited, which degrade the closed-loop system performance and may even cause the system to become unstable. Seeking a desired trade-off between the closed-loop system performance and the limited resources is thus one heated area of research. In this paper, we analyze the trade-off between the sensor-to-controller communication rate and the closed-loop system performance indexed by the conventional LQG control cost. We present and compare several sensor data schedules, and demonstrate that two event-based sensor data schedules provide better trade-off than an optimal offline schedule. Simulation examples are provided to illustrate the theories developed in the paper.

关键词： Schedules Closed loop systems Cost function Educational institutions Estimation error State feedback

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Device Interoperability and Authentication for Telemedical Appliance based on the ISO/IEEE 11073 Personal Health Device (PHD) Standards

Device Interoperability and Authentication for Telemedical A...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Luther Paul R. Caranguian Susan Pancho-Festin Luis G. Sison a graduate student in the MS Electrical Engineering (Instrumentation and Control) program of University of the Philippines Diliman. Festin is with the Department of Computer Science University of the Philippines Diliman. with the Electrical and Electronics Engineering Institute University of the Philippines Diliman.

ISBN: (纸本)9781424441198

In this study, we focused on the interoperability and authentication of medical devices in the context of telemedical systems. A recent standard called the ISO/IEEE 11073 Personal Health Device (X73-PHD) Standards addresses the device interoperability problem by defining common protocols for agent (medical device) and manager (appliance) interface. The X73-PHD standard however has not addressed security and authentication of medical devices which is important in establishing integrity of a telemedical system. We have designed and implemented a security policy within the X73-PHD standards. The policy will enable device authentication using Asymmetric-Key Cryptography and the RSA algorithm as the digital signature scheme. We used two approaches for performing the digital signatures: direct software implementation and use of embedded security modules (ESM). The two approaches were evaluated and compared in terms of execution time and memory requirement. For the standard 2048-bit RSA, ESM calculates digital signatures only 12% of the total time for the direct implementation. Moreover, analysis shows that ESM offers more security advantage such as secure storage of keys compared to using direct implementation. Interoperability with other systems was verified by testing the system with LNI Healthlink, a manager software that implements the X73-PHD standard. Lastly, security analysis was done and the system's response to common attacks on authentication systems was analyzed and several measures were implemented to protect the system against them.

关键词： Interoperability Telemedical Authentication

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Experimental verification of constrained iterative learning control using successive projection

Experimental verification of constrained iterative learning ...

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UKACC International Conference on control (control)

作者： Bing Chu Zhonglun Cai David H Owens Eric Rogers Chris T Freeman Paul L Lewin Electronics and Computer Science University of Southampton Southampton UK Faculty of Engineering and the Environment University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Italian Institute of Technology Genoa Italy

关键词： Convergence Robots Algorithm design and analysis Prediction algorithms Trajectory Optimization

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