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SUPERVISORY control OF TIMED DISCRETE-EVENT SYSTEMS

IEEE TRANSACTIONS ON AUTOMATIC control 1994年第2期39卷 329-342页

作者： BRANDIN, BA WONHAM, WM Systems Control Group Department of Electrical and Computer Engineering University of Toronto Toronto Canada

The Ramadge-Wonham framework for control of discrete event systems is augmented with timing features by use of Ostroff's semantics for timed transition models. It is shown that the RW concept of controllability and the existence of maximally permissive supervisory controls can be suitably generalized. The enhanced setting admits subsystem composition and the concept of forcible event as an event that preempts the tick of a global dock. An example of a simple manufacturing cell illustrates how the new framework can be used to solve synthesis problems which may include logic-based, temporal and quantitative optimality specifications.

关键词： Supervisory control Discrete event systems Timing Delay effects Clocks Manufacturing control system synthesis Protocols Communication system control controllability

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Mobile robot navigation for complete coverage of an environment

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IFAC-PapersOnLine 2018年第22期51卷 512-517页

作者： Šelek, Ana Seder, Marija Petrovi, Ivan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Croatia

Inspired by the Spanning Tree Covering (STC) algorithm of Gabriely and Rimon, a novel algorithm of complete coverage for known environments is developed. Unlike the original STC algorithm, we detect dynamic elements of the environment and efficiently update the solution when changes are observed. The contribution is a path replanning algorithm that reduces overlapping when the part of the environment is changed. Experiments show that the proposed algorithm is capable of planning complete coverage robot paths with 70.27% coverage and without overlapping. © 2018

关键词： Mobile robots Collision avoidance Motion planning Robot programming Trees (mathematics) Complete coverages Dynamic elements Known environments Mobile Robot Navigation Novel algorithm Path re planning Robot path Spanning tree

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Self–triggered Scheme Design for Takagi–Sugeno Fuzzy Model based on Mismatch Premise Variable With Time–varying Delay

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IEEE Transactions on Automation Science and engineering 2025年 22卷 15536-15548页

作者： Aslam, Muhammad Shamrooz Bilal, Hazrat Vasilakos, Athanasios V. China University of Mining and Technology Artificial Intelligence Research Institute Xuzhou 2211106 China College of Mechatronics and Control Engineering College of Computer Science and Software Engineering Shenzhen University Shenzhen 518060 China College of Computer Science and Information Technology IAU Department of Networks and Communications P.O. Box 1982 Dammam 31441 Saudi Arabia Center for AI Research (CAIR) University of Agder(UiA) Grimstad Norway

Over the last 20 years, numerous experts in the manufacturing companies have become interested in controlling flexible joint robots. The control design process using a networked framework has played a significant role in the industrial sector. This research addresses the self–triggered control problem for Takagi–Sugeno (T–S) fuzzy systems based on time delay is established in this research. A new self–triggered mechanism determines when the plant state is transmitted. Instead of continuously tracking predefined triggering conditions, the self–triggered system determines the next triggering instant based on the most recently triggered state information. The self–triggered mechanism relying on T–S fuzzy controller is then created using the triggered state, allowing for flexible configuration of its fuzzy rules and membership operations (MOs) that are not dependent on the controlled fuzzy system. Furthermore, it precisely demonstrates the interaction between the triggered condition and the plant state under the constraint of mismatched premise variables. To ensure system stability and performance, delay–dependent requirements are derived using a novel Lyapunov–Krasovskii functional based on fuzzy concepts to develop the fuzzy control design. The presence of the required controller is then shown under LMI–based conditions. Lastly, a simulation of a flexible robotic arm example is provided along with an evaluation of other triggered methods. © 2004-2012 IEEE.

关键词： Mismatch premise variable Robotic Arm Self–triggered control T–S Fuzzy Model

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Path Planning for Coverage Spraying of Plants in Outdoor Wheeled Mobile Robots

Path Planning for Coverage Spraying of Plants in Outdoor Whe...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Weixin Zhang Zhengxin Yu Shixin Mao Xuefeng Zhou Jia Pan Haifei Zhu School of ElectRomechanical Engineering Guangdong University of Technology Guangzhou China Jiutian Innovation (Guangdong) Intelligent Technology Co Ltd Foshan China Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou China Department of Computer Science The University of Hong Kong Hong Kong China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

In contemporary agricultural practices and pest management, the deployment of outdoor wheeled mobile robots for precise and efficient plant spraying is crucial to optimize chemical application and mitigate environmental impact. This study introduces an integrated path planning framework designed to systematically tackle the challenges of obstacle avoidance, adherence to kinematic constraints, and optimization of spraying operations, while ensuring complete coverage of target plants. The framework comprises three key components: a local route generator utilizing principal component analysis to minimize movement required for spraying, thereby enhancing efficiency; a global path optimizer that effectively sequences and connects the generated routes to produce collision-free paths; and a path regulator that fine-tunes the resulting paths to comply with the robot's kinematic constraints. Extensive simulations across various outdoor scenarios demonstrate that the proposed framework achieves comprehensive coverage, reduces path lengths, and improves operational efficiency, presenting a viable solution for advanced robotic spraying applications.

关键词： Regulators Robot kinematics Spraying Kinematics Path planning Real-time systems Mobile robots Collision avoidance Optimization Principal component analysis

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Robust H-infinity control for constrained uncertain systems and its application to active suspension

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控制理论与应用（英文版） 2012年第4期10卷 470-476页

作者： Miaomiao MA Hong CHEN Xiangjie LIU School of Control and Computer Engineering North China Electric Power University Department of Control Science and Engineering Jilin University

This paper presents an LMI based robust H-infinity control scheme for constrained systems with norm- bounded uncertainties. The uncertainties are incorporated in the evaluation of the H-infinity norm and the time-domain constraints. The robust closed-loop properties inclusive of stability, H-infinity performance and the satisfaction of the time- domain constraints are discussed. Analysis and simulation results for a 2 DOF quarter-car model show possible improve- ments on ride comfort, while robustly respecting safety related constraints such as good road holding, limited suspension strokes and actuator saturation.

关键词： Constraints H-infinity performance LMI optimization Norm-bounded uncertainties Active suspension

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Robust Continuous-Time Generation Scheduling under Power Demand Uncertainty: An Affine Decision Rule Approach

arXiv

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arXiv 2025年

作者： Cho, Youngchae Yang, Insoon Ishizaki, Takayuki Department of Systems and Control Engineering Institute of Science Tokyo Tokyo Japan Department of Electrical and Computer Engineering ASRI Seoul National University Seoul Korea Republic of

Most existing generation scheduling models for power systems under demand uncertainty rely on energy-based formulations with a finite number of time periods, which may fail to ensure that power supply and demand are balanced continuously over time. To address this issue, we propose a robust generation scheduling model in a continuous-time framework, employing a decision rule approach. First, for a given set of demand trajectories, we formulate a general robust generation scheduling problem to determine a decision rule that maps these demand trajectories and time points to the power outputs of generators. Subsequently, we derive a surrogate of it as our model by carefully designing a class of decision rules that are affine in the current demand, with coefficients invariant over time and constant terms that are continuous piecewise affine functions of time. As a result, our model can be recast as a finite-dimensional linear program to determine the coefficients and the function values of the constant terms at each breakpoint, solvable via the cutting-plane method. Our model is non-anticipative unlike most existing continuous-time models, which use Bernstein polynomials, making it more practical. We also provide illustrative numerical examples. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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FunMod: A Cytoscape Plugin for Identifying Functional Modules in Undirected Protein–Protein Networks

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Genomics,Proteomics & Bioinformatics 2014年第4期12卷 178-186页

作者： Massimo Natale Alfredo Benso Stefano Di Carlo Elisa Ficarra Department of Control and Computer Engineering Politecnico di Torino

The characterization of the interacting behaviors of complex biological systems is a primary objective in protein–protein network analysis and computational biology. In this paper we present FunMod, an innovative Cytoscape version 2.8 plugin that is able to mine undirected protein–protein networks and to infer sub-networks of interacting proteins intimately correlated with relevant biological pathways. This plugin may enable the discovery of new pathways involved in diseases. In order to describe the role of each protein within the relevant biological pathways, FunMod computes and scores three topological features of the identified sub-networks. By integrating the results from biological pathway clustering and topological network analysis, FunMod proved to be useful for the data interpretation and the generation of new hypotheses in two case studies.

关键词： Systems biology Network analysis Pathway analysis Network modules Cytoscape Budd–Chiari syndrome

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Global Output-Feedback Tracking for Nonlinear Cascade Systems with Unknown Growth Rate and control Coefficients

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Journal of Systems Science & Complexity 2015年第1期28卷 30-46页

作者： YAN Xuehua LIU Yungang WANG Qingguo School of Electrical Engineering University of Jinan School of Control Science and Engineering Shandong University Department of Electrical and Computer Engineering National University of Singapore

This paper deals with the global practical tracking problem by output-feedback for a class of uncertain cascade systems with zero-dynamics and unmeasured states dependent *** systems investigated are substantially different from the closely related works,and have zero-dynamics,unknown growth rate,and unknown time-varying control *** makes the problem much more difficult to *** by the authors' recent works,this paper proposes a new adaptive control scheme to achieve the global practical *** is shown that the designed controller guarantees that the state of the resulting closed-loop system is globally bounded and the tracking error converges to a prescribed arbitrarily small neighborhood of the origin after a finite *** is achieved by combining the methods of universal control and dead zone with backstepping technique,and using the framework of performance analysis in the closely related works.A numerical example demonstrates the effectiveness of the theoretical results.

关键词： Adaptive control dynamic high-gain global practical tracking output-feedback uncertain nonlinear systems.

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Observer-based Adaptive Fuzzy control for a Class of Nonlinear Time-delay Systems

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International Journal of Automation and computing 2013年第4期10卷 275-280页

作者： Hassan A. Yousef Mohamed Hamdy Department of Electrical and Computer Engineering College of Engineering Sultan Qaboos University Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menofia University

An observer-based adaptive fuzzy control is presented for a class of nonlinear systems with unknown time delays. The state observer is first designed, and then the controller is designed via the adaptive fuzzy control method based on the observed states. Both the designed observer and controller are independent of time delays. Using an appropriate Lyapunov-Krasovskii functional, the uncertainty of the unknown time delay is compensated, and then the fuzzy logic system in Mamdani type is utilized to approximate the unknown nonlinear functions. Based on the Lyapunov stability theory, the constructed observer-based controller and the closed-loop system are proved to be asymptotically stable. The designed control law is independent of the time delays and has a simple form with only one adaptive parameter vector, which is to be updated on-line. Simulation results are presented to demonstrate the effectiveness of the proposed approach.

关键词： Observer adaptive fuzzy control nonlinear systems time delay stability.

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Scaled Consensus Tracking Under Constant Time Delay

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IFAC-PapersOnLine 2016年第22期49卷 240-243页

作者： Aghbolagh, Hassan Dehghani Ebrahimkhani, Elham Hashemzadeh, Farzad Control Engineering Department Faculty of Electrical and Computer Engineering University of Tabriz Iran

Over the past decade, various schemes such as consensus, containment, and formation have been proposed for multi-agent systems. A multi-agent systems is said to have reached consensus when all the agents agree on a common value. Recently, however, scaled consensus was introduced as a new notion in the area of multi-agent systems. With this scheme, the agents reach different initial-state-dependent values. In this paper, the problem of scaled consensus tracking under constant time delay is addressed. Firstly, time delay is introduced to the tracking problem of scaled consensus. Then, a proper Lyapunov-Krasovskii functional is employed in order to study the stability of the system. In addition, it is shown that the maximum allowable time delay may be determined via the resultant LMIs. Finally, the findings of this paper are illustrated using a numerical example. © 2016

关键词： Multi agent systems Lyapunov functions Surface discharges System stability Time delay Timing circuits Constant time delays Initial state Lyapunov Krasovskii Lyapunov Krasovskii functionals scaled consensus Tracking problem

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