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2011 American control Conference (ACC)

作者： Rohit Pandita Jozsef Bokor Gary Balas Department of Aerospace Engineering and Mechanics University of Minnesota Minneapolis MN USA Department of AeroSpace Engineering and Mechanics University of Minnesota Minneapolis MN USA Systems and Control Laboratory Computer and Automation Research Institute of the Hungarian Academy of Sciences Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Fault detection and isolation (FDI) filters are typically synthesized for open-loop or closed-loop systems. The controller affects the FDI filter performance in the closed-loop. Performance metrics for FDI filters are proposed to assess filter performance and controller-filter interaction in the presence of uncertain dynamics in the closed-loop. The role of controller's robustness to plant uncertainty in FDI filter performance is examined.

关键词： Measurement Actuators Uncertainty Elevators Atmospheric modeling Transfer functions Mathematical model

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Robust H_(infinity) Filter Design Using Frequency Gridding

Robust H_(infinity) Filter Design Using Frequency Gridding

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2011 American control Conference (ACC)

作者： Peter Seiler Balint Vanek Jozsef Bokor Gary J. Balas AeroSpace and Engineering Mechanics Department University of Minnesota USA Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary

This paper considers the design of robust H_(infinity) filters for continuous-time linear systems with uncertainties described by integral quadratic constraints (IQCs). The synthesis problem can be converted into an infinite-dimensional optimization with frequency dependent linear matrix inequality constraints on the filter and IQC multipliers. This optimization is approximated by a finite dimensional semidefinite program by restricting the filter to be a linear combination of basis functions and enforcing the constraints on a finite, but dense, grid of frequencies. A heuristic algorithm is described to quickly solve the resulting finite dimensional optimization. A small example is provided to demonstrate the proposed algorithm.

关键词： Uncertainty Robustness Optimization Equations Upper bound Algorithm design and analysis Approximation methods

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Novel emotion dynamic express for robot

Novel emotion dynamic express for robot

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International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： Dong-Hwa Kim Péter Baranyi Department of Instrumentation and Control Engineering Hanbat National University Daejeon South Korea Head of Cognitive Informatics research group involved in the System and Control Laboratory Computer and Automation Research Institute (MTA-SZTAKI) Hungarian Academy of Sciences Hungary

This paper proposes the novel emotion dynamic equation for emotion implementation like human's emotion. Almost general method use artificial approach such as neutral networks to classify emotion by using speech and face image data for human's emotion recognition. But high-dimension and large size of this data cause low-speed learning in robot system. The main idea of the proposed dynamic equation method is to dynamically express emotion by multi-agent function.

关键词： Robot sensing systems Humans Dynamics Face Equations

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Experiment design for Pauli channel estimation

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IFAC Proceedings Volumes 2011年第1期44卷 4344-4349页

作者： Gábor Balló Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 H-8200 Veszprém Hungary Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

Abstract Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experiment configuration. An experiment design procedure based on maximizing the Fisher information of the qubit Pauli channel parameters is presented in this paper. It can be shown that the Fisher information is a convex function in both the input and the experiment configuration parameters. This leads to an optimal setting that includes pure input states and projective measurements directed towards the channel directions. An iterative method of estimating the channel directions is also proposed.

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Robustness preserving anti-windup for SISO systems

Robustness preserving anti-windup for SISO systems

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IEEE Conference on Decision and control

作者： R. M. Morales W. P. Heath G. Li Department of Engineering Control & Instrumentation Research Group University of Leicester Leicester UK Control Systems Centre School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology Manchester UK School of Engineering Computing and Mathematics University of Exeter Exeter UK

ISBN: (纸本)9781612848006;9781612848013

A control feedback system with saturation nonlinearities is said to have robustness preserving characteristics if the constrained system is as robust as its linear counterpart. Such characteristics can be desirable. It has been proved for some special cases that the anti-windup version of the Internal Model control architecture can offer such characteristics for first-order plants with delays against norm-bounded (not only LTI) uncertainty. This paper provides general conditions expressed in the frequency domain which allow to test for the preservation of robustness for plants of any order. In addition, a class of robustness preserving controllers is characterised in terms of the Zames-Falb conditions. The test is shown to be easily implementable and exploited for anti-windup tuning.

关键词： Robustness Uncertainty Tuning Educational institutions control systems Roads Conferences

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A motion-information-based vision-tracking system with a stereo camera on mobile robots

A motion-information-based vision-tracking system with a ste...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Wook Bahn Jaehong Park Chang-hun Lee Tae-il Kim Teajae Lee Muhammad Muneeb Shaikh Kwang-soo Kim Dong-il Cho Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea ASRI/Inter-university Semiconductor Research Center (ISRC) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

This paper presents a vision-tracking system for a mobile robot, using robot motion and stereo vision data. The mobile robot has an actuator module which pans and tilts an integrated stereo camera. The proposed system controls the actuator to maintain the line of sight of the stereo camera towards a stationary target by using the robot motion data. The robot motion data are obtained from a gyroscope and encoders of the mobile robot. The stereo vision data from the camera is used to compensate for errors in the motion measurements, and to prevent a long term error accumulation. This vision-based compensation is used only when the robot stops or moves slowly, because the long vision processing times can cause the loop time to overrun. The proposed system is experimentally evaluated while the robot moves on a trajectory.

关键词： Cameras Mobile robots Robot vision systems Robot kinematics Vectors Stereo vision

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Case study of unscented state estimation for batch distillation processes

Case study of unscented state estimation for batch distillat...

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9th IEEE International Conference on control and automation, ICCA 2011

作者： Miranda, Moira Edelmayer, András Encinoza, Adriana Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary School of Postgraduate Studies Sźechenyi University Egyetem t´er 1 H-9026 Gyor Hungary Laboratory of Unit Operations Department of Chemical Engineering University of Los Andes &#7742erida Venezuela

ISBN: (纸本)9781457714757

In this paper a comparative study on the use of extended and unscented Kalman filters for state estimation in nonlinear systems is presented. This is done to reveal the differences, and congruencies, in filters' synthesis in view of real plant implementation on embedded platforms. One of the objectives is to validate the usual performance measures of the filters, meant by state estimation, experimentally. Design features, such as the complexity of implementation and the sensitivity of the state initialization process on uncertain covariance information at regular filters startup are evaluated in a variety of real plant scenarios. A pilot plant of batch distillation process has been used for experimentation. © 2011 IEEE.

关键词： State estimation

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THD reduction with grid synchronized inverter's power injection of renewable sources

THD reduction with grid synchronized inverter's power inject...

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2010 International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM 2010

作者： Gorbe, Peter Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia 8200 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute 1518 Budapest Hungary

ISBN: (纸本)9781424449873

A control method for small domestic power plants using renewable energy is described in this paper. This method is not only capable of optimizing the working point of the plant but also implements active power factor correction and lowers the extant harmonic distortion in the line. The novel element in the proposed complex controller structure is the upper harmonic controller that minimizes the amplitudes of the 3rd, 5th 7th, 9th, and the 11th upper harmonic component in the output voltage. The proposed controller has been investigated by simulation in Matlab environment, and as a result, substantial improvement of the output voltage and current waveform could be achieved. Robustness of the method against nonlinear loads has also been tested. 0 © 2010 IEEE.

关键词： Solar power generation

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Dynamic modeling and model analysis of a large industrial synchronous generator

Dynamic modeling and model analysis of a large industrial sy...

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作者： Fodor, Attila Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia 8200 Veszprém Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9788070438657

A simple dynamic model of an industrial size synchronous generator operating in a nuclear power plant is developed in this paper based on first engineering principles. The constructed state-space model consists of a nonlinear state equation and a bi-linear output equation. It has been shown that the model is locally asymptotically stable with parameters obtained from the literature for a similar generator. The effect of load disturbances on the partially controlled generator has been analyzed by simulation using a traditional PI controller. It has been found that the controlled system is stable and can follow the set-point changes in the effective power well. The disturbance rejection of the controller is also satisfactory.

关键词： Disturbance rejection

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Nested backward compensation of unmatched effects of unknown inputs based on HOSM identification

Nested backward compensation of unmatched effects of unknown...

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2010 11th International Workshop on Variable Structure systems, VSS 2010

作者： Ferreira, Alejandra Punta, Elisabetta Department of Control Engineering Faculty C.P. 04510. México DF Mexico Institute of Intelligent Systems for Automation National Research Council of Italy ISSIA-CNR Genoa Italy

ISBN: (纸本)9781424458318

The paper considers the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and perturbation estimation. It is introduced a controller with a compensation strategy based on the identified perturbation values. When the system satisfies quite restrictive assumptions, the method ensures exact regulation of the unmatched states. In order to deal with the general case it is proposed a nested backward strategy to design the sliding surface, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded. © 2010 IEEE.

关键词： Linear time-invariant system

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