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Robust decentralized dynamic control for synchronization of a complex dynamical network with randomly occurring uncertainties

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Nonlinear Dynamics 2012年第1期70卷 559-570页

作者： Lee, Tae H. Park, Ju H. Wu, Zheng-Guang Lee, Sang-Choel Lee, Dong Ha Nonlinear Dynamics Group Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus Hangzhou Zhejiang P.R. China Division of IT Convergence/Division of Robotics System DGIST Daegu Republic of Korea

This paper considers synchronization problem of an uncertain complex dynamical network. The norm-bounded uncertainties enter into the complex dynamical network in randomly ways, and such randomly occurring uncertainties (ROUs) obey certain mutually uncorrelated Bernoulli distributed white noise sequences. Under the circumstances, a robust $\mathcal{H}_{\infty}$ decentralized dynamic feedback controller is designed to achieve asymptotic synchronization of the network. Based on Lyapunov stability theory and linear matrix inequality (LMI) framework, the existence condition for feasible controllers is derived in terms of LMIs. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our result.

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New results on synchronization for complex dynamical networks with time-varying coupling delay and sampled-data

New results on synchronization for complex dynamical network...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Zheng-Guang Wu Ju H. Park Bo Song Sang-Choel Lee Dong Ha Lee Department of Electrical Engineering Yeungnam University Kyongsan South Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang China Division of IT Convergence/Division of Robotics System DGIST Daegu South Korea

This paper is concerned with the synchronization problem for complex dynamical networks with time-varying coupling delay and sampled-data. The sampling period considered here is assumed to be time-varying but bounded. A novel exponential synchronization condition is established based on the Gronwall's inequality, and an explicit expression for a set of sampled-data synchronization controllers is also given in terms of the solution to linear matrix inequalities. A numerical example is introduced to show the effectiveness of the given result.

关键词： Synchronization Delay Symmetric matrices Couplings Complex networks Trajectory Time varying systems

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Online Learning Algorithm for Stackelberg Games in Problems with Hierarchy

Online Learning Algorithm for Stackelberg Games in Problems ...

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IEEE Annual Conference on Decision and control

作者： K. G. Vamvoudakis F. L. Lewis M. Johnson W. E. Dixon Center for Control Dynamical-systems and Computation (CCDC) University of California Automation and Robotics Research Institute University of Texas at Arlington NASA Ames Research Center Department of Mechanical and Aerospace Engineering University of Florida

ISBN: (纸本)9781467320658

This paper presents an online adaptive optimal control algorithm based on policy iteration reinforcement learning techniques to solve the continuous-time Stackelberg games with infinite horizon for linear systems. This adaptive optimal control method finds in real-time approximations of the optimal value and the Stackelberg-equilibrium solution, while also guaranteeing closed-loop stability. The optimal-adaptive algorithm is implemented as a separate actor/critic parametric network approximator structure for every player, and involves simultaneous continuous-time adaptation of the actor/critic networks. Novel tuning algorithms are given for the actor/critic networks. The convergence to the closed-loop Stackelberg equilibrium is proven and stability of the system is also guaranteed. A simulation example shows the effectiveness of the new online algorithm.

关键词： Stackelberg games Hierarchical control problems adaptive optimal control Social Hierarchy Game theory e-learning infinite horizon Best value algorithms

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Fault Detection and Isolation for Nonlinear Systems via HOSM Multiple-Observer *

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IFAC Proceedings Volumes 2012年第20期45卷 534-539页

作者： H. Ríos C. Edwards J. Davila L. Fridman National Autonomous University of Mexico Program of PhD in Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F Control and Instrumentation Research Group Department of Engineering University of Leicester University Road Leicester LE1 7RH UK National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P. 07340 Mexico D.F Department of Automatic Control CINVESTAV-IPN Mexico D.F. AP-14-740 on leave on National Autonomous University of Mexico Engineering Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F

The fault detection and isolation problem is studied for a class of nonlinear systems. Under structural conditions, a bank of High-Order Sliding-Mode observers is proposed. The value of the equivalent output injection is used for detecting and isolating particular faults in the system. The proposed method provides finite-time isolation of actuator and plant faults. Simulation results support the proposed approach.

关键词： High-order Sliding-Mode Observers Fault Detection Fault Isolation

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Herb 2.0: Lessons learned from developing a mobile manipulator for the home

Herb 2.0: Lessons learned from developing a mobile manipulat...

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作者： Srinivasa, Siddhartha S. Berenson, Dmitry Cakmak, Maya Collet, Alvaro Dogar, Mehmet R. Dragan, Anca D. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Hui Tang Yangmin Li Qinmin Yang Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa Macao China Overseas Distinguished Professor at the State Key Laboratory of Robotics of Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou China

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H ∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks.

关键词： Mathematical model Uncertainty Hysteresis Nanobioscience Actuators Robustness

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robotics for Nuclear Power Plants — Challenges and future perspectives

Robotics for Nuclear Power Plants — Challenges and future p...

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： Jamshed Iqbal Ahmad Mahmood Tahir Raza ul Islam Riaz-un-Nabi Robotics and Control Research (RCR) Group Department of Electrical Engineering COMSATS Institute of Information Technology Islamabad Pakistan Lahore University of Management Sciences Lahore Pakistan Department of Electrical Engineering COMSATS Institute of Information Technology Islamabad Pakistan Istituto Italiano di Tecnologia Genova Italy

Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate artificial intelligence, improved sensors capability, enhanced data fusion and compliant human like leg and hand structures for efficient motions. Next generation robotic systems in NPPs are expected to work in full autonomous mode in contrast to the current semi-autonomous scenarios. Far future systems could deploy humanoid robots as well. This paper presents state-of-the-art of robotics developed for NPPs, associated challenges and finally comments on future directions.

关键词： Service robots Humans Inspection Manipulators Robot kinematics Mobile robots

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Advanced controlling of the prototype of SMA linear actuator

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 93-101页

作者： Dominik, Ireneusz Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

During research on SMA wires the prototype of linear position actuator was built. The shape memory alloy (SMA) wires used in construction of the actuator are nonlinear and time variant. Thus, it was decided to use a fuzzy controller to control the actuator. However, because of the nature of SMA wires which work by changes of their temperature, after a few minutes of continuous work the actuator did not work accurately. In other words, the existing singleton values in a knowledge base were inappropriate. That is why each time after longer continuous work of the actuator it was needed to manually find and change the mentioned values. It took a lot of time and effort so eventually it was decided to create a real time auto-tuning algorithm which could identify crucial parameters of the actuator each time when it was needed. Together with initial values learning algorithm the advanced controlling of SMA actuator was created. © (2011) Trans Tech Publications, Switzerland.

关键词： Shape memory effect

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Fuzzy logic control of rotational inverted pendulum

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 84-92页

作者： Dominik, Ireneusz Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

The rotational inverted pendulum is a structure that was primarily developed by Katsuhisa Furuta. It is widely used thorough the control laboratories to demonstrate the effectiveness of nonlinear control algorithms. The rotational inverted pendulum is a nonlinear system of fourth order with a single input variable. In this article the full dynamic equations of motion of the rotational inverted pendulum are derived using Lagrangian formulation. Consequently, a comparison of obtained mathematical model with other models described and available in literature is conducted by means of computer simulations. Eventually, a complete energy build-up swing-up algorithm and fuzzy stabilization algorithm for the system are developed. The control algorithm is then implemented on a PLC device in order to control the existing laboratory stand available at the department of Process control [1]. The algorithm is implemented with the use of ladder logic and structured text programming language. The robustness of elaborated balancing control is verified by subsequent real-time tests conducted on the laboratory stand. © (2011) Trans Tech Publications, Switzerland.

关键词： Fuzzy logic

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Nonlinear mathematical model of an Intelligent Pneumatic Actuator (IPA) systems: Position and force controls

Nonlinear mathematical model of an Intelligent Pneumatic Act...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Ahmad'Athif Mohd Faudzi Khairuddin Osman M. F. Rahmat Nu'man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

ISBN: (纸本)9781467325752

This paper presents a nonlinear mathematical modeling of an Intelligent Pneumatic Actuator (IPA) systems and comparison of simulation results with existing experimental results of position and force control data. The derivation method of mathematical equation is referred and reviewed from several literatures. From the mathematical modeling, a simulation analysis was done and compared with existing data from previous research. This paper proposed a reverse engineering method from existing real system on the intelligent actuator that focused more on development of hardware and experimental setup to simulation analysis for validation of the developed model. The simulation results show the affirmation of the developed model based on the mathematical derivation work. The simulation results demonstrate the open-loop and close-loop control systems of position and force tracking control. Finally, performance of this system are analyzed and compared. For future research, this simulation can be used for development of new controllers, validation process and can be applied to real system.

关键词： Mathematical model Valves Force Actuators Equations Pistons

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