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MODELLING AND IDENTIFICATION OF AERATION SYSTEMS FOR MODEL PREDICTIVE control OF DISSOLVED OXYGEN – SWARZEWO WASTEWATER TREATMENT PLANT CASE STUDY

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IFAC Proceedings Volumes 2007年第4期40卷 43-48页

作者： W. Krawczyk R. Piotrowski M.A. Brdys W. Chotkowski Department of Automatic Control Gdansk University of Technology ul. G. Narutowicza 11/12 80 952 Gdansk Poland Department of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

Aeration is an important and expensive activity that is carried out during wastewater treatment plant ( WWTP ) operation. The aeration system serves as the actuator to deliver the airflow prescribed by the dissolved oxygen controller. It is on its own a complex dynamic system with nonlinear hybrid dynamics. Recently hybrid model predictive controllers ( HMPC ) were proposed in order to control the system valve and blower operation so that the required airflow can be accurately delivered and the energy cost due to blowing the air minimised. Availability of a suitable model of the aeration system is vital for a successful operation of these controllers. The paper improves the model recently proposed. A practical approach to the model identification and validation is proposed and applied to Swarzewo WWTP.

关键词： air biotechnology dynamic systems identification modelling nonlinear systems verification waste treatment

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Robust fault detection for discrete-time Markovian jump systems with mode-dependent time-delays

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控制理论与应用（英文版） 2007年第2期5卷 139-144页

作者： Hongru WANG Changhong WANG Shaqshuai MOU Huijun GAO School of Information ＆ Communication Engineering Harbin Engineering University Harbin Heilongjiang 150001 China Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Electrical and Computer Engineering The University of Alberta Edmonton Alberta T6G 2V4 Canada

This paper investigates a fault detection problem for a class of discrete-time Markovian jump systems with norm-bounded uncertainties and mode-dependent time-delays. Attention is focused on constructing the residual generator based on the filter of which its parameters matrices are dependent on the system mode, that is, the fault detection filter is a Markovian jump system as well. The design of fault detection filter is reduced to H-infinity filtering problem by using H-infinity control theory, which can guarantee the difference between the residual and the fault （or, more generally weighted fault） as small as possible in the context of enhancing the robustness of residual to modeling errors, control inputs and unknown inputs. Sufficient condition for the existence of the above filters is established by means of linear matrix inequalities, which can be readily solved by using standard numerical software. A numerical example is given to illustrate the feasibility of the proposed method.

关键词： Markovian jump system Time-delay Fault detection H-infinity filtering Linear matrix inequality Residual

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Estimation of Fatigue Damage for an Austenitic Stainless Steel (SUS304) Using Magnetic Methods

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AIP Conference Proceedings 2007年第1期894卷 1290-1297页

作者： M. Oka T. Yakushiji Y. Tsuchida M. Enokizono 1Department of Computer and Control Engineering Oita National College of Technology 1666 Maki Oita 870‐0152 Japan 2Department of Mechanical Engineering Oita National College of Technology 1666 Maki Oita 870‐0152 Japan 3Department of Electrical and Electronic Engineering Faculty of Engineering Oita University 700 Dannoharu Oita 870‐1192 Japan

There are some fatigue damage estimation methods of the austenitic stainless steel that uses the martensitic transformation. For instance, they are the remanent magnetization method, the excitation method, and so on. Those two methods are being researched also in our laboratory now. In the remanent magnetization method, it is well known that the relation between fatigue damage and the remanent magnetization is simple, clear, and reproducible. However, this method has the disadvantage to need a special magnetizer. This method cannot be easily used on the site such as the factory. On the other hand, because the special magnetizer is unnecessary, the excitation method can use easily on the site. The output signal of this method is small. In this paper, two fatigue evaluation methods such as the remanent magnetization method and the excitation method are introduced. In addition, we report on the result of comparing the fatigue evaluation performances of two methods.

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Interior-Point Algorithms for Sum-Of-Squares Optimization of Multidimensional Trigonometric Polynomials

Interior-Point Algorithms for Sum-Of-Squares Optimization of...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Tae Roh Bogdan Dumitrescu Lieven Vandenberghe Electrical Engineering Department University of California Los Angeles Los Angeles CA USA International Center for Signal Processing Tampere University of Technology Tampere Finland Department of Automatic Control and Computer Politechnica University of Bucharest Romania

A wide variety of optimization problems involving nonnegative polynomials or trigonometric polynomials can be formulated as convex optimization problems by expressing (or relaxing) the constraints using sum-of-squares representations. The semidefinite programming problems that result from this formulation are often difficult to solve due to the presence of large auxiliary matrix variables. In this paper we extend a recent technique for exploiting structure in semidefinite programs derived from sum-of-squares expressions to multivariate trigonometric polynomials. The technique is based on an equivalent formulation using discrete Fourier transforms and leads to a very substantial reduction in the computational complexity. Numerical results are presented and a comparison is made with general-purpose semidefinite programming algorithms. As an application, we consider a two-dimensional FIR filter design problem.

关键词： Multidimensional systems Polynomials Signal processing algorithms Multidimensional signal processing Constraint optimization Discrete Fourier transforms Computational complexity Finite impulse response filter Optimization methods Digital filters

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Implementation of an embedded omni-directional mobile robot with active caster wheels

Implementation of an embedded omni-directional mobile robot ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Eui-jung Jung Jae Heon Chung Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Ubiquitous Functions Research Group National Institute for Advanced Industrial Science and Technology Japan Department of Control and Instrumentation Engineering Korea University South Korea

This work deals with a motion planning algorithm of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. This is due to mismatching between the command and the mechanical hardware. To cope with this problem, a motion planning algorithm pursuing the natural configuration of the mobile wheel was mainly investigated, which resolves the skidding problem and uncertain motions of the steering wheel. Through simulations and experimentation, the feasibility of this algorithm was verified.

关键词： Mobile robots Wheels Kinematics computer science Motion planning Motion control Roads Intelligent robots USA Councils

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Erratum to: “controlling complex dynamical networks with coupling delays to a desired orbit” [Phys. Lett. A 359 (2006) 42]

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Physics Letters A 2007年第5-6期370卷 533-535页

作者： Zhi Li Ju-Jang Lee Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 South Korea Department of Automatic Control Engineering Xidian University PO Box 136 Xi'an 710071 PR China

In this Letter, we indicate that the proposed sufficient condition in Letter [Z. Li, G. Feng, D., Hill, Phys. Lett. A 359 (2006) 42] does not hold, which cannot guarantee that the states of complex network with coupling delays globally exponentially synchronize with a desired orbit and it only applies to globally asymptotical synchronization with a desired orbit. For correcting the mistakes, a correct version of globally exponential synchronization is given and proved in this Letter.

关键词： 05.10.-a 05.45.Pq Global exponentially synchronization Dynamical networks Coupling time-delay Linear matrix inequality

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AN ASYMPTOTIC SECOND-ORDER SMOOTH SLIDING MODE control

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Asian Journal of control 2008年第4期5卷

作者： Yuri B. Shtessel Ilya A. Shkolnikov Mark D.J. Brown Department of Electrical and Computer Engineering University of Alabama in Huntsville Huntsville AL 35899 USA. Z/I Imaging Corporation 301 Cochran Road Suite 9 Huntsville AL 35824 USA. Principal Engineer Sikorsky Aircraft Corporation 6900 Main Street Stratford CT 06615 USA. Dr. Mark Brown received the PhD. degree in Electrical Engineering from the University of Alabama in Huntsville in 2001. He is the principal scientist supporting the development of technology for test and evaluation Prior to this Dr. Brown was the lead researcher developing the weapons control algorithms for the Comanche RAH-66 helicopter at Sikorski. He has also led the development of missile defense system technologies including research into the development of flight control algorithms at the U.S. Army Space and Missile Defense Command. Dr. Brown is currently employed by Scientific Research Corporation.

Presented is a method of smooth sliding mode control design to provide for an asymptotic second-order sliding mode on the selected sliding surface. The control law is a nonlinear dynamic feedback that in absence of unknown disturbances provides for an asymptotic second-order sliding mode. Application of the second-order disturbance observer in a combination with the proposed continuous control law practically gives the second-order sliding accuracy in presence of unknown disturbances and discrete-time control update. The piecewise constant control feedback is “smooth” in the sense that its derivative numerically taken at sampling rate does not contain high frequency components. A numerical example is presented.

关键词： Sliding mode control second order sliding mode sliding mode observer

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Satellite formation flying via lyapunov stabilization

Satellite formation flying via lyapunov stabilization

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International Conference on control, Automation and Systems ( ICCAS)

作者： Hyo-Sung Ahn Chang-Hee Won Sang-Young Park Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Department of Electrical and Computer Engineering Temple University Philadelphia PA USA Astrodynamics and Control Laboratory Department of Astronomy and Space Science Yonsei University Seoul South Korea

This paper presents a control scheme for satellite formation flying based on Lyapunov stabilization. It is assumed that the angular rate and angular acceleration of true anomaly are not known, but they are bounded. In such a case, the control law proposed in this paper guarantees asymptotical convergence of the states to the desired values. Through numerical simulations, the validity of the proposed-formation flying scheme is illustrated.

关键词： Satellites Adaptive control Force control Aerodynamics Convergence Programmable control Acceleration Earth Automatic control control systems

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Neural network feedforward control for mechanical systems with external disturbances

Neural network feedforward control for mechanical systems wi...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 2301-2758

作者： Xuemei Ren Frank L Lewis Shuzhi Sam Ge Jingliang Zhang Department of Automatic Control Beijing Institute of Technology Beijing China Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Department of Electrical and Computer Engineering National University of Singapore Singapore ASTAR Data Storage Institute Singapore

ISBN: (纸本)9781424414970;1424414970

In this paper, a novel feedforward control based on accelerometer measurements is proposed for mechanical systems with external disturbances. The control scheme includes a feedback controller and a neural network feedforward compensator. The feedback controller is employed to guarantee the stability of the mechanical systems, while the neural network is used to provide the required feedforward compensation input for trajectory tracking with the help of a sensor to detect external vibrations. Dynamics knowledge of the plant, disturbances and the sensor is not required. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the proposed controller performs well for a hard disk drive system and a two-link manipulator.

关键词： Mechanical systems external disturbance feedback controller FEEDFORWARD control disk drive system Neural network Sensors trajectory tracking

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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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