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New methods for structural and functional analysis of complex processes

New methods for structural and functional analysis of comple...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Miguel Castano Arranz Wolfgang Birk Control Engineering Group Department of Computer Science and Electrical Engineering Luleå University of Technology Lulea Sweden

The selection of the structure of a controller in large scale industry processes requires extensive process knowledge. The aim of this paper is to present methods which help designers to comprehend a process by representing structural and functional relationships from actuators and process disturbances to measured or estimated variables. This paper describes similarities between brain connectivity theory and interaction analysis in multivariable processes. Results from both theories are combined to create new methods for the analysis of industry processes. The developed methods are applied to an illustrative example.

关键词： Functional analysis Industrial relations Actuators control systems Electric variables control Neurons Large-scale systems Production Electroencephalography Information analysis

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Cognitive safety control for human-machine interaction 10

Cognitive safety control for human-machine interaction

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2009 10th European control Conference, ECC 2009

作者： Ding, Hao Kain, Sebastian Schiller, Frank Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel34109 Germany Institute of Information Technology in Mechanical Engineering Technische Universität München Garching bei München85748 Germany

ISBN: (纸本)9783952417393

In order to introduce cognition, i.e. perception and autonomously reconfigured control, into manufacturing systems for increasing the flexibility and adaptivity this paper proposes an architecture of a cognitive safety controller (CSC). The CSC consists of a strategic controller (SC) and an operational controller (OC): the SC iteratively computes (sub-)optimal control strategies taking dynamic models, safety specifications, and learned knowledge into account. The operational controller (OC) provides certified safety by safe realization of the strategy computed by the SC. The paper illustrates the application of the CSC to a cognitive manufacturing system (CMS) in which a robot and a human operator share a workspace. Important components of this application are a procedure to compute (sub)optimal strategies for varying control specifications online and a scheme for implementing the strategy on a programmable logic controller (PLC). © 2009 EUCA.

关键词： controllers

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Bilevel programming for analysis of low-complexity control of linear systems with constraints

Bilevel programming for analysis of low-complexity control o...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Henrik Manum Colin N.Jones Johan Lfberg Manfred Morari Sigurd Skogestad Department of Chemical Engineering Norwegian University of Science and Technology ETH Zrich Automatic Control Laboratory Department of Electrical Engineering Linkping University

In this paper we use bilevel programming to find the maximum difference between a reference controller and a low-complexity controller in terms of the infinitynorm difference of their control laws.A nominal MPC for linear systems with constraints,and a robust MPC for linear systems with bounded additive noise are considered as reference *** possible low-complexity controllers we discuss partial enumeration(PE),Voronoi/closest point,triangulation,linear controller with saturation,and others.A small difference in the norm between a low-complexity controller and a robust MPC may be used to guarantee closed-loop stability of the low-complexity controller and indicate that the behaviour or performance of the low-complexity controller will be similar to that of the reference *** further discuss how bilevel programming may be used for closed-loop analysis of model reduction.

关键词： bilevel programming closed-loop analysis optimal control

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control schemes for a Force-Actuated vehicle door assistant

Control schemes for a Force-Actuated vehicle door assistant

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

作者： Jurgen Maas Christian Graf Control Engineering and Mechatronics in the Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Germany Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Germany

Easy operation of vehicle functionality is an important distinguishing mark for competitiveness. Recently, several approaches are presented in order to assist the entry for passengers. In this paper a novel vehicle door is proposed that increases the passengers' comfort by supporting him with additional forces while opening or closing the door but retaining the common haptic properties of a passive vehicle door. Based on a mechatronic door system, containing an appropriate sensory interface, a full active actuator and a variable impedance control an excellent haptic is provided.

关键词： Force control Vehicles Motion control Humans Mechatronics Haptic interfaces Actuators control systems automatic control Impedance

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Realtime compensation methods for hysteresis based magnetorheological actuators

Realtime compensation methods for hysteresis based magnetorh...

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

作者： Jurgen Maas Karl Voth Ansgar Wiehe Christian Graf Control Engineering and Mechatronics in the Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Germany Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Germany

This paper deals with the design and evaluation of feed forward compensation methods for the hysteresis phenomena applied to magnetorheological actuators to obtain a linearized force characteristic of the actuator. For these aim two compensation algorithms, the Preisach and a modified Prandtl-Ishlinskii approach, are investigated in detail considering a magnetorheological actuator with distinctive hysteresis. In order to proof the effect of the compensation methods the actuator is finally applied in a mechatronic door assistant to evaluate advanced functionality like algorithms for collision avoidance, which requires a precise adjustable braking force.

关键词： Torque Magnetic hysteresis Magnetic materials Magnetic fields Intelligent actuators Hydraulic actuators Electromagnets Permanent magnets Mechatronics Pneumatic actuators

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Multi-static radar target tracking using information consensus filters

Multi-static radar target tracking using information consens...

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作者： Casbeer, David W. Beard, Randal W. Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States Department of Electrical and Computer Engineering Brigham Young University Provo UT 84651 United States

ISBN: (纸本)9781563479786

In this paper, the information consensus filter (ICF) is adapted to non-linear process and measurement models by employing an extended information filter (EIF). The nonlinear ICF is a decentralized estimator, where each node in the sensor network maintains a local estimate. A node's local observations are fused with the local estimate, and the new information is communicated throughout the network by a consensus filter. We apply the non-linear ICF to a multi-static radar tracking system, where unmanned aerial vehicles (UAVs) act as mobile adaptive radar receivers. Each UAV maintains a local track of the target using the non-linear ICF, and for a small UAV team, it is shown that the accuracy of the decentralized non-linear ICF is similar to that of the estimate in an centralized extended information filter. Copyright © 2009 by David W. Casbeer.

关键词： Sensor nodes

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Performance evaluation of disk scheduling algorithms in the presence of bad sectors

Performance evaluation of disk scheduling algorithms in the ...

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International International Symposium on computer and Information sciences (ISCIS)

作者： Tarek Helmy College of Engineering Department of Computer and Automatic Control Tanta University Egypt College of Computer Science and Engineering King Fahd University of Petroleum and Minerals Saudi Arabia

Disk scheduling algorithms have long been a topic of study in computer science. Many researchers studied the performance of the disk scheduling algorithms. However, perhaps due to the difficulty of implementation, those early works focused solely on exploring the basic ideas and comparing the performance of these algorithms. No one studied the effect of bad sectors in their performance. In this paper, the performance of the disk scheduling algorithms in the presence of bad sectors is studied. The mapping of bad sectors to spare sectors is considered. We use simulation to do the performance evaluation. Simulation results show that all disk scheduling algorithms are same when there is a high percentage of bad sectors and when the spare sectors are distributed at the end of the disk. It is shown also that with a high percentage of bad sectors, the disk scheduling algorithms perform better if the distribution of spare sectors is at the end of the disk. With a low percentage of bad sectors, the scheduling algorithms perform better if the distribution of spare sectors is within the entire disk. It is shown also that all scheduling algorithms are more sensitive to bad sectors in heavily loaded systems.

关键词： Scheduling algorithm computer science Educational institutions Petroleum Minerals Disk drives control systems Delay

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Increasing reliability of intelligent manufacturing systems by adaptive optimization and safety supervision

Increasing reliability of intelligent manufacturing systems ...

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作者： Ding, Hao Kain, Sebastian Schiller, Frank Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel D-34109 Kassel Germany Institute of Information Technology in Mechanical Engineering Technische Universität München D-85748 Garching near Munich Germany

ISBN: (纸本)9783902661463

For concurrent consideration of reliability and safety of manufacturing systems on the one hand, and flexibility and performance on the other, a specialized control architecture was proposed recently. It consists of a strategic controller for online computing (sub-)optimal control strategies under consideration of dynamic models, safety specifications, and learned knowledge. The second building block is an operational controller for providing certified safety when dealing with behaviors that are not completely predictable, for instance in case of faults. This paper extends the architecture by a specific technique for the strategic controller: For the case of an intelligent manufacturing system which reacts adaptively to a human operator, control trajectories for a robot arm are computed online such that collision with the operator is excluded. The computation is based on solving a mixed-integer programming problem that takes a dynamic safety area around the operator into account as constraint. © 2009 IFAC.

关键词： Reliability

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Distributed Predictive control of Communicating and Platooning Vehicles

Distributed Predictive Control of Communicating and Platooni...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Johannes Dold Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer ScienceUniversity of Kassel (Germany)

This paper proposes an approach to robust model predictive control for distributed systems with chain *** by the application of a platoon of autonomous vehicles in linear motion, we consider a system structure in which the dynamics of each subsystem is specified in relative error coordinates and in affine form, considering the input of the preceding subsystem as disturbance(since locally not known a-priori). Employing principles of RMPC suggested before by Kerrigan et al. for the case of non-distributed systems, we first show how robust strong feasibility can be guaranteed for the distributed case. The drawback of this approach is that the zone of robustness is obtained in a relatively conservative form, and that the control error, in general, cannot be forced to zero. Thus,in the second part, we include a scheme for communicating predicted control trajectories between the subsystems in order to improve the control performance and to render the solution less conservative.

关键词： agent Distributed Predictive control of Communicating and Platooning Vehicles

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Function Approximation for the Deterministic Hamilton-Jacobi-Bellman Equation

Function Approximation for the Deterministic Hamilton-Jacobi...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Matthias Rungger Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer ScienceUniversity of Kassel (Germany)

Based on Gaussian basis functions, a new method for calculating the Hamilton-Jacobi-Bellman equation for deterministic continuous-time and continuous-valued optimal control problems is proposed. A semi-Lagrangian discretization scheme is used to obtain a discrete-time finite-state approximation of the continuous dynamics. The value function of the discretized system is approximated by a Gaussian network. Limit behavior analysis provides a proof of convergence for the scheme. The performance of the presented approach is demonstrated for an underpowered inverted pendulum as numerical ***, a comparison to the approximation by continuous piecewise affine functions(the current state of the art) shows the benefits of the approximation technique proposed here.

关键词： Gaussian Function Approximation for the Deterministic Hamilton-Jacobi-Bellman Equation Hamilton Jacobi

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