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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Automation of Surgical Illumination System Using Robot and Ultrasonic Sensor

Automation of Surgical Illumination System Using Robot and U...

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IEEE International Conference on Mechatronics and Automation

作者： Dong-Geol Choi Byung-Ju Yi Whee-kuk Kim School of Electrical Engineering and Computer Science Hanyang University Ansan Gyeonggi South Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Chungcheongbuk South Korea

Most surgery illumination systems have been developed as passive system. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data are sent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.

关键词： Robotics and automation Surgery Lighting Robot sensing systems Sensor systems Surges control systems Tracking Manipulators Ultrasonic variables measurement

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H∞ filtering for a class of 2D systems

H∞ filtering for a class of 2D systems

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15th European Signal Processing Conference, EUSIPCO 2007

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory Germany

ISBN: (纸本)9788392134022

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required. © 2007 EURASIP.

关键词： Dynamics

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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ROBUST IDENTIFICATION OF PROCESS MODELS FROM PLANT DATA

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IFAC Proceedings Volumes 2007年第5期40卷 1-18页

作者： Graham C. Goodwin Juan C. Agüero James S. Welsh Gregory J. Adams Juan I. Yuz Cristian R. Rojas Centre for Complex Dynamic Systems and Control (CDSC). The School of Electrical Engineering and Computer Science The University of Newcastle Australia Electronics Department Universidad Técnica Federico Santa María Valparaíso Chile

A precursor to any advanced control solution is the step of obtaining an accurate model of the process. Suitable models can be obtained from phenomenological reasoning, analysis of plant data or a combination of both. Here, we will focus on the problem of estimating (or calibrating) models from plant data. A key goal is to achieve robust identification. By robust we mean that small errors in the hypotheses should lead to small errors in the estimated models. We argue that, in some circumstances, it is essential that special precautions be taken to ensure that robustness is preserved. We present several practical case studies to illustrate the results.

关键词： Closed loop identification robust identification

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Hybrid mobile robot navigational strategy for efficient data collection in sparsely deployed sensor networks

Hybrid mobile robot navigational strategy for efficient data...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Marcelo B. Soares Mario F. M. Campos Dimas A. Dutra Victor C. da S. Campos Guilherme A. S. Pereira Department of Computer Science Federal University of Minas Gerais Brazil Department of Control and Automation Engineering Federal University of Minas Gerais Brazil Department of Electrical Engineering Federal University of Minas Gerais Brazil

We propose and implement a hybrid navigational strategy for mobile robots for data collection tasks in sparsely deployed sensor networks. Our approach presents an alternative to the routing algorithms used in wireless sensor networks which focus on the minimization of energy consumption of each node which is mainly due to data transmission. The method has two layers: i) Reactive Layer in which the data collected from a sensor node is modelled as a potential function whose gradient attracts the robot and ii) Planning Layer, that dictates the action the robot must take to collect sensor data. Results from both simulation and real world experiments showing the performance of the proposed methodology are shown, compared and discussed.

关键词： Mobile robots Navigation Wireless sensor networks Robot sensing systems Sensor systems Routing Temperature sensors Data communication Mobile agents Vehicles

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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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A Hybrid control Strategy for Robust Contact Detection and Force Regulation

A Hybrid Control Strategy for Robust Contact Detection and F...

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American control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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Depth of Anesthesia Index using Cumulative Power Spectrum

Depth of Anesthesia Index using Cumulative Power Spectrum

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Mathieu Jospin Pere Caminal Erik W. Jensen Montserrat Vallverdu Michel M.R.F. Struys Hugo E.M. Vereecke Daniel T. Kaplan Department of Automatic Control Biomedical Engineering Research Center Technical University of Catalonia Barcelona Spain Department of Anesthesia Ghent University Hospital Ghent Belgium Department of Mathematics and Computer Science Macalester College Saint Paul MN USA

Over the last ten years, monitors of depth of anesthesia have progressively been integrated in the clinical practice. Based on the analysis of the electroencephalogram (EEG), these monitors deliver an index that helps the anesthesiologist to determine the state of the patient during the surgery. Although they employ different kind of algorithms, spectral parameters are always taken into account to achieve the final indexes. In this work, a new spectral parameter based on the cumulative power spectrum is proposed. When compared to the Spectral Edge Frequency (SEF), a classic spectral parameter, the Cumulative Power Spectrum Index (CPSI) presents a higher correlation with reference indexes (AAI, BIS and CePROP) and a higher prediction probability of the state of the patient. Furthermore, when compared to the reference indexes, the CPSI shows similar performances in terms of correlation and presents a higher prediction probability than two of them (BIS and CePROP).

关键词： Anesthesia Electroencephalography Frequency Patient monitoring Databases Hospitals Drugs Biomedical monitoring Entropy Surgery

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Observer-based control of differential linear repetitive processes 9

Observer-based control of differential linear repetitive pro...

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2007 9th European control Conference, ECC 2007

作者： Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 Góra65-246 Poland Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Faculty of Electrical Information and Media Engineering University of Wuppertal Rainer-Gruenter-Strasse 21 D-42119 Germany

ISBN: (纸本)9783952417386

Repetitive processes are a distinct class of two-dimensional systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or two-dimensional (2D) systems theory. Here we give significant new results on the design of mixed state feedback/output (or pass profile) control schemes incorporating a state observer. These results are for the sub-class of so-called differential linear repetitive processes which arise in applications areas such as iterative learning control. © 2007 EUCA.

关键词： State feedback

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