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Special Issue on Variable Structure System control — New Designs and Applications

Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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Solving Commutative Relaxations of Word Problems

Solving Commutative Relaxations of Word Problems

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 5971-6447

作者： Danielle C. Tarraf Pablo A. Parrilo Division of Control and Dynamical Systems Cambridge Analog Technologies Inc. Bedford MA USA Electrical Engineering and Computer Science Department MIT Cambridge MA USA

ISBN: (纸本)9781424414970;1424414970

We present an algebraic characterization of the standard commutative relaxation of the word problem in terms of a polynomial equality. We then consider a variant of the commutative word problem, referred to as the "Zero-to-All reachability" problem. We show that this problem is equivalent to a finite number of commutative word problems, and we use this insight to derive necessary conditions for Zero-to-All reachability. We conclude with a set of illustrative examples.

关键词： Word problem Commutative Word Relaxation Insight Equivalent

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Design and Simulation of Ultrasonic Linear Motor using Multilayer Ceramic Actuator

Design and Simulation of Ultrasonic Linear Motor using Multi...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Juhyun Yoo Sangho Lee Jaeil Hong Hyunsun Song Durkwon Park Eunsang Hwang Department of Electrical Engineering Semyung University Chungbuk South Korea Department of Computer Science Semyung University Chungbuk South Korea Dept. of Electrical Information Control Dongseoul College Seongnam Gyeonggi 461-714 Korea Semyung University Department of Computer Science Jechon Chungbuk 390-711 Korea

In comparison with conventional electromagnetic motors, ultrasonic motors have many advantages such as a large torque at the low velocity, good controllability, rapid response, quiet operation, simple structure and non electromagnetic field induction, etc. These features have led to the development of various ultrasonic motors in many industrial fields. Hence, in this study, ultrasonic linear motor using multilayer structured ceramic actuator was designed and simulated using ANSYS of finite element method(FEM) simulator for investigating the optimum conditions of it. The ultrasonic linear motor studied in this paper was designed using the 1st longitudinal (L 1 ) and 4th bending (B 4 ) vibration. The size of ceramic actuator is 15 mm long and 5 mm wide. And one-layer thickness of actuator is 60 mu m. The dimension of linear motor is 61 times 5 times 3 mm. The sectional size of projection is 1.5 times 5 mm. The driving voltage of the motor was very low as 5 Vrms. With the increase of the number of piezoelectric ceramic layers, displacement of node was increased up to 21 layered ceramic actuator and then decreased. Maximum z displacement of node was about 7.02 mum at the 21 layered ultrasonic motor.

关键词： Nonhomogeneous media Ceramics Hydraulic actuators Electromagnetic fields Induction motors Electromagnetic induction controllability Finite element methods Voltage Piezoelectric actuators

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An Optimization Approach to Fault Detection with Sensor Locations

An Optimization Approach to Fault Detection with Sensor Loca...

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International Conference on control and Automation (ICCA)

作者： Peng Tao Steven X Ding Gui Wei-Hua He Bei Department of Electrical Engineering Hunan University of Techonogy Zhuzhou China College of Information Science and Engineering Central South University Changsha China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg Germany College of Information science and Engineering Central South University Changsha China

This paper considers the fault detection problem with sensor locations of linear time invariant system. To attain the amount of information about the process fault as much as possible, m variables out of N available process measurements are selected for measurement outputs. A minimum total measurement cost can be achieved when the system is designed to be as sensitive as possible to faults and simultaneously as robust as possible to the unknown inputs such as disturbance. The simulation results illustrate the effectiveness of the proposed approach.

关键词： Fault detection Sensor phenomena and characterization Sensor systems automatic control Educational institutions Information science Time invariant systems Noise measurement Centralized control control systems

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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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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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Inf-sup control of discontinuous piecewise affine systems

Inf-sup control of discontinuous piecewise affine systems

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European control Conference (ECC)

作者： J. Spjøtvold E. C. Kerrigan S. V. Raković D. Q. Mayne T. A. Johansen Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Imperial College London London London GB Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland Department of Electrical and Electronic Engineering Imperial College London London United Kingdom

In this paper we consider optimal control of constrained, discontinuous, discrete-time, piecewise affine systems with state and input dependent disturbances. We seek to precompute, via dynamic programming, an explicit control law for these systems when a piecewise affine cost function is utilized. The main difficulty with this problem class is that, even for initial states for which the value function of the optimal control problem is finite, there might not exist a control law that attains the infimum. Hence, we propose a method that is guaranteed to obtain a sub-optimal solution, and where the degree of sub-optimality can be specified a priori. This is achieved by approximating the underlying sub-problems with a piecewise parametric linear program.

关键词： Optimal control Dynamic programming Optimization Equations Minimization Gold Robustness

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A Brief Overview of the Complex Biological and engineering Networks

A Brief Overview of the Complex Biological and Engineering N...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Jinhu Lu Derong Liu Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Illinois Chicago Chicago IL USA

Over the last few decades, complex networks have been intensively studied throughout many fields of science, especially in biological and engineering sciences. This paper briefly reviews the main advances in the complex biological and engineering networks, aiming to bridge the gap between the complex biological and engineering networks. Biologists pay more attention to the mechanisms and local dynamics of individuals, however, engineers are more interesting in the global dynamical behaviors. It is the time for the biologists and engineers to work together for better understanding the complex networks.

关键词： Biological system modeling Complex networks Mathematical model Biology Genetics Power system modeling Bridge circuits Evolution (biology) computer networks Power engineering computing

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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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Energy-based Decentralized Excitation control of Nonlinear Differential Algebraic Power Systems

Energy-based Decentralized Excitation Control of Nonlinear D...

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International Conference on control and Automation (ICCA)

作者： Yanhong Liu Chunwen Li Yuzhen Wang Jianyong Li School of Electrical Engineering University of Zhengzhou Zhengzhou China Department of Automation Tsinghua University China School of Control Science and Engineering Shandong University China School of Computer and Communication Engineering Zhengzhou Institute of Light Industry China

Using the Hamiltonian function method, we investigate the excitation control of power systems presented by nonlinear differential algebraic equations. First, a novel Hamiltonian realization structure for nonlinear differential algebraic systems is applied to the power system. Then we propose a decentralized nonlinear excitation control scheme and analyze the stability of the closed loop system. This strategy takes advantage of the intrinsic properties including especially the internal power balance of the differential algebraic power system model. Simulation illustrates the effectiveness of the control strategy.

关键词： Nonlinear control systems control systems Power system control Power systems Power system stability Power system analysis computing Power system modeling Power system simulation Differential algebraic equations control system analysis

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