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Parity based fault estimation for nonlinear systems: an LMI approach

Parity based fault estimation for nonlinear systems: an LMI ...

引用

American control Conference (ACC)

作者： Sing Kiong Nguang Ping Zhang S. Ding Department of Electrical and Computer Engineering University of Auckland New Zealand Institute for Automatic Control and Complex Systems AKS Faculty of Engineering University of Duisburg-Essen Duisburg Germany

This paper deals with the parity based fault estimation for nonlinear systems modelled by Takagi-Sugeno (TS) fuzzy models. In this paper, the parity space approach for linear systems is generalized to TS fuzzy systems, and power spectra of the faults are incorporated into the design procedure. The design procedure is given in terms of a family of linear matrix inequalities (LMIs). Finally, a numerical example is given to illustrate the effectiveness of the proposed design techniques

关键词： Nonlinear systems Fuzzy systems Linear systems Power system modeling Fault detection State-space methods Nonlinear dynamical systems Takagi-Sugeno model Linear matrix inequalities Principal component analysis

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A control-design-based solution to robotic ecology: Autonomy of achieving cooperative behavior from a high-level astronaut command

A control-design-based solution to robotic ecology: Autonomy...

引用

作者： Wang, Jing Qu, Zhihua Ihlefeld, Curtis M. Hull, Richard A. Department of Electrical and Computer Engineering University of Central Florida Orlando FL 32816 United States Kennedy Space Center FL 32899 United States Lockheed Martin Missiles and Fire Control 5600 Sand Lake Rd. MP-450 Orlando FL 32819 United States School of Electrical and Computer Science University of Central Florida IEEE AIAA University of Central Florida Department of Electrical and Computer Engineering National Aeronautics and Space Administration Kennedy Space CenterKennedy Space Center Applied Physics Lab. Advanced Concepts Business Unit Science Applications International Corporation SAIC IEEE Control System Society

In this paper, we propose a cooperative control strategy for a group of robotic vehicles to achieve the specified task issued from a high-level astronaut command. The problem is mathematically formulated as designing the cooperative control for a general class of multiple-input-multiple-output (MIMO) dynamical systems in canonical form with arbitrary but finite relative degrees such that the outputs of the overall system converge to the explicitly given steady state. The proposed cooperative control for individual vehicle only need to use the sensed and communicated outputs information from its local neighboring vehicles. No fixed leader and time-invariant communication networks are assumed among vehicles. Particularly, a set of less-restrictive conditions on the connectivity of the sensor/communication networks are established, under which it is rigorously proven by using the newly found nice properties of the convergence of sequences of row stochastic matrices that the cooperative objective of the overall system can be achieved. Simulation results for a group of vehicles achieving a target and surrounding a specified object in formation are provided to support the proposed approach in this paper.

关键词： Robotics

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Analysis of two 3-DOF parallel mechanisms with constrained Stewart Platform structure

Analysis of two 3-DOF parallel mechanisms with constrained S...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Seok-Hee Lee Whee-Kuk Kim Byung-Ju Yi Il-Hong Suh Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Department of Information and Communication Hanyang University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea

Two 3-DOF parallel mechanisms, a translational mechanism and a spherical mechanism, are analyzed. Each of two mechanisms commonly possesses three UPS serial sub-chains, and an additional passive 3-DOF PPP-type serial sub-chain and a passive 3-DOF RRR-type serial sub-chain are incorporated for the translational device and the rotational device, respectively. Such additional passive serial sub-chains act as constraints to restrict the output motion of the mechanism either in a 3-DOF translational space or in a 3-DOF spherical space. The position solutions of the proposed mechanisms and their first-order kinematic models are derived. Then their workspaces and kinematic characteristics are examined via the kinematic isotropic index

关键词： Kinematics Leg Uninterruptible power systems Actuators Communication system control Instruments Information analysis Analytical models Aerospace simulation Closed-form solution

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Sliding Mode control for Nonlinear Systems: An Iterative Approach.

Sliding Mode Control for Nonlinear Systems: An Iterative App...

引用

IEEE Conference on Decision and control

作者： M. Tomas-Rodriguez S.P. Banks M.U. Salamci Department of Electrical and Electronic Engineering Imperial College of Science and Technology London UK Department of Automatic Control and Systems Engineering University of Sheffield UK Gazi University Ankara Turkey

ISBN: (纸本)1424401704

In this paper an alternative method of sliding mode control for nonlinear systems is presented. A time-varying approach to nonlinear sliding mode control is studied based on an iteration technique that approaches a nonlinear system by a sequence of LTV equations. In this paper, the convergence of this method is shown and applied to a practical example

关键词： Sliding mode control Nonlinear systems Iterative methods control systems Nonlinear equations Nonlinear control systems Robustness Optimal control USA Councils Time varying systems

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Adaptive Predictive control of Nonlinear System Base on Multi-layer Recursive Method

Adaptive Predictive Control of Nonlinear System Base on Mult...

引用

World Congress on Intelligent control and Automation (WCICA)

作者： Qiubin Luo Qiuming Li Rupeng Feng Department of Computer Harbin University Harbin China Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Automatic Test and Control Harbin Institute of Technology Harbin China

An adaptive predictive control method is presented for nonlinear discrete system by introducing multi-layer recursive method into the predictive control strategy. In this method, nonlinear system is substituted with a time-varying linear system firstly, and then multi-layer recursive is used to identify and to forecast the varied parameters in order to get the predictive output of system model. At last, adaptive predictive control is designed for the original nonlinear system. The simulation results show the effectiveness of the presented method

关键词： Programmable control Adaptive control Predictive control Nonlinear systems automatic control Nonlinear control systems control systems automatic testing System testing Time varying systems

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Layering As Optimization Decomposition: Current Status and Open Issues

Layering As Optimization Decomposition: Current Status and O...

引用

Annual Conference on Information sciences and Systems (CISS)

作者： Mung Chiang Steven H. Low A. Robert Calderbank John C. Doyle Electrical Engineering Department Princeton University USA Computer Science and Electrical Engineering Department Caltech USA Electrical Engineering and Mathematics Departments Princeton University USA Control and Dynamic Systems Department Caltech USA

Network protocols in layered architectures have historically been obtained on an ad-hoc basis, and much of the recent cross-layer designs are conducted through piecemeal approaches. Network protocols may instead be holistically analyzed and systematically designed as distributed solutions to some global optimization problems in the form of generalized network utility maximization (NUM), providing insight on what they optimize and structures of the network protocol stack. This paper presents a short survey of the recent efforts towards a systematic understanding of "layering" as "optimization decomposition", where the overall communication network is modeled by a generalized NUM problem, each layer corresponds to a decomposed subproblem, and the interfaces among layers are quantified as functions of the optimization variables coordinating the subproblems. Furthermore, there are many alternative decompositions, each leading to a different layering architecture. Industry adoption of this unifying framework has also started. Here we summarize the current status of horizontal decomposition into distributed computation and vertical decomposition into functional modules such as congestion control, routing, scheduling, random access, power control, and coding. Key messages and methodologies arising out of many recent work are listed. Then we present a list of challenging open issues in this area and the initial progress made on some of them.

关键词： Protocols Design optimization Cross layer design Utility programs Communication networks computer architecture Distributed computing Routing Job shop scheduling Processor scheduling

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A low-power 64-point FFT/IFFT design for IEEE 802.11a WLAN application

A low-power 64-point FFT/IFFT design for IEEE 802.11a WLAN a...

引用

IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Chin-Teng Lin Yuan-Chu Yu Lan-Da Van Department of Electrical and Control Engineering Department of Computer Science National Chiao Tung University Hsinchu Taiwan Department of Computer Science National Chiao Tung University Hsinchu Taiwan

In this paper, we propose a cost-effective and low-power 64-point fast Fourier transform (FFT)/inverse FFT (IFFT) architecture and chip adopting the retrenched 8-point FFT/IFFT (R8-FFT) unit and an efficient data-swapping method based output buffer unit The whole chip systematic performance concerning about the area, power, latency and pending cycles for the application of IEEE 802.11a WLAN standard has been analyzed. The proposed R8-FFT unit utilizing the symmetry property of the matrix decomposition achieves half computation-complexity and less power consumption compared with the recently proposed FFT/IFFT designs. On the other hand, applying the proposed data-swapping method, a low-cost and low-power output buffer can be obtained. So as to further increase system performance, we propose one scheme: the multiplication-after-write (MAW) method. Applying MAW method with R8-FFT unit, the resulting FFT/IFFT design not only leads to the balancing pending cycle, but also abbreviating computation latency to 8 clock cycles. Consequently, adopting the above proposed two units and one scheme, the whole chip consumes 22.36mW under 1.2V@20 MHz in TSMC 0.13 1P8M CMOS process

关键词： Wireless LAN Discrete Fourier transforms computer architecture Algorithm design and analysis Delay Application software computer science Electronic mail Fast Fourier transforms Clocks

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Layering As Optimization Decomposition: Framework and Examples

Layering As Optimization Decomposition: Framework and Exampl...

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IEEE (first ITW conference of the year) Information Theory Workshop (ITW)

作者： Mung Chiang S.H. Low A.R. Calderbank J.C. Doyle Electrical Engineering Department Princeton University USA Computer Science and Electrical Engineering Departments Caltech USA Electrical Engineering and Mathematics Princeton University USA Control and Dynamic Systems Department Caltech USA

Network protocols in layered architectures have historically been obtained primarily on an ad-hoc basis. Recent research has shown that network protocols may instead be holistically analyzed and systematically designed as distributed solutions to some global optimization problems in the form of Network Utility Maximization (NUM), providing insight into what they optimize and structures of the network protocol stack. This paper presents a short survey of the recent efforts towards a systematic understanding of 'layering' as 'optimization decomposition', where the overall communication network is modeled by a generalized NUM problem, each layer corresponds to a decomposed subproblem, and the interfaces among layers are quantified as functions of the optimization variables coordinating the sub-problems. Different decompositions lead to alternative layering architectures. We summarize several examples of horizontal decomposition into distributed computation and vertical decomposition into functional modules such as congestion control, routing, scheduling, random access, power control, and coding.

关键词： Wireless application protocol Design optimization Reverse engineering TCPIP Mobile ad hoc networks Utility programs Communication networks computer architecture Distributed computing Distributed algorithms

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The Motion Message Estimator in Real-Time Network control Systems

The Motion Message Estimator in Real-Time Network Control Sy...

引用

Annual Conference of Industrial Electronics Society

作者： Chen-Chou Hsieh Pau-Lo Hsu Bor-Chyun Wang Department of Electrical and Control Engineering National Chiao Tung University Taiwan Department of Computer Science and Information Engineering China University of Technology Taiwan

In network systems, the time-delay effect is unavoidable and it usually degrades system performance. Furthermore, in the real-time network control system (NCS), messages are required to be transmitted on time to meet specifications of the deadline. Otherwise, it leads to data dropout which occurs randomly in real-time NCS control. The data dropout not only degrades performance of the NCS but also causes the NCS to be unstable. In this paper, a second-order motion message estimator is proposed to compensate for the missing messages containing motion commands and measurements, since most motion systems can be described suitably by second-order Newtonian motion law. The dropout rate of the controller area network (CAN) bus has been evaluated in different transmission rate in this paper. The proposed NCS with the message estimator has been successfully implemented on a CNC machine to achieve significantly improved motion accuracy

关键词： Motion estimation Real time systems Motion control control systems Degradation Sampling methods Feedback control engineering Motion measurement computer numerical control

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Layering as Optimization Decomposition: Questions and Answers

Layering as Optimization Decomposition: Questions and Answer...

引用

MILCOM, Military Communications Conference

作者： Mung Chiang Steven H. Low A. Robert Calderbank John C. Doyle Electrical Engineering Department Princeton University USA Computer Science and Electrical Engineering Departments Caltech USA Electrical Engineering and Mathematics Departments Princeton University USA Control and Dynamic Systems Department Caltech USA

Network protocols in layered architectures have historically been obtained on an ad-hoc basis, and much of the recent cross-layer designs are conducted through piecemeal approaches. Network protocols may instead be holistically analyzed and systematically designed as distributed solutions to some global optimization problems in the form of generalized Network Utility Maximization (NUM), providing insight on what they optimize and on the structures of network protocol stacks. In the form of 10 Questions and Answers, this paper presents a short survey of the recent efforts towards a systematic understanding of "layering" as "optimization decomposition". The overall communication network is modeled by a generalized NUM problem, each layer corresponds to a decomposed subproblem, and the interfaces among layers are quantified as functions of the optimization variables coordinating the subproblems. Furthermore, there are many alternative decompositions, each leading to a different layering architecture. Industry adoption of this unifying framework has also started. Here we summarize the current status of horizontal decomposition into distributed computation and vertical decomposition into functional modules such as congestion control, routing, scheduling, random access, power control, and coding. We also discuss under-explored future research directions in this area. More importantly than proposing any particular crosslayer design, this framework is working towards a mathematical foundation of network architectures and the design process of modularization.

关键词： Protocols Design optimization computer architecture Cross layer design Utility programs Communication networks Distributed computing Routing Job shop scheduling Processor scheduling

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