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American control Conference

作者： Yiguang Hong Zhong-Ping Jiang Institute of Systems Science Key Laboratory of Systems and Control Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

In this paper, robust finite-time control problem of nonlinear systems with dynamic uncertainties is investigated. To solve this problem, a partial-state control design is proposed in a constructive way. With small-ga... 详细信息

ISBN: (纸本)1424402093

关键词： Lyapunov methods control system synthesis nonlinear control systems nonlinear dynamical systems robust control uncertain systems dynamic uncertainties finite time control finite-time stabilization input-to-state stability nonsmooth feedback partial-state

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DELAYED FEEDBACK control: A SURVEY AND SOME NEW RESULTS

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IFAC Proceedings Volumes 2006年第8期39卷 36-41页

作者： Yu-Ping Tian Jiandong Zhu Guanrong Chen Department of Automatic Control Southeast University Nanjing 210096 P.R.China School of Mathematics and Computer Science Nanjing Normal University Nanjing P. R. China Department of Electronic Engineering City University of Hong Kong P. R. China

This paper presents the basic idea and the mathematical formulation of the delayed feedback control (DFC) methodology. Stability analysis including the well-known odd number limitation of the DFC is reviewed. Some new advances in characterization of the limitation of the DFC are presented. Finally, some open problems in this research field are discussed.

关键词： Delayed feedback control Chaos control Stability Chaotic system

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A Bio-inspired computer Fovea Model based on Hexagonal-type Cellular Neural Networks

A Bio-inspired Computer Fovea Model based on Hexagonal-type ...

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International Joint Conference on Neural Networks (IJCNN)

作者： C.-H. Huang H. Koeppl C.-T. Lin Department of Electrical and Control Engineering National Chiao Tung University Taiwan Erwin Schrödinger postdoctoral fellow at the DepartmentElectrical Engineering and Computer Sciences University of California Berkeley USA College of Computer Science Dean DepartmentComputer Science National Chiao Tung University Taiwan

In this work we propose a novel computer fovea model based on hexagonal-type cellular neural networks (hCNN). The hCNN represents a new image processing architecture that is motivated by the overwhelming evidence for hexagonal image processing in biological systems. The necessary new coupling templates and basic hCNN image operators are introduced. The fovea model includes the biological mechanisms of the photoreceptors, the horizontal cells, the ganglions, the bipolar cells, and their cooperation. Thus the model describes the signal processing from the optical stimulation at retina to the output of the ganglion cells. Different building blocks of the model turned out to be useful for practical image enhancement algorithms. Two such applications are considered in this work, namely the image sharpness improvement and the color constancy algorithm.

关键词： computer networks Cellular neural networks Biological system modeling Signal processing algorithms Biology computing Image processing Cells (biology) Optical signal processing computer architecture Biological systems

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Implementation of Emotional controller for Interior Permanent Magnet Synchronous Motor Drive

Implementation of Emotional Controller for Interior Permanen...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： R. M. Milasi Caro Lucas B. N. Arrabi T.S. Radwan M. A. Rahman Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Tehran Iran Faculty of Engineering &Applied Science Memorial University of Newfoundland Saint John's NEW Canada

This paper presents for the first time the real-time implementation of an emotional controller for interior permanent magnet synchronous motor (IPMSM) drives. The proposed novel controller is called brain emotional learning based intelligent controller (BELBIC). The utilization of BELBIC is based on emotion processing mechanism in brain, and is essentially an action, which is based on sensory inputs and emotional cues. The emotional learning occurs mainly in the amygdala. The amygdala is mathematically modeled, and the BELBIC controller is introduced. This type of controller is insensitive to noise and variance of the parameters. The controller is successfully implemented in real-time using a digital signal processor board ds1102 for a laboratory 1-hp IPMSM. The results show superior control characteristics especially very fast response, simple implementation and robustness with respect to disturbances and manufacturing imperfections. The proposed method enables the designer to shape the response in accordance with the multiple objectives of choices

关键词： Permanent magnet motors AC motors Machine vector control Rotors Electric variables control control theory Magnetic materials DC motors Synchronous motors Velocity control

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Multimedia Transfer over the Internet: A control Based Improvement of AIMD Algorithm

Multimedia Transfer over the Internet: A Control Based Impro...

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Yuanwei Jing G.M. Dimirovski Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of ASE Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Acibadem Dogus University Istanbul Turkey

The known additive increase multiplicative decrease algorithm has been further investigated and a novel, improved TCP-friendly flow control algorithm derived. This algorithm provides basic flow congestion control for multimedia data traffic over Internet, and also fulfils the fairness between RTP flows and TCP flows while retaining essential characteristics of this algorithm. Important parameters that are involved in network's communication process have been thoroughly studied and properly introduced into the novel algorithm. Innovation work done to this known algorithm helps smoothing the multimedia transfer and guarantees the fairness among TCP flows and RTP flows

关键词： Internet Communication system control Communication system traffic control Communication networks IP networks Application software Multimedia communication Research and development Wireless application protocol Delay effects

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Modeling and control of Interaction Forces in Dynamically-Coupled Robotic Systems

Modeling and Control of Interaction Forces in Dynamically-Co...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Goo Bong Chung Byung-ju Yi Whee-kuk Kim The Robotics Institute Carnegie Mellon University Pittsburgh USA School of Electrical Engineering and Computer Science Hanyang University Ansan Republic of Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Republic of Korea

In this paper, we propose a new closed-form dynamic model of interaction forces between two interacting robotic modules and a methodology to control the interaction forces by using inherent kinematic redundancy of robotic systems. To show the usefulness of controlling interaction forces, two exemplary cases are introduced. The first example investigates the interaction force between a mobile platform and a serial robot mounted on the platform. The interaction force between the two modules is controlled so that the motion of the mobile platform can be controlled in a desired way. The second example deals with interaction between a serial robot and a human operator. An interaction force is controlled so that the human operator does not feel uncomfortable when the operator performs a designed trajectory motion in cooperation with the robot

关键词： Force control Mobile robots Manipulator dynamics Kinematics Motion control Orbital robotics Intelligent robots Parallel robots Human robot interaction Force measurement

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Approximate feedback linearization of an air-breathing hypersonic vehicle

Approximate feedback linearization of an air-breathing hyper...

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AIAA Guidance, Navigation, and control Conference 2006

作者： Parker, Jason T. Serrani, Andrea Yurkovich, Stephen Bolender, Michael A. Doman, David B. Collaborative Center of Control Science Ohio State University Columbus OH 43210 United States Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States Department of Electrical and Computer Engineering 2015 Neil Ave. United States AIAA United States AFRL/VACA 2210 Eighth St. United States

ISBN: (纸本)1563478196

This paper describes the design of a nonlinear control law for an air-breathing hypersonic vehicle. The model of interest includes flexibility effects and intricate couplings between the engine dynamics and flight dynamics. To overcome the analytical intractability of this model, a nominal control-oriented model is constructed for the purpose of feedback control design. Analysis performed on the nominal model reveals the presence of unstable zero dynamics with respect to the output to be controlled, namely altitude and velocity. By neglecting certain weaker couplings and resorting to dynamic extension at the input side, a simplified nominal model with full vector relative degree with respect to the regulated output is obtained. Standard dynamic inversion can then be applied to the simplified nominal model, and this results in approximate linearization of the nominal model. Finally, a robust outer loop control is designed using LQB, with integral augmentation in a model reference scheme. Simulation results are provided to demonstrate that the approximate feedback linearization approach achieves excellent tracking performance on the truth model for two choices of the system output. Finally, a brief case study is presented to qualitatively demonstrate the robustness of the design to parameter variations. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Hypersonic aerodynamics

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A Toolbox for Brain Emotional Learning Based Intelligent controller

A Toolbox for Brain Emotional Learning Based Intelligent Con...

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IEEE International Conference on engineering of Intelligent Systems, ICEIS

作者： A.R. Mehrabian C. Lucas Control and Intelligent Processing Center of Excellence Department of Mechanical Engineering University of Tehran Tehran Iran School of Cognitive Science Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Brain emotional learning based intelligent controller, BELBIC, has been used for model free adaptive control of several complex industrial plants. It has proven to be very effective controller with light computational load. The aim of this research is to present a general purpose toolbox implementing BELBIC as well as examples of its performance. The user can choose to utilize default configurations or to customize specific configuration to the given plant

关键词： Nonlinear control systems Intelligent control Intelligent structures control system synthesis control systems Brain modeling Process control Power system control Power system dynamics Mechanical engineering

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M3S-based electrical Wheelchair with Head-controlled Device

M3S-based Electrical Wheelchair with Head-controlled Device

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

作者： Show-Hong Chen Yu-Luen Chen Te-Son Kuo Chiung-Yu Chu Chao-Nan Hung Department of Electrical Engineering National Taiwan University Taipei Taiwan Realtek Semiconductor Corporation Hsinchu Taiwan Department of Electronic Engineering Hwa-Hsia College of Technology and Commerce Taipei Taiwan Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Computer Science and Information Engineering Tung Nan Institute of Technology Taipei Taiwan

The motivation of this research is to improve the ability of ambulation for people with a certain degree of disability. The control of the wheelchair is using two tilt sensors as an input-controlling module. One of the tilt sensors detects the anterior/posterior tilting of the head and moves the wheelchair forward/backward, the other distinguishes the left/right swing of the head. In order to increase the safety of this system, the M3S protocol established by the European Commission is also applied to this research. The system based on M3S protocol has the advantage of real-time signal transmission and emergent status monitoring for SCI patients with C2-C4 level

关键词： Wheelchairs Switches Protocols Communication system control Voltage Patient monitoring Safety devices Head Switching circuits Gravity

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A Wall Climbing Robot for Oil Tank Inspection

A Wall Climbing Robot for Oil Tank Inspection

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IEEE International Conference on Robotics and Biomimetics

作者： Love P. Kalra Jason Gu Max Meng Electrical & Computer Engineering Dalhousie University Halifax NS Canada School of Control Science and Engineering Shandong University P.R. China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong P.R. China

Thousands of storage tanks in oil refineries have to be inspected manually to prevent leakage and/or any other potential catastrophe. A wall climbing robot with permanent magnet adhesion mechanism equipped with nondestructive sensor has been designed. The robot can be operated autonomously or manually. In autonomous mode the robot uses an ingenious coverage algorithm based on distance transform function to navigate itself over the tank surface in a back and forth motion to scan the external wall for the possible faults using sensors without any human intervention. In manual mode the robot can be navigated wirelessly from the ground station to any location of interest. Preliminary experiment has been carried out to test the prototype.

关键词： Climbing robots Fuel storage Inspection Robot sensing systems Navigation Oil refineries Permanent magnets Adhesives Magnetic sensors Humans

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