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International Conference on control and Automation (ICCA)

作者： Weiyao Lan B.M. Chen Zhengtao Ding Department of Electrical and Computer Engineering National University of Singapore Singapore Control Systems Centre School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology Manchester UK

This paper developed an adaptive estimation method to estimate unknown disturbances in a class of nonminimum phase nonlinear MIMO systems. The unknown disturbances are generated by an unknown linear exosystem. The frequencies, phases and amplitudes of the disturbances are unknown, the only available information of the disturbances is the number of distinctive frequencies. The system considered in this paper is a class of MIMO nonlinear systems in the output feedback form, the system can be nonminimum phase. The proposed estimation algorithm provides exponentially convergent estimates of system states, unknown disturbances in the system and frequencies of the disturbances characterized by the eigenvalues of the exosystem. Moreover, the disturbance rejection control law is constructed by combining the stabilization controller designed without considering the disturbances and the estimates of the disturbances. The control law compensates the unknown disturbances completely while maintains the stability of the whole closed-loop system.

关键词： Adaptive estimation Phase measurement MIMO Frequency estimation State estimation Phase estimation Nonlinear systems Output feedback Eigenvalues and eigenfunctions control systems

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Measuring the Performance of Iterative Learning control Systems

Measuring the Performance of Iterative Learning Control Syst...

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IEEE International Symposium on Intelligent control (ISIC)

作者： J.D. Ratcliffe P. Lewin E. Rogers J.J. Hatonen T. Harte D.H. Owens School of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Systems Engineering Laboratory University of Oulu Finland

Iterative learning control has the potential to significantly improve the tracking performance of repeating trajectory control systems. However, until now little attempt has been made to measure this performance quantitatively. A new iterative learning control performance index PI N is introduced which allows direct, quantitative, performance comparison of different algorithms, or alternatively a single algorithm which has variable tuning parameters. In particular, PI N can be used as a tool for selecting and adjusting algorithm tuning parameters. Application of the new performance index is demonstrated with both simulation studies and practical implementation on a gantry robot

关键词： control systems Performance analysis Adaptive control Trajectory Iterative algorithms Three-term control Systems engineering and theory Modeling Convergence Stability analysis

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Mixed H2/H∞ and robust control of differential linear repetitive processes

Mixed H2/H∞ and robust control of differential linear repet...

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IEEE Conference on Decision and control

作者： W. Paszke K. Gakowski E. Rogers A. Kummert D.H. Owens Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical University of Wuppertal Wuppertal Germany Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of 2D systems (*** 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 2D systems theory. Here we give new results on the design of physically based control laws and, in particular, the first results on a mixed H 2 /H ∞ approach and on H 2 control in the presence of uncertainty in the process model.

关键词： Robust control control systems Linear systems Uncertainty Writing Disk drives Process control Iterative algorithms control engineering computing computer science

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Identification of multivariable systems based on finite impulse response models with flexible orders

Identification of multivariable systems based on finite impu...

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IEEE International Conference on Mechatronics and Automation

作者： Feng Ding Tongwen Chen Control Science and Engineering Research Center Southern Yangtze University Wuxi China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

For multi-input, multi-output stochastic systems, by means of auxiliary models - finite impulse response (FIR) models, we develop an identification algorithm to estimate the FIR model parameters of each entry (sub-submodel) of transfer matrices with an increasing order for the FIR model. The basic idea is to use auxiliary models to predict/estimate the outputs of the sub-submodels, and further to use the recursive least squares algorithm or the Pade approximation method to produce the parameter estimates of sub-submodels. Some simulation results are included.

关键词： MIMO Finite impulse response filter Parameter estimation Least squares approximation Predictive models Recursive estimation Stochastic systems Approximation algorithms Approximation methods System identification

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LOWER – LEVEL controlLER FOR HIERARCHICAL control OF DISSOLVED OXYGEN CONCENTRATION IN ACTIVATED SLUDGE PROCESSES

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IFAC Proceedings Volumes 2005年第1期38卷 9-14页

作者： R. Piotrowski M.A. Brdys Department of Automatic Control Gdansk University of Technology ul. G. Narutowicza 11/12 80 952 Gdansk Poland Department of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

The paper addresses control design for an aeration system within a hierarchical structure for an integrated control of dissolved oxygen in the activated sludge processes. In the paper the hybrid predictive controller ... 详细信息

关键词： air biotechnology dynamic systems hierarchical control integer programming nonlinear systems predictive control waste treatment

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The system reliability analysis based on the relation of fuzzy infection

The system reliability analysis based on the relation of fuz...

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International Conference on control and Automation (ICCA)

作者： Chuan Sun Yongji Wang Xiangou Zhu Department of Mechanic and Dynamic Engineering HuangShi Polytechnic College Huangshi Hubei China Department of Automatic Control Huazhong University of Science and Technology Wuhan Hubei China College of Computer Science and Engineering WenZhou University Wenzhou Zhejiang China

In this paper, using the fuzzy theory and gray theory, a concept of the degree of fuzzy infection and a new reliability analysis method based on the relation of fuzzy infection were proposed, and the mathematical mode of series connection and parallel connection system was first set up and their rationalities were proven. An illustrational example was given to demonstrate the effectiveness of this theory.

关键词： Fuzzy systems Reliability theory Fuzzy control Fuzzy set theory Reliability engineering Educational institutions Sun control systems computer science Failure analysis

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A Generalized Chaos-Based Stream Generator

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Circuits, Systems and Signal Processing 2005年第5期24卷 549-555页

作者： Guan, Zhi-Hong Huang, Fangjun Guan, Wenjie Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 People’s Republic of China Department of Electrical and Computer Engineering University ofWaterlooWaterloo Ontario N2L 3G1 Canada

In this paper, a general key stream generator based on discrete chaotic maps is presented. The new design of generator is to divide the attractor of a chaotic system into equal subregions, which are associated with 0 or 1 dynamically. The analysis and experimental results demonstrate that it is an efficient way to generate key streams with desired long cycle length. Moreover, the generated key streams have good statistical properties such as the uniform distribution, δ-like auto-correlation function, and near-zero crosscorrelation function, etc.

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Impact based trajectory planning of a soccer ball in a kicking robot

Impact based trajectory planning of a soccer ball in a kicki...

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2005 IEEE International Conference on Robotics and Automation

作者： Choi, Je Youn So, Byung Rok Yi, Byung-Ju Kim, Wheekuk Suh, Il Hong School of Electrical Engineering and Computer Science Hanyang University 1271 Sa-1 dong Sangrok-gu Ansan Kyunggi-do Korea Republic of Department of Control and Instrumentation Engineering Korea University 208 Seochang-ri Jochiwon-eup Chungnam Korea Republic of Department of Information and Communication Hanyang University 17 Haengdang-dong Seongdong-gu Seoul Korea Republic of

ISBN: (纸本)078038914X

This paper deals with the trajectory planning of a soccer ball driven by a kicking robot. The trajectory of a ball is function of its initial velocity, launch angle, and some aerodynamic effect. Specially, the initial velocity is created by an instant impulse given to the ball. The external impulse exerted to a ball by a kicking robot is function of robot geometry and dynamic parameters. Initially, we analyze the external impulses for several kicking postures and simulate trajectories for several different kicking conditions. Based on this observation, a trajectory-planning algorithm of a ball, in which the initial velocity and the launch angle of the ball are calculated for a desired trajectory of the ball, is proposed, and then an external impulse required for that motion is calculated and applied to the kicking simulation. The aerodynamic effect such as drag force and lift force is also incorporated into the dynamic simulation of the soccer ball. A kicking robot has been developed for experimental verification of the proposed analytical methodology. It was shown that experimental result is in good agreement with simulation result within 10% error bound. © 2005 IEEE.

关键词： Robots

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Self-organized motion in a class of anisotropic swarms: convergence vs oscillation

Self-organized motion in a class of anisotropic swarms: conv...

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American control Conference (ACC)

作者： Tianguang Chu Long Wang Tongwen Chen Center for Systems and Control Department of Mechanics and Engineering ScienceFirst Hospital Peking University Beijing China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

ISBN: (纸本)0780390989

We study an anisotropic swarm model with a class of attraction and repulsion functions. It is shown that the members of a reciprocal swarm aggregates and eventually form a cohesive cluster of finite size around the swarm center within finite time. Under mild conditions on attraction and repulsion functions, the swarm is also completely stable, i.e., every motion converges to the equilibrium point set of the system. These results are further extended to a class of nonreciprocal swarms under the detailed balance condition on coupling weights. We also present numerical simulations demonstrating complex oscillatory behavior in general nonreciprocal swarms. These results provide more insight into the effect of the interaction pattern on collective behavior of swarms.

关键词： Anisotropic magnetoresistance Convergence control systems Stability Numerical simulation Multiagent systems Pattern formation Distributed control Motion control Aggregates

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Delay-dependent robust stability and H/sub /spl infin// control for jump linear systems with delays

Delay-dependent robust stability and H/sub /spl infin// cont...

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American control Conference (ACC)

作者： Jing Wu Tongwen Chen Long Wang Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Center for Systems and Control Department of Mechanics and Engineering ScienceFirst Hospital Peking University Beijing China

ISBN: (纸本)0780390989

This paper considers robust stochastic stability, stabilization and H/sub /spl infin// control problems for a class of jump linear systems with time delays. By taking some zero equations, neither model transformation nor bounding for cross terms is required to obtain the delay-dependent results, which are given in terms of linear matrix inequalities (LMIs). Maximum sizes of time delays are also studied for system stability. Furthermore, solvability conditions and corresponding H/sub /spl infin// control laws are given which provide robust stabilization with a prescribed H/sub /spl infin// disturbance attenuation level /spl gamma/. Numerical examples show that our proposed methods are much less conservative than existing results.

关键词： Robust stability control systems Linear systems Delay systems Delay lines Delay effects Equations Stability analysis control system synthesis Robust control

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