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Stability tests for a class of differential linear repetitive processes with dynamic boundary conditions

Stability tests for a class of differential linear repetitiv...

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IEEE Conference on Decision and control

作者： S.E. Benton E. Rogers D.H. Owens Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

ISBN: (纸本)0780366387

Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. Their essential characteristic is repeated sweeps, termed passes, through a set of dynamics defined over a finite duration with explicit interaction between the outputs, or pass profiles, produced as the process dynamics evolve. Experience has shown that these processes cannot be studied/controlled by direct application of existing theory. This fact, and the growing list of applications areas, has prompted an ongoing research programme into the development of a 'mature' systems theory for these processes for onward translation into reliable generally applicable controller design algorithms. This paper develops stability tests for a sub-class of so-called differential linear repetitive processes in the presence of a general set of initial conditions, where it is known that the structure of these conditions is critical to their stability properties.

关键词： Testing Stability analysis Stability criteria Boundary conditions computer science automatic control Systems engineering and theory Linear systems Delay Machining

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Powertrain modeling with modelica

Powertrain modeling with modelica

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ASME 2000 International Mechanical engineering Congress and Exposition, IMECE 2000

作者： Tiller, Michael Davis, Cleon Tummescheit, Hubertus Trigui, Nizar Ford Motor Company Scientific Research Laboratory 2101 Village Road DearbornMI48197 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332-0250 United States Department of Automatic Control Lund Institute of Technology Box 118 LundSE-22100 Sweden

ISBN: (纸本)9780791826645

In this paper we will describe the development of models for prediction of powertrain performance. Our goal is to develop a library of components to model combustion, gas dynamics and mechanical response. We will also demonstrate the ease with which we can replace traditional component models (e.g., mechanically actuated valves) with non-traditional component models (e.g., electro-mechanically actuated valves) without having to change or reformulate any of the other components in our system. The models were developed using the Modelica modeling language (Modelica Design Group, 1999) which allows component-based descriptions of behavior for complex engineering systems. Modelica is particularly well suited for creating behavioral models that are typical for powertrain plant models In addition to writing component models, the freely available Modelica Standard Library contains basic models from various engineering disciplines (e.g., resistors, shafts, springs). With this approach, models can be symbolically preprocessed to improve computational performance. In addition, code can be generated from the Modelica model which can be used as either a stand alone analysis tool, imported into Simulink1 as an S-function or downloaded for use in real-time hardware in the loop experiments. © 2000 by ASME

关键词： Gas dynamics

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Chaotification of continuous-time systems via time-delay feedback

Chaotification of continuous-time systems via time-delay fee...

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International Conference on control of Oscillations and Chaos

作者： Xiao Fan Wang Guanrong Chen Xinghuo Yu Department of Automatic Control Nanjing University of Science and Technology of PLA Nanjing China Department of Electrical and Computer Engineering University of Houston Houston TX USA Department of Information and Communication Central Queensland University Rockhampton QLD Australia

ISBN: (纸本)0780364341

In this paper, a systematic design approach based on time-delay feedback is developed for chaotification of a continuous-time, feedback linearizable system. The chaotification is accomplished based on nonlinear control theory and an approximate relationship between a time-delay differential equation and a discrete map. An example is given to illustrate the systematic design procedure.

关键词： Chaos Chaotic communication Differential equations control systems control theory State feedback Delay Difference equations Ear Feedback control

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Design of multi-degree-of-freedom spring mechanisms: biomimetic approach

Design of multi-degree-of-freedom spring mechanisms: biomime...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

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

Springs have been employed in a wide range of mechanical systems. This work deals with the design of multi degree-of-freedom spring mechanism. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adopting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. We propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verify the applicability of these mechanisms through simulation.

关键词： Springs Biomimetics Humans Muscles Musculoskeletal system Frequency Mechanical systems Vibration control Resonance control systems

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Time series prediction by a neural network model based on the bi-directional computation style

Time series prediction by a neural network model based on th...

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International Joint Conference on Neural Networks (IJCNN)

作者： H. Wakuya J.M. Zurada Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Electrical and Computer Engineering University of Louisville Louisville KY USA

A number of neural network models and training procedures for time series prediction have been proposed in the technical literature. These models typically used uni-directional computation flow or its modifications. In this study a novel concept of bi-directional computation style is proposed and applied to prediction tasks. Since the coupling effects between the future prediction system and the past prediction system help the proposed model improve its performance, it is found that the prediction score is better than with the traditional uni-directional method. The bi-directional predicting architecture has been found to perform better than the conventional one when tested with standard benchmark sunspots data.

关键词： Neural networks Predictive models Bidirectional control computer networks computer architecture Neurons Home computing Performance evaluation Benchmark testing computer simulation

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Strong practical stability for a class of 2D linear systems

Strong practical stability for a class of 2D linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D. Owens Institute of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Institute of Computer Science and Electronics Technical University of Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield UK

Linear repetitive processes are a distinct class of 2D linear systems of both theoretical and practical interest. The stability theory for these processes currently consists of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. This paper develops the concept of strong practical stability for such cases.

关键词： Linear systems Asymptotic stability computer science State-space methods Robotics and automation Software engineering Systems engineering and theory Metals industry Iterative algorithms electrical equipment industry

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Validating executable controller specifications through formal model checking

Validating executable controller specifications through form...

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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： J.J. Scillieri K.R. Butts J.S. Freudenberg Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Powertrain Control Systems Department Ford Research Laboratory Dearborn MI USA

ISBN: (纸本)0780365666

In many embedded control system applications, the control algorithm includes both logical and data flow portions. We apply formal methods of system verification to discrete-state algorithms. Specifically, we make use of a formal model checking tool to prove or disprove various properties of the algorithm. Questions pertaining to the achievability of states and paths and proper variable assignment are cast as logical assertions in computation tree logic (CTL), and evaluated using the model checker. In addition, we describe an approach for generating scenarios; that is, a sequence of inputs and parameters that will take a discrete-state system model through a given sequence. We present several examples illustrating various questions that the designer may wish to pose, and an appropriate CTL assertion for each.

关键词： Mathematical model System testing Power system modeling control system synthesis Logic Design engineering computer science Mechanical power transmission Laboratories Application software

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An effective uniform genetic algorithm for hard optimization problems

An effective uniform genetic algorithm for hard optimization...

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World Congress on Intelligent control and Automation (WCICA)

作者： Wang Yuping Liu Hailin Yiu-Wing Leung Faculty of Science Xidian University Xi'an China Department of Automatic Control Engineering South China University of Technology Guangzhou China Department of Computer Scienc Hong Kong Baptist University Hong Kong China

Genetic algorithms are one of the effective algorithms for hard optimization problems. They can escape from the local minima, however, the amount of their computation is often large. To decrease the amount of the computation and enhance the algorithms, the uniform design is combined into the genetic algorithm. The new genetic operator has the local-search property similar to that in traditional optimization techniques and needs a minimal amount of computation in certain meanings. Thus the new genetic algorithm can generate a diversity of population and explore the search space effectively. Moreover, the new algorithm is globally convergent. The numerical results also show the effectiveness of the new algorithm with its less computation, and higher convergent speed for all test functions.

关键词： Genetic algorithms Algorithm design and analysis Space exploration Scattering Optimization methods automatic control Genetic engineering Testing engineering management Operations research

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Sparse realizations of optimal finite-precision teleoperation controller structures

Sparse realizations of optimal finite-precision teleoperatio...

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American control Conference (ACC)

作者： R.H. Istepanian J. Wu S. Chen Department of Electrical and Computer Engineering Ryerson Polytechnic University Toronto ONT Canada Institute of Industrial Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK

We study the finite word length (FWL) implementation of digital controller structures with sparseness consideration. A FWL stability measure is derived, taking into account the number of trivial elements in a controller realization. The controller realization that maximizes a lower bound of this measure is first obtained, and a stepwise algorithm is then applied to make the realization sparse. A test case involving a dual wrist assembly shows that the proposed design procedure yields a computationally efficient controller realization with good FWL closed-loop stability performance.

关键词： Optimal control control systems Digital control Wrist Computational efficiency Robust stability Iterative algorithms Assembly systems computer industry Industrial control

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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