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Fractional order iterative learning control

Fractional order iterative learning control

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SICE Annual Conference

作者： Yan Li YangQuan Chen Hyo-Sung Ahn Department of Electrical and Computer Engineering Center of Self-Organizing and Intelligent Systems (CSOIS) Utah State University Logan UT USA Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

In this paper, we first discuss in time domain the convergence of the iterative process for fractional order linear systems. Fractional order iterative learning updating schemes are considered. Moreover, fractional order iterative learning control for time-varying systems in convolution form are analyzed, where generalized fractional order time varying system is proposed. Finally, one simulation result is provided for illustration.

关键词： Control systems Fractional calculus Time varying systems Time invariant systems Iterative algorithms Convergence Time domain analysis Integral equations intelligent systems Mechatronics

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Iterative learning control for multi-agent formation

Iterative learning control for multi-agent formation

引用

SICE Annual Conference

作者： Hyo-Sung Ahn YangQuan Chen Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Department of Electrical and Computer Engineering Center of Self-Organizing and Intelligent Systems (CSOIS) Utah State University Logan UT USA

This paper employs iterative learning control scheme to generate a sequence of control signals for multi-agent formation control. It is assumed that individual agent of a group of multi-agents is governed by nonlinear dynamics, which could be known in part; in such case, we would like to find control sequences of individual agents such that they form a desired formation with respect to other agents, from initial starting points to final stop points. That is, we would like to ensure that the multi-agents form relative desired states with respect to other agents along the desired trajectory. The algorithm established in this paper can be used to find a control sequence of multi-agent systems for keeping relative formation, in off-line tuning manner. The utility of the algorithm established in this paper can be therefore used for finding optimal control strategy of nonlinear dynamic systems with partially available system information.

关键词： Control systems Optimal control Iterative algorithms Signal generators Nonlinear dynamical systems Convergence Mechatronics intelligent systems Multiagent systems Robots

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Metal-filled carbon nanotubes for nanofluidic systems: Modes of melting and evaporation

Metal-filled carbon nanotubes for nanofluidic systems: Modes...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Lixin Dong Xinyong Tao Li Zhang Xiaobin Zhang Bradley J. Nelson Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA ETH Zurich Institute of Robotics and Intelligent Systems Zurich Switzerland College of Chemical Engineering and Materials Science Zhejiang University of Technology Hangzhou China Department of Materials Science and Engineering University of Zhejiang Hangzhou China

Modes of melting and evaporation of metal at attogram level from individual carbon nanotubes (CNTs) are investigated experimentally using nanorobotic manipulation inside a transmission electron microscope. We compared the melting and evaporation induced by electric current, Joule heating, charge, and ionization. Experiments show that the most effective method is by positively ionizing the encapsulated metal, therefore, an electrostatic field can be used to guide the flow. Applications and potential applications of mass transport and deposition in nanofluidic systems have been presented including self-welding, actuation, and storage.

关键词： Carbon nanotubes Copper Transmission electron microscopy Current Materials science and technology Probes intelligent robots Resistance heating Thermal conductivity Ionization

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Approximation-Based Adaptive Tracking Control of Pure-Feedback Nonlinear systems with Multiple Unknown Time-Varying Delays

Approximation-Based Adaptive Tracking Control of Pure-Feedba...

引用

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Min Wang Shuzhi Sam Ge College of Automation and the Center for Control and Optimization South China University of Technology the Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China the Department of Electrical and Computer Engineering National University of Singapore

This paper presents adaptive neural tracking control for a class of non-affine pure-feedback systems with multiple unknown state time-varying delays. The separation technique is introduced to decompose unknown functions of all time-varying delayed states into a series of continuous functions of each delayed state. A novel Lyapunov-Krasovskii functional is employed to compensate for the unknown function of current delayed state, which is effectively free from any restrictive assumption on unknown time-delay functions. The proposed control scheme guarantees the boundedness of all the signals in the closed-loop system and the tracking *** studies are provided to demonstrate the effectiveness of the proposed scheme.

关键词： Lyapunov Approximation-Based Adaptive Tracking Control of Pure-Feedback Nonlinear systems with Multiple Unknown Time-Varying Delays

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Fractional-order memristive systems

Fractional-order memristive systems

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Ivo Petráš YangQuan Chen Calvin Coopmans Institute of Control and Informatization of Production Processes BERG Faculty Technical University of Košice Kosice Slovakia Center for Self-Organizing and Intelligent Systems (CSOIS) Electrical and Computer Engineering Department Utah State University Logan UT USA

This paper deals with the concept of (integer-order) memristive systems, which are generalized to non-integer order case using fractional calculus. We consider the memory effect of the fractional inductor (fractductor), fractional capacitor and fractional memristor. We also show that the memory effect of such devices can be also used for an analogue implementation of the fractional-order operator, namely fractional-order integral and fractional-order derivatives. This kind of operator is useful for realization of the fractional-order controllers. We present theoretical description of such implementation and we proposed the practical realization and did some simulations and experimental measurements as well.

关键词： Memristors Fractional calculus Inductors Capacitors Voltage Circuit simulation Resistors Temperature Phase change memory Control systems

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A new method for characterization of coronary plaque composition via IVUS images

A new method for characterization of coronary plaque composi...

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IEEE International Symposium on Biomedical Imaging

作者： Arash Taki Alireza Roodaki Olivier Pauly S. K. Setarehdan Gozde Unal Nassir Navab Department of Computer Aided Medical Procedures (CAMP) Technical University Munich Munich Germany Department of Signal Processing and Electronic Systems Supelec Gif-sur-Yvette France Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Faculty of Engineering and Natural Sciences Sabanci University Turkey

ISBN: (纸本)9781424439317

IVUS-derived virtual histology (VH) permits the assessment of atherosclerotic plaque morphology by using radiofrequency analysis of ultrasound signals. However, it requires the acquisition to be ECG-gated, which is a major limitation of VH. Indeed, its computation can only be performed once per cardiac cycle, which significantly decreases the longitudinal resolution of VH. To overcome this limitation, the introduction of an image-based plaque characterization is of great importance. Current IVUS image processing techniques do not allow adequate identification of the coronary artery plaques. This can be improved by defining appropriate features for the different kinds of plaques. In this paper, a novel feature extraction method based on Run-length algorithm is presented and used for improving the automated characterization of the plaques within the IVUS images. The proposed feature extraction method is applied to 200 IVUS images obtained from five patients. As a result an accuracy rate of 77% was achieved. Comparing this to the accuracy rates of 75% and 71% obtained using co-occurrence and local binary pattern methods respectively indicates the superior performance of the proposed feature extraction method.

关键词： Feature extraction Gray-scale Biomedical engineering Radio frequency Image resolution Signal processing Signal analysis Ultrasonic imaging Signal resolution Arteries

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Adaptive control of a utility-scale wind turbine operating in Region 3

Adaptive control of a utility-scale wind turbine operating i...

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作者： Frost, Susan A. Balas, Mark J. Wright, Alan D. Intelligent Systems Division NASA Ames Research Center M/S 269-1 Moffett Field CA 95034 United States Department of Electrical and Computer Engineering University of Wyoming 1000 E. University Avenue Laramie WY 82071 United States National Renewable Energy Laboratory M/S 3811 1617 Cole Blvd. Golden CO 80401 United States

ISBN: (纸本)9781563479694

Many challenges exist for the efficient and safe operation of wind turbines due to the difficulty in creating accurate models of their dynamic characteristics and the turbulent conditions in which they operate. A promising new area of wind turbine research is the application of adaptive control techniques, which are well suited to problems where the plant model is not well known and the plant operating conditions are unpredictable. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility scale, variable-speed horizontal axis wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed and reject step disturbances, which model the uniform wind disturbance across the wind turbine rotor. The control objective is accomplished by collectively pitching the turbine blades. To improve controller performance, we use an extension of the Direct Model Reference Adaptive Control (DMRAC) approach to regulate turbine rotational speed and to accommodate step disturbances. The turbine simulation models the Controls Advanced Research Turbine (CART) of the National Renewable Energy Laboratory in Golden, Colorado. The CART is a utility-scale wind turbine that has a well-developed and extensively verified simulator. The adaptive collective pitch controller for Region 3 was compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller. In the simulations, the adaptive pitch controller showed improved generator speed regulation in Region 3 when compared with the baseline PI pitch controller. The adaptive controller demonstrated robustness to modeling errors and changes in system parameters.

关键词： Turbomachine blades

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AAAI 2008 workshop reports

AAAI 2008 workshop reports

引用

作者： Anand, Sarabjot Singh Bunescu, Razvan Carvcdho, Vitor Chomicki, Jan Conitzer, Vincent Cox, Michael T. Dignum, Virginia Dodds, Zachary Dredze, Mark Furcy, David Gabrilovich, Evgeniy Göker, Mehmet H. Guesgen, Hans Hirsh, Haym Jannach, Dietmar Junker, Ulrich Ketter, Wolfgang Kobsa, Alfred Koenig, Sven Lau, Tessa Lewis, Lundy Matson, Eric Metzler, Ted Mihalcea, Rada Mobasher, Bamshad Pineau, Joelle Poupart, Pascal Raja, Anita Ruml, Wheeler Sadeh, Norman Shani, Guy Shapiro, Daniel Smith, Trey Taylor, Matthew E. Wagstaff, Kiri Walsh, William Zhou, Rong Department of Computer Science University of Warwick United Kingdom School of Electrical Engineering and Computer Science Ohio University United States Microsoft Live Labs United States computer science and engineering University at Buffalo United States Computer science and economics Duke University United States Intelligent Computing group of BBN Technologies Utrecht University Netherlands Department of Computer science Harvey Mudd College United States University of Pennsylvania United States University of Wisconsin United States Yahoo Research PricewaterhouseCoopers Center for Advanced Research United States Department of Computer science School of Engineering and Advanced Technology Massey University New Zealand Departent of Computer science Rutgers University United States Department of Computer Science Dortmund University of Technology. Germany ILOG Rotterdam School of Management Erasmus University Netherlands Donald Bren School of Information and Computer Sciences University of California Irvine United States Depatrment of Computer science University of Southern California United States IBM Almaden Research Center United States Department of Computer Information Technology Southern New Hampshire University United States Computer and Information Technology Program College of Technology Purdue University United States Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computer Science and Engineering University of North Texas United States School of Computing DePaul University United States Department of Computer Science McGill University Canada School of Computer Science University of Waterloo Canada Department of Software and Information Systems University of North Carolina Charlotte United States University of New Hampshire United States Microsoft Research Institute for the Study of Learning and Expertise Applied Reactivity Inc. United States NASA Ames Research Center Carnegie Mellon University West

AAAI was pleased to present the AAAI-08 Workshop Program, held Sunday and Monday, July 13-14, in Chicago, Illinois, USA. The program included the following 15 workshops: Advancements in POMDP Solvers;AI Education Workshop Colloquium;Coordination, Organizations, Institutions, and Norms in Agent systems, Enhanced Messaging;Human Implications of Human-Robot Interaction;intelligent Techniques for Web Personalization and Recommender systems;Metareasoning: Thinking about Thinking;Multidisciplinary Workshop on Advances in Preference Handling;Search in Artificial Intelligence and robotics;Spatial and Temporal Reasoning;Trading Agent Design and Analysis;Transfer Learning for Complex Tasks;What Went Wrong and Why: Lessons from AI Research and Applications;and Wikipedia and Artificial Intelligence: An Evolving Synergy. Copyright © 2009, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Large population games in radial loss networks: Computationally tractable equilibria for distributed network admission control

Large population games in radial loss networks: Computationa...

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International Conference on Game Theory for Networks, GameNets

作者： Zhongjing Ma Peter E. Caines Roland P. Malhame Center of Sustainable Systems (CSS) and the School of Natural Resources and Environment University of Michigan Ann Arbor MI USA Centre of Intelligent Machines (CIM) and the Department of Electrical and Computer Engineering McGill University Montreal Canada Group for Research in Decision Analysis (GERAD) Montreal Canada GERAD Montreal Canada

The computational intractability of the dynamic programming (DP) equations associated with optimal admission and routing in stochastic loss networks of any non-trivial size (Ma et al, 2006, 2008) leads one to consider suboptimal distributed game theoretic formulations of the problem. The special class of radial networks with a central core of infinite capacity is considered, and it is shown (under adequate assumptions) that an associated distributed admission control problem becomes tractable asymptotically, as the size of radial network grows to infinity. This is achieved by following a methodology first explored by M. Huang et. al. (2003, 2006-2008) in the context of large scale dynamic games for sets of weakly coupled linear stochastic control systems. At the established Nash equilibrium, each agent reacts optimally with respect to the average trajectory of the mass of all other agents; this trajectory is approximated by a deterministic infinite population limit (associated with the mean field or ensemble statistics of the random agents) which is the solution of a particular fixed point problem. This framework has connections with the mean field models studied by Lasry and Lions (2006, 2007) and close connections with the notion of oblivious equilibrium proposed by Weintraub, Benkard, and Van Roy (2005, 2008) via a mean field approximation.

关键词： computer networks Distributed computing Admission control Dynamic programming Equations Routing Stochastic processes Game theory H infinity control Large-scale systems

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Protection ellipsoids for stability analysis of feedforward neural-net controllers

Protection ellipsoids for stability analysis of feedforward ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Abraham K. Ishihara Shahar Ben-Menahem Nhan Nguyen Department of Electrical and Computer Engineering Carnegie Mellon University Silicon Valley NASA Research Park Moffett Field CA USA Department of Physics University of Stanford Stanford CA USA Avago Technologies Inc. San Jose CA USA Intelligent Systems Division NASA Ames Research Center Moffett Field CA USA

In this paper, we consider a feedforward neural network for the control of a class of multi-input, multi-output nonlinear systems. While feedforward neural networks offer a simple and appealing approach to enhance the trajectory tracking performance of the closed loop system, stability analysis is often more difficult than the conventional implementation of a neural network embedded within the feedback path. We present a stability theorem which guarantees that the closed loop system is uniformly bounded. We derive conditions on the feedback gain matrices that guarantee this bound. Additionally, we outline a generalization to the non-symmetric case.

关键词： Protection Ellipsoids Stability analysis Neural networks Feedforward neural networks Closed loop systems Neurofeedback Nonlinear control systems Control systems Nonlinear systems

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