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IEEE International Conference on robotics and Automation (ICRA)

作者： Tao Sun P.B. Luh Min Liu Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs USA Department of Automation Tsinghua University Beijing China

Market competition forces manufactures to schedule their resources efficiently for on-time order delivery and low inventory. However, for companies such as textile and steel-making companies, optimizing schedules is difficult because of the NP-hard nature of the problem and the complex product structures: assemblies, disassemblies and couplings across orders. To address the difficulties, this paper extends the Lagrangian relaxation approach through selectively relaxing precedence constraints. The solution oscillation is identified and alleviated by adding auxiliary penalty and by nonlinear approximation. Furthermore, the normalized surrogate subgradient method is developed to accelerate the convergence of Lagrangian multipliers to obtain good solutions in computational efficient manner. Testing results demonstrate that better schedules are obtained when solution oscillation is alleviated. The newly developed normalized method significantly improves traditional methods

关键词： Lagrangian functions Job shop scheduling Processor scheduling Assembly Manufacturing automation intelligent networks Textiles Computational efficiency Sun intelligent systems

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Intermittent iterative learning control

Intermittent iterative learning control

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IEEE International Conference on computer-Aided Design

作者： Hyo-Sung Ahn YangQuan Chen Kevin L. Moore Department of Electrical and Computer Engineering Center for Self-Organizing and Intelligent Systems (CSOIS) Utah State University Logan UT USA Division of Engineering Colorado Schml of Mines Golden CO USA

In this paper, we present a mathematical formulation of the problem of robust iterative learning control (ILC) design when the system is subject to data dropout. It is assumed that an ILC scheme is implemented via a networked control system (NCS) and that during the data transfer from the remote plant to the ILC controller data dropout occurs, resulting in what we call intermittent measurement. Using the Kalman filtering approach, we show that it is possible to design a learning gain such that the system eventually converges to a desired trajectory as long as there is not complete data dropout

关键词： Control systems Filtering Networked control systems Kalman filters Convergence Wiring electrical equipment industry Industrial control Firewire Application software

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A robust Schur stability condition for interval polynomial matrix systems

A robust Schur stability condition for interval polynomial m...

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IEEE International Conference on Mechatronics and Automation

作者： Hyo-sung Ahn Yangquan Chen Kevin L. Moore Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA Division of Engineering Colorado Schml of Mines Golden CO USA

This paper presents a new analytical method for checking the Schur stability of interval polynomial matrices. In particular, we suggest using Markov matrices of the nominal polynomial matrix to assess its stability. The proposed technique is algebraically simple and has a relatively small computational cost, yet the result is less conservative than an existing analytical solution. The validity of the suggested method is illustrated through examples

关键词： Robust stability Polynomials Stability analysis Mechatronics Automation intelligent systems Computational efficiency Differential equations Control systems Circuits

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Fractional Horsepower Dynamometer - A General Purpose Hardware-In-The-Loop Real-Time Simulation Platform for Nonlinear Control Research and Education

Fractional Horsepower Dynamometer - A General Purpose Hardwa...

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IEEE Conference on Decision and Control

作者： Yashodhan Tarte YangQuan Chen Wei Ren Kevin Moore Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA Division of Engineering Colorado Schml of Mines Golden CO USA

ISBN: (纸本)1424401704;9781424401703

A fractional horsepower dynamometer was developed as a general purpose hardware-in-the-loop real-time simulation platform to emulate mechanical nonlinearities such as frictions, state-dependent disturbances, etc. This lab system can be used as a research platform to test various nonlinear control schemes. This platform can also be used as a laboratory experiment for ECE5320 "Mechatronics" and ECE7330 "Nonlinear and Adaptive Control" courses at Utah State University. The novelty of this platform lies in its ability to generate an arbitrary external torque load disturbance, using a controllable hysteresis brake, to a DC motor plant. Therefore, many nonlinear systems and controls can be emulated physically. In this paper, we include some sample experimental results to show the versatility of the dynamometer in emulating nonlinearities and the effectiveness in real-time testing of advanced nonlinear control schemes

关键词： Nonlinear control systems Control systems Friction System testing Laboratories Mechatronics Adaptive control DC generators Torque control Hysteresis

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Kalman filter-augmented iterative learning control on the iteration domain

Kalman filter-augmented iterative learning control on the it...

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American Control Conference (ACC)

作者： Hyo-Sung Ahn K.L. Moore YangQuan Chen Center for Self-Organizing and Intelligent Systems CSOIS Department of Electrical and Computer Engineering Utah State University Logan UT USA Division of Engineering Colorado Schml of Mines Golden CO USA

In this paper a novel stochastic iterative learning control (ILC) scheme is suggested to reduce the base-line error of the ILC system along the iteration axis. Assuming knowledge of the measurement noise and process noise statistics, our ILC scheme uses a Kalman filter to estimate the error of the output measurement and a fixed gain learning controller to ensure that the estimated error (also actual error) is less than a specified upper bound. An algebraic Riccati equation is solved analytically to find the steady-state covariance matrix and to prove that the system eventually converges to the base-line error. The effectiveness of the suggested method is illustrated through a numerical example

关键词： Kalman filters Error correction Gain measurement Noise measurement Riccati equations Stochastic systems Stochastic resonance Control systems Error analysis Upper bound

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Iterative Learning Control Approach to a Diffusion Control Problem in an Irrigation Application

Iterative Learning Control Approach to a Diffusion Control P...

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IEEE International Conference on Mechatronics and Automation

作者： Kevin L. Moore Yangquan Chen Division of Engineering Colorado Schml of Mines Golden CO USA Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

In this paper we consider an iterative learning control-based approach to controlling a periodic distributed parameter system. The problem arises in the real-time control of flow rate in a center pivot irrigator used in dry-land farming. The system is modeled as a spatial-temporal diffusion process in three spatial dimensions coupled with flow in one dimension. First, a distributed parameter model of the process is presented. Then a finite differences approximation of the process is developed, after which an iterative learning controller is developed to regulate the maximum value of the measured variable over a single period of the irrigator's motion. It is shown via simulation that the strategy can successfully generate the correct flow rates, even in the presence of regionally-varying diffusion rates

关键词： Iterative methods Irrigation Control systems Spraying Soil Water resources Moisture Agricultural engineering Diffusion processes Finite difference methods

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Maximum singular value and power of an interval matrix

Maximum singular value and power of an interval matrix

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IEEE International Conference on Mechatronics and Automation

In this paper we provide solutions for the problems of finding the maximum singular value of an interval matrix and computing the power of an interval matrix at a specified order. First, to calculate the exact value of the maximum singular value of an interval matrix we make use of a solution to finding the eigenvalues of a symmetric interval matrix. Second, we use a sensitivity transfer method to prove that the power of an interval matrix can be found from a set of vertex matrices

关键词： Symmetric matrices Artificial intelligence Eigenvalues and eigenfunctions Power engineering computing Power engineering and energy Uncertain systems Stability Mechatronics Automation intelligent systems

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Local Analysis of Long Range Dependence Based on Fractional Fourier Transform

Local Analysis of Long Range Dependence Based on Fractional ...

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IEEE Mountain Workshop on Adaptive and Learning systems

作者： Rongtao Sun Yangquan Chen Nikita Zaveri Anhong Zhou Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA Department of Biological and Irrigation Engineering Utah State University Logan UT USA

ISBN: (纸本)1424401666

The long range dependence (LRD) of stationary process is characterized by the Hurst parameter. In practice, previous methods for estimation of the Hurst parameter might have poor performance when processing the non-stationary time series or trying to distinguish the slight difference between very long stochastic processes. This paper explores the use of fractional Fourier transform (FrFT) for estimating the Hurst parameter. The time series was processed locally to achieve a reliable local estimation of the Hurst parameter. The biocorrosion signal which is very popular in biological engineering was studied as an example to show the long range dependence properties. After comparing with the commonly used wavelet based method and another method based on Matlab's polyfit, the new Hurst parameter estimator proposed in this paper is proved to be more robust for non-stationarity and can show the slight difference clearly between those very long sets of biocorrosion data

关键词： Fourier transforms Parameter estimation Microorganisms Wavelet analysis Biological materials Biomedical materials Robustness Bioinformatics Mathematical model Implants

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A ROBUST TUNING METHOD FOR FRACTIONAL ORDER PI CONTROLLERS

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IFAC Proceedings Volumes 2006年第11期39卷 22-27页

作者： YangQuan Chen Huifang Dou Blas M. Vinagre Concha. A. Monje Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT 84322-4160 USA Department of Electronic & Electromechanical Engineering Industrial Engineering School University of Extremadura Avda. De Elvas s/n 06071-Badajoz Spain

The application of fractional controller attracts more attention in the recent years. In this paper, a new tuning method for PI α controller design is proposed for a class of unknown, stable, and minimum phase plants. We are able to design a PI α controller to ensure that the phase Bode plot is flat, i.e., the phase derivative w.r.t. the frequency is zero, at a given gain crossover frequency so that the closed-loop system is robust to gain variations and the step responses exhibit an iso-damping property. Several relay feedback tests can be used to identify the plant gain and phase at the given frequency in an iterative way. The identified plant gain and phase at the desired tangent frequency are used to estimate the derivatives of amplitude and phase of the plant with respect to frequency at the same frequency point by Bode's integral relationship. Then, these derivatives are used to design a PI α controller for slope adjustment of the Nyquist plot to achieve the robustness of the system to gain variations. No plant model is assumed during the PI α controller design. Only several relay tests are needed.

关键词： Fractional order controller PI α controller tuning relay feedback test Bode's integral flat phase condition iso-damping property

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Robust stability condition of an uncertain networked system with delayed data dropout in both forward and feedback channels

Robust stability condition of an uncertain networked system ...

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SICE Annual Conference

作者： Hyo-sung Ahn Yangquan Chen Wonpil Yu Intelligent Task Control Research Team Intelligent Robot Research Division Electronics and Telecommunications Research Institute Daejeon South Korea Department of Electrical and Computer Engineering Center of Self-Organizing and Intelligent Systems Utah State University Logan UT USA

This paper provides stability conditions of an uncertain networked control system with both forward control signal loss and feedback output signal loss. It is assumed that both the forward control signal and the output measurement signal are intermittent independently, and the remote plant has a model uncertainty. Also, in this paper, an observer-based controller is used in the remote place because the full states are not accessible. Thus, the main research goal is to analyze the overall stability of this uncertain intermittent networked system. In the second part of this paper, we consider delay effects of both forward signal and feedback signal during the network transfer

关键词： Robust stability Delay systems Output feedback Control systems intelligent networks intelligent robots Networked control systems Stability analysis Delay effects electrical equipment industry

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