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A ROBUST TUNING METHOD FOR FRACTIONAL ORDER PI CONTROLLERS

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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ROBUST STABILITY CHECKING OF A CLASS OF LINEAR INTERVAL FRACTIONAL ORDER SYSTEM USING LYAPUNOV INEQUALITY

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IFAC Proceedings Volumes 2006年第11期39卷 89-94页

作者： Hyosung Ahn YangQuan Chen Igor Podlubny Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT 84322-4160 USA Department of Applied Informatics and Process Control Technical University of Kosice B. Nemcovej 3 04200 Kosice Slovak Republic

This paper provides a new analytical robust stability checking method of fractional-order linear time invariant interval uncertain system. This paper continues the authors’ previous work (Chen et al., 2005a) where matrix perturbation theory was used. For the new robust stability checking, Lyapunov inequality is utilized for finding the maximum eigenvalue of a Hermitian matrix. Through numerical examples, the usefulness and the effectiveness of the newly proposed method are verified.

关键词： Fractional order linear dynamic systems robust stability interval linear time invariant systems interval matrix

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Miniature Endoscopic Capsule Robot using Biomimetic Micro-Patterned Adhesives

Miniature Endoscopic Capsule Robot using Biomimetic Micro-Pa...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： M.E. Karagozler E. Cheung Jiwoon Kwon M. Sitti Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Intelligent Microsystem Center KIST Seoul South Korea Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper presents a stopping and a locomotion mechanism to be used with an endoscopic microcapsule robot. In the diagnosis of gastrointestinal diseases, microcapsules have been developed recently as alternatives to conventional endoscopy. However, they have less accuracy and functionality in diagnosis as they lack the ability to control their position. We propose mechanisms to be used with such microcapsules that would enable them to anchor and crawl in any position inside the small intestines. The stopping mechanism, actuated by coil type shape memory alloys, makes use of dry and wet elastomer (PDMS) micro-patterned adhesives inspired by beetles to attach to the intestinal tract. The locomotion mechanism, inspired by the locomotion principles of inch-worms, is a modular expansion of the stopping mechanism. Both the stopping and the crawling locomotion mechanisms have been built and successfully tested inside a flexible vinyl tube. Results showed stopping with high repeatability and 0.5 mm/sec locomotion speed. The stopping mechanism was also integrated to a tethered camera for testing

关键词： Robots Biomimetics Intestines Testing Gastrointestinal tract Diseases Endoscopes Coils Shape memory alloys Cameras

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A simd environment for genetic algorithms with interconnected subpopulations

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Scalable Computing 2006年第2期7卷 65-86页

作者： Prabhu, Devaraya Buckles, Bill P. Petry, Frederick E. I2 Technologies 1603 LBJ Freeway Suite 780 DallasTX75234 United States The Center for Intelligent and Knowledge-based Systems Department of Electrical Engineering and Computer Science Tulane University New OrleansLA70118 United States

The algorithmic form of GAs conforms well to SIMD computing environments with relatively minor adjustments to the operators. In this paper we consider in detail a GA implementation on a MasPar machine. The question of the degree to which control parameters affecting intercommunication impact performance is addressed using ANOVA methods. The purpose is to supplant anecdotal experience with statistical evidence. A set of control parameters-topology, migration operator, migration radius, and migration probability-were chosen together with four representative levels of each. Metrics for three response variables-efficiency, diversity, and schema propagation-were developed that allowed insight into the behavior under the various parametric conditions. These were incorporated into three 4 × 4 × 4 × 4 randomized factorial experiment designs. Among other things, it was determined that the interconnection topology is not in itself a significant factor but the extent of connectivity and frequency of communication are. An important outcome of this study is that, while the individual factors are significant, the factors do not interact in unexpected ways. © 2006 SWPS.

关键词： Genetic algorithms

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Iterative Learning Control: A Tutorial and Big Picture View

Iterative Learning Control: A Tutorial and Big Picture View

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IEEE Conference on Decision and Control

作者： Kevin L. Moore YangQuan Chen Hyo-Sung Ahn 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 Electronics and Telecommunications Research Institute Daejeon South Korea

This paper presents a concise tutorial on iterative learning control (ILC) with an illustrative example. The authors' view of the "big picture" of ILC research is presented with the goal of pinpointing a... 详细信息

ISBN: (纸本)1424401704;9781424401703

关键词： Tutorial Convergence Robust control Humans Robots Inductors Hard disks Servomechanisms Learning systems Control systems

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Robust Control Design for the Mass-Damper Type Anti-Sway System

Robust Control Design for the Mass-Damper Type Anti-Sway Sys...

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SICE Annual Conference

作者： Young-bok Kim Masao Ikeda Jin-ho Suh Guisheng Zhai Seong-hoon Han Faculty of Mechanical Engineering Pukyong National University Busan South Korea Department of Computer-Controlled Mechanical Systems Osaka University Osaka Japan Pohang Institute of Intelligent Robotics PIRO Pohang South Korea Department of Mechanical Engineering Osaka Prefecture University Osaka Japan Department of Electrical Engineering Graduate School Dong-A University Busan South Korea

In the previous studies, we suggested a new type of swing motion control system for the crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In the papers, to identify the usefulness and validity of the proposed system, we applied several control strategies. In the results, good control performance and valuable results had been achieved. In this paper, we evaluate and check the system in the point of more real application. For an example, the transportation process of RTG to handle the cargos is considered. In this case, undesirable sway motion might be occurred. To suppress this motion, a pursueable strategy (approach) is introduced. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world

关键词： Robust control Cranes Motion control Containers Control systems Mechanical engineering intelligent robots Marine vehicles Transportation Mechanical systems

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Stereo Vision based Relative Pose and Motion Estimation for Unmanned Helicopter Landing

Stereo Vision based Relative Pose and Motion Estimation for ...

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International Conference on Information and Automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines computer vision

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ELECTROCHEMICAL NOIS E SIGNAL PROCESSING USING R/S ANALYSIS AND FRACTIONAL FOURIER TRANSFORM

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IFAC Proceedings Volumes 2006年第11期39卷 182-187页

作者： Rongtao Sun Nikita Zaveri YangQuan Chen Anhong Zhou Nephi Zufelt Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical Computer Engineering Utah State University 4120 Old Main Hill Logan Utah 84322-4120 Department of Biological and Irrigation Engineering Utah State University 4105 Old Main Hill Logan Utah 84322-4105 Department of Mechanical and Aerospace Engineering Utah State University 4130 Old Main Hill Logan Utah 84322-4130

The corrosion processes of stainless steel under different solutions were examined using Electrochemical Noise (ECN). Using Rescaled Range analysis, we demonstrated that ECN signals produced by corrosion processes have non-stationary and self-similar properties. The comparison and analysis of ECN signals in both time and frequency domain showed that the conventional methods failed to give out the differences of the ECN signals obtained under different solutions. Therefore, we introduced fractional Fourier transform (FrFT) to process ECN signals, which is a powerful tool for the time-frequency analysis of self similar signals that can better describe the corrosion behaviours of the electrode in different solutions.

关键词： Electrochemical noise Stainless steel Self-similar signals Rescaled range analysis Fractional Fourier transform Spectral noise impedance

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Omni-directional robotic wheel - a mobile real-time control systems laboratory

Omni-directional robotic wheel - a mobile real-time control ...

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American Control Conference (ACC)

作者： B. Ramaswamy YangQuan Chen K. Moore QUALCOMM Inc.orporated San Diego CA USA Center for Self-Organizing and Intelligent Systems Department of Electrical and Computer Engineering Utah State University Logan UT USA Self-Organizing and Intelligent Systems Utah State University Logan UT USA Division of Engineering G. A. Dobelman Distinguished Colorado School of Mines Golden CO USA

A mobile laboratory was developed for students of the ECE5320 Mechatronics and ECE7750 Distributed Control systems courses at Utah State University. A serial server was connected to the embedded controller of a stand-alone 3-axes robotic wheel assembly. This enabled communication between the wheel and any Internet-enabled computer. A telepresence control system and a prototype networked control system (NCS) were developed and tested. This system was suitably modified to accommodate the needs of the course laboratories, thereby enabling students to design, debug and test their laboratory projects in real-time at their chosen time and locations. A fully-functional demonstration of this remote laboratory is available from: http://***/people/smartwheel/***

关键词： Mobile robots Wheels Real time systems Control systems Laboratories Communication system control Robotic assembly System testing Mechatronics Distributed control

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