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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami J. de Leeuw M. E. Porter K. Livingston J. H. Long IntelliTech MicroSystems Inc. Bowie MD USA Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA Vassar College Poughkeepsie NY USA

We propose a six degree-of-freedom multi-body approach for modeling and simulation of biologically-inspired (or Biomimetic) autonomous underwater vehicles (BAUVs), i.e., artificial fish. The proposed approach is based on considering the BAUV as comprised of multiple rigid bodies interlinked through joints; the external force and torque on each rigid body in the BAUV is expressed using quasi-steady aerodynamic theory and the joint constraints are imposed through an impulse-based technique. A BAUV simulation platform has been implemented based on the proposed modeling framework and has been applied to analyze a specific BAUV inspired by the electric ray. The hardware implementation of the electric ray inspired BAUV is also presented. Finally, sample simulation results and validation against experimental data collected from the electric ray inspired BAUV are also presented.

关键词： Biomimetics Underwater vehicles Aerodynamics Marine animals Biological system modeling Analytical models Computational fluid dynamics Hydrodynamics Biological control systems Robots

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Quantized Feedback Stabilization of Hybrid Impulsive control systems

Quantized Feedback Stabilization of Hybrid Impulsive Control...

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

作者： Zhichun Yang Yiguang Hong Zhong-Ping Jiang Xiaoli Wang Chongqing Key Lab of Operations Research and System Engineering Department of Mathematics and Computer ScienceChongqing Normal University Institute of Systems Science Chinese Academy of Sciences Key Laboratory of Systems and Control Institute of Systems ScienceChinese Academy of Sciences Dept.of Electrical & Computer Engineering Polytechnic Institute of New York University

In this paper,we consider the feedback stabilization problem of impulsive linear control systems with quantized input signals and quantized output *** concepts including quasi-invariant sets and attracting sets for hybrid impulsive quantized systems are *** on these concepts and the analysis of related dynamic properties,we propose hybrid quantized control schemes to stabilize the considered impulsive systems via state and output feedback.

关键词： quantization impulsive systems hybrid control stabilization

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Iterative Learning control for Network systems with Communication Delay or Data Dropout

Iterative Learning Control for Network Systems with Communic...

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

作者： Chunping Liu Jianxin Xu Jun Wu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University Department of Mechatronics Engineering Shaoxing College of Arts and Sciences Department of Electrical and Computer Engineering National University of Singapore Hangzhou Qian Jiang expert SUPCON Technology Co.Ltd.SUPCON Park

In this paper,iterative learning control(ILC) is applied to network-based control problems in which communication channels are subject to random transport delay and data *** averaging ILC algorithm is used to overcome the random *** analysis,it is shown that ILC can perform well and achieve asymptotical convergence in ensemble average along the iteration axis,as far as the probability of the transmission delay and data dropout are known a priori.A unique contribution in this work is to illustrate the applicability of ILC to nonlinear systems while both the one-step delay and the data-dropout phenomena are taken into *** analysis and simulations validate the effectiveness of the ILC algorithm for network-based control tasks.

关键词： ILC Iterative Learning control for Network systems with Communication Delay or Data Dropout dropout

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Gene Selection of Multiple Cancer Types via Huberized Multi-class Support Vector Machine

Gene Selection of Multiple Cancer Types via Huberized Multi-...

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

作者： Juntao Li Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper proposes a new type of regularization in the context of multi-class support vector machine for simultaneous classification and gene *** combining the huberized hinge loss function and the elastic net penalty,the proposed support vector machine can do automatic gene selection and further encourage a grouping effect in the process of building classifiers,thus leading a sparse multi-classifiers with enhanced ***,a reasonable correlation between the two regularization parameters is proposed and an efficient solution path algorithm is *** of microarray classification are performed on the leukaemia data set to verify the obtained results.

关键词： Gene selection grouping effect microarray classification solution path support vector machine(SVM)

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Frequency-domain approach to robust iterative learning controller design for uncertain time-delay systems

Frequency-domain approach to robust iterative learning contr...

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

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu the Department of Systems and Control Beihang University (BUAA) the Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications the School of Electrical Engineering and Automation Henan Polytechnic University

This paper deals with the robust iterative learning control(ILC) for time-delay systems(TDS) with both model and delay *** ILC algorithm with anticipation in time is considered,and a frequency-domain approach to its design is *** shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters:the lead time,the learning gain,and the performance weighting *** particular,if the lead time is chosen as just the delay estimate,then the convergence condition is derived independent of the delay and the *** this case,with the selection of the performance weighting function,the perfect tracking can be achieved,or the least upper bound of the L2-norm of the limit tracking error can be guaranteed less than the least upper bound of the L2-norm of the initial tracking error.

关键词： Iterative learning control time-delay systems frequency-domain approach anticipation in time

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H∞-based design approach to discrete-time learning control systems with iteration-varying disturbances

H∞-based design approach to discrete-time learning control ...

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

This paper is concerned with the iterative learning control(ILC) problem for discrete-time systems with iterationvarying *** the so-called super-vector approach to ILC,the discrete domain bounded real lemma is employed to develop a sufficient condition ensuring both the stability and the desired H∞ performance of the ILC *** is shown that this sufficient condition can be presented in terms of linear matrix inequalities(LMIs),which can also determine the learning gain matrix.A numerical simulation example is included to validate the theoretical results.

关键词： Iterative learning control discrete-time systems iteration-varying disturbances H_∞ performance linear matrix inequality

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Learning approaches to the Witsenhausen counterexample from a view of potential games

Learning approaches to the Witsenhausen counterexample from ...

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IEEE Conference on Decision and control

作者： Na Li Jason R. Marden Jeff S. Shamma Department of Control and Dynamical Systems California Institute of Technology Pasadena CA USA Social and Informational Sciences Laboratory California Institute of Technology Pasadena CA USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

ISBN: (纸本)9781424438716

Since Witsenhausen put forward his remarkable counterexample in 1968, there have been many attempts to develop efficient methods for solving this non-convex functional optimization problem. However there are few methods designed from game theoretic perspectives. In this paper, after discretizing the Witsenhausen counterexample and re-writing the formulation in analytical expressions, we use fading memory JSFP with inertia, one learning approach in games, to search for better controllers from a view of potential games. We achieve a better solution than the previously known best one. Moreover, we show that the learning approaches are simple and automated and they are easy to extend for solving general functional optimization problems.

关键词： Optical wavelength conversion Optimal control Cost function Random variables Optimization methods Design methodology Game theory Fading Automatic control control systems

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PSO-based controller design for rotary inverted pendulum system

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Journal of Applied Sciences 2008年第16期8卷 2907-2912页

作者： Hassanzadeh, Iraj Mobayen, Saleh Research Laboratory of Robotics Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

This research presents an optimum approach for designing Rotary Inverted Penduhnn (RIP) controller using PSO algorithm. The primary design goal is to balance the pendulum in an inverted position and the control criterion is to minimize the integral absolute error of system angles. Simulation results demonstrate the robustness and effectiveness of proposed controller with regard to parameter variations, various reference trajectory and load disturbances. The proposed method can be considered as a promising way for control of various similar nonlinear systems. © 2008 Asian Network for Scientific Information.

关键词： Genetic algorithms

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Design of augmented extended and unscented Kalman filters for differential-drive mobile robots

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Journal of Applied Sciences 2008年第16期8卷 2901-2906页

作者： Hassanzadeh, Iraj Fallah, Mehdi Abedinpour Research Laboratory of Robotics Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

In this study, we present the local reconstruction of differential-drive mobile robots position and orientation with an accurate odometry calibration. Starting from the encoders readings and assuming an absolute measurement available, Augmented Extended and Unscented Kalman Filters (AEUKF) are proposed to localize the vehicle while estimating a proper set of odometric parameters. In order to compare their estimation performances explicitly, both observers are designed for the same mobile robot model and run with the equal covariance matrices under the identical initial conditions. In the simulation results, it is shown that Augmented Unscented Kalman Filter (AUKF) outperforms the Augmented Extended Kalman Filter (AEKF). © 2008 Asian Network for Scientific Information.

关键词： Mobile robots

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Distributed H∞ consensus control for networks of multiple agents with linear coupling dynamics

Distributed H∞ consensus control for networks of multiple a...

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SICE Annual Conference

作者： Yang Liu Yingmin Jia Junping Du Fashan Yu Department of Systems and Control Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper is devoted to the consensus control for a network of autonomous agents with high-dimension linear coupling dynamics and subject to external disturbances. By transforming the consensus control problem into an H infin control problem, we propose a distributed state feedback protocol, and obtain conditions in terms of linear matrix inequalities (LMIs) to ensure the consensus with a prescribed H infin performance level for networks with zero and nonzero communication delays, respectively. Furthermore, the undetermined feedback matrix of the proposed protocol is also solved. A numerical example is included to validate the theoretical results.

关键词： control systems Communication system control Protocols Multiagent systems Vehicle dynamics Automatic control Telecommunication control Electronic mail Linear feedback control systems State feedback

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