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IEEE Annual Conference on Decision and control

作者： Zhiquan Liu Hongzhang Jin M. J. Grimble Reza Katebi College of Automation Harbin Engineering University Harbin 150001 China Industrial Control Centre Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW UK

ISBN: (纸本)9781467360890

A factorized Nonlinear Generalized Minimum Variance (NGMV) control law is developed for a combined roll and yaw motion compensation using rudders and fins. The nonlinear model used for control design includes the non-minimum phase interaction from rudder to roll motion, and the dynamics from fins to yaw motion. This controller is developed using the polynomial approach to ensure that the non-minimum phase system remains stable in closed-loop. The effectiveness of the approach is demonstrated on a simulated nonlinear ship model.

关键词： RUDDER non-minimum phase system heading control Ship models Nonlinear Models Motion compensation design control YAW minimum phase system Ships Rolling motion

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An EMG Enhanced Impedance and Force control Framework for Telerobot Operation in Space

An EMG Enhanced Impedance and Force Control Framework for Te...

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IEEE Aerospace Conference

作者： Ning Wang Chenguang Yang Michael R. Lyu Zhijun Li Department of Computer Science and Engineering The Chinese University of Hong Kong School of Computing and Mathematics Plymouth University Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology

ISBN: (纸本)9781479916191

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： impedance Electromyogram Human Robot Force Astronauts Force control muscles robotics

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LAND COVER TO HABITAT MAP CONVERSION USING REMOTE SENSING DATA: A SUPERVISED LEARNING APPROACH

LAND COVER TO HABITAT MAP CONVERSION USING REMOTE SENSING DA...

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IEEE International Geoscience and Remote Sensing Symposium

作者： Z. I. Petrou T. Stathaki I. Manakos M. Adamo C. Tarantino P. Blonda Department of Electrical and Electronic Engineering Imperial College London Information Technologies Institute Centre for Research and Technology Hellas Institute for Studies on Intelligent System for Automation (ISSIA) National Research Council (CNR)

ISBN: (纸本)9781479953141

The derivation of habitat maps is enhanced if land cover maps are used as basis for the mapping procedure. In this study, a supervised learning framework is proposed to perform object-based classification to General Habitat Categories. A Land Cover Classification system map is used as basis, and an approach to generate numerical features from the object land cover class names and attributes is introduced. An additional number of spectral, morphological, and topological features are extracted from very high resolution satellite imagery and classification accuracies up to 80.4% for 14 classes are reached. Inclusion of LiDAR (Light Detection And Ranging) data or proposed texture analysis features, improve accuracies to 86% and around 83%, respectively, with the latter proving as promising surrogates of LiDAR data features. The method outperformed rule-based approaches, indicating its potential in accurate and labor- and time-efficient habitat classification.

关键词： Land cover to habitat conversion Habitat classification Supervised learning High resolution satellite imagery Feature extraction

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Modeling and detection of rotating stall in axial flow compressors, II: Experimental study for a low-speed compressor in Beihang University

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2014年第10期31卷 1414-1422页

作者： Wang, Cong Si, Wen-Jie Wen, Bin-He Zhang, Ming-Ming Wang, Yong Hou, An-Ping College of Automation Science and Technology South China University of Technology GuangzhouGuangdong510640 China Institute of AVIC Aviation Motor Control System WuxiJiangsu214063 China Department of Mechanics and Engineering Science Peking University Beijing100871 China School of Energy and Power Engineering BeiHang University Beijing100191 China

Early detection of rotating stall and surge in axial flow compressors is of great importance for improving the working efficiency and stability of the compressor. Based on deterministic learning (DL) theory and dynamical pattern recognition, this paper presents experimental research for approximately accurate modeling and rapid detection of stall precursors, and then employs a low-speed axial flow compressor test rig of Beihang University for online experimental verification. Firstly, by installing high response dynamic pressure transducers arranged circumferentially around the casing of the axial compressor, the dynamic pressure data are collected. Based on deterministic learning theory, the system dynamics underlying prestall and stall inception patterns are identified. Secondly, based on modeling results, rapid detection of small oscillation faults is used to perform the detection of stall precursors. Sufficient online experiments are conducted to investigate the efficiency of the approach. Results show that, in different working speeds, this approach successfully detects inception signal of aerodynamic instability of the compressor 0:3 s~1 s in advance to the start of rotating stalls. ©, 2014, South China University of Technology. All right reserved.

关键词： Pattern recognition

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Optimal LQ-Type Switched control Design for a Class of Linear systems with Piecewise Constant Inputs

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IFAC Proceedings Volumes 2014年第3期47卷 6976-6981页

作者： Vadim Azhmyakov Michael Basin Carsten Reincke-Collon Department of Electronic and Biomedical Engineering University of Antonio Narino Neiva Colombia Department of Physical and Mathematical Sciences University of Nuevo Leon San Nicolas de los Garza Mexico System Analysis and Control Engineering Group Younicos AG Am Studio 16 D-12489 Berlin Germany

This paper is devoted to a specific LQ-type optimal control problem (OCP) in the presence of additional control constraints. We consider control processes governed by linear differential equations with a priori known control switchings. The piecewise constant structure of the admissible controls under consideration is motivated by variety of concrete engineering applications and moreover, can be interpreted as a result of a quantization procedure applied to the original dynamics. We propose an new implementable numeric algorithm that makes it possible to calculate a consistent approximating solution to the initial constrained LQ-type OCPs. The contribution discusses some theoretic aspects of the obtained computational scheme and also contains a numerical example.

关键词： switched linear systems piecewise constant controls specific LQ-type optimal control design numerical methods

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On stability analysis and synthesis of reset control systems with output uncertainties

On stability analysis and synthesis of reset control systems...

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第三十三届中国控制会议

作者： Guanglei Zhao Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Electronics Electrical Engineering and Computer ScienceQueens University BelfastUK

ISBN: (纸本)9781479947249

This paper considers reset control systems with output *** present sufficient conditions for the quadratic stability and finite L2 gain ***,the results are extended to piecewise quadratic stability which is much less ***,an iterative algorithm is proposed to design the reset *** the obtained results are given as linear matrix inequalities(LMIs) that can be solved *** examples are given to illustrate the results.

关键词： reset control output uncertainties quadratic stability iterative algorithm

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Distributed MPC for Tracking based on Reference Trajectories

Distributed MPC for Tracking based on Reference Trajectories

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第三十三届中国控制会议

作者： Langwen Zhang Jingcheng Wang Zhengfeng Liu Kang Li Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast

ISBN: (纸本)9781479947249

In this paper, we consider the control of large-scale processes with both input and state couplings. A distributed model predictive control(MPC) strategy for tracking based on the reference trajectories is presented. The proposed distributed MPC strategy requires decomposing a large-scale system into several smaller ones and solving convex optimization problems independently. Distributed MPC tracking strategies for unconstrained and constrained processes are presented, respectively. An iterative algorithm is presented to coordinate the distributed MPC controllers. The proposed algorithm is applied to a four-tank process to demonstrate the effectiveness.

关键词： distributed MPC tracking iterative algorithm reference trajectories

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Development of PROTON electric vehicle control unit (eVCU) using state machine deterministic rule-based approach 2

Development of PROTON electric vehicle control unit (eVCU) u...

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2nd International Conference on Recent Advances in Automotive engineering and Mobility Research, ReCAR 2013

作者： Mohd Azubir, Nor Aziah Hassan, Mohd Khair Zamzuri, Hairi Mazlan, Saiful Amri Research Department Engineering Division PROTON SDN BHD HICOM Industrial Estate Batu 3 P.O. Box 7100 Shah Alam Darul EhsanSelangor Malaysia Control System and Signal Processing Unit Department of Electrical and Electronic Engineering Universiti Putra Malaysia UTM-PROTON Active Safety Research Lab Universiti Teknologi Malaysia International Campus Kuala Lumpur Malaysia Universiti Teknologi Malaysia International Campus Kuala Lumpur Malaysia

ISBN: (纸本)9783038352617

There are many types of Electric Vehicle (EV) applied in automotive industry. It can be hybridization or electrification vehicle. Battery Electric Vehicle (BEV) also called as fully electric vehicle using batteries as the only source and an electric motor as a traction motor to move the vehicle. In a world view of BEV, it is still has circumstances that would strand the BEV to have huge commercialization due to range anxiety. This paper is discussing about an electrification vehicle power and energy management (PEM) strategy. PEM strategy has two layer control strategies that consist of low level component control and high level supervisory control. Management and control strategy in BEV is carefully designed due to heavy loads consumption from Propulsion Electrical Load (PEL) and Non Propulsion Electrical Loads (NoPEL) with a single energy source. This is to ensure that power and energy is managed at optimum level that will give some extension of wider kilometer of the vehicle. The BEV performance is typically controlled by high level supervisory control algorithm using event-based condition using state machine deterministic rule-based method. More than one drive mode to be determined in this paper as part of control strategy to get an optimal PEM performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Traction motors

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Faults and fault propagation modeling in manufacturing systems based on colored petri nets 28

Faults and fault propagation modeling in manufacturing syste...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Gerzson, Miklós Leitold, Adrien Hangos, Katalin M. Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel fault integration method is proposed in this paper for manufacturing system models given in the form of timed colored Petri nets. The faults are assumed to have a stochastic nature and are represented in the form of transitions firing in stochastic way with known fault probabilities in the system model. A novel fault effect propagation method was also developed, that can be used to compute the probabilities of the possible faulty and non-faulty intermediate and final states of the system using the probabilities of faults and the occurrence graph. The faultless and fault containing models were implemented in CPNTools both for non-timed and timed cases. A software module was also developed for the proposed probabilistic fault propagation analysis. The proposed methods and tools were demonstrated using a simple case study.

关键词： Manufacture

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On-line qualitative model-based diagnosis of technological systems using colored petri nets 28

On-line qualitative model-based diagnosis of technological s...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Leitold, Adrien Gerzson, Miklós Pózna, Anna I. Hangos, Katalin M. Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel on-line diagnosis method is proposed in this paper that uses a qualitative dynamic model of the system and its colored Petri nets model. The model contains both the normal and the possible faulty operational modes of the system. The deviation between the normal and faulty modes is characterized based on P-HAZID tables. The actual system state can be searched on the occurrence graph constructed in advance. Starting from this node the possible consequences and root causes can be determined on-line with traversing on the graph. The proposed method is illustrated on simple case studies.

关键词： Petri nets

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