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IEEE International Conference on Industrial Informatics (INDIN)

作者： J. P. Bodanese G. M. de Araújo G. V. Raffo L. B. Becker Department of Automation and Control Systems Federal University of Santa Catarina Florianópolis Brazil Federal University of Santa Catarina Araranguá Brazil Electronic Engineering Department Federal University of Minas Gerais Belo Horizonte Brazil

This paper describes RBESP, a dual stack protocol designed as part of the communication infrastructure of a short-range Unmanned Aerial Vehicle (UAV). It aims at providing a reliable communication between the UAV and its base station and a best effort communication between the UAV and a WSN. RBESP targets two distinct communication requirements using the same communication transceiver. The other end of the communication link can be heterogeneous devices transmitting with the IEEE 802.15.4 standard, which is also used in the UAV transceiver. The paper details the software layers that implement both the reliable communication with the base station and the best-effort communication with the WSN nodes. Two different scenarios were implemented in order to allow RBESP evaluation. The first scenario consists of the UAV node communicating with spatially distributed sensors on the ground. In the second scenario, the UAV node delivers the collected data to the base station. Both communication scenarios are very different in terms of connection time and volume of transmitted data. Obtained results are presented and discussed along the paper.

关键词： Wireless sensor networks Sensors Protocols Base stations Reliability Receivers IEEE 802.15 Standards

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Sliding Mode control for Variable-speed Wind Turbine Generation systems Using Artificial Neural Network

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Energy Procedia 2014年 61卷 1626-1629页

作者： Chih-Ming Hong Cong-Hui Huang Fu-Sheng Cheng Department of Electronic Communication Engineering National Kaohsiung Marine University Kaohsiung 811 Taiwan R.O.C Department of Automation and Control Engineering Far-East University Tainan 744 Taiwan R.O.C Department of Electrical Engineering Cheng-Shiu University Kaohsiung 833 Taiwan R.O.C

An induction generator (IG) speed drive with the application of a sliding mode controller and a proposed artificial neural network (ANN) controller is introduced in this paper. Grid connected wind energy conversion system (WECS) present interesting control demands, due to the intrinsic nonlinear characteristic of wind mills and electric generators. The ANN torque compensation is feed-forward to increase the robustness of the wind driven induction generator system. The proposed controller is designed to drive the turbine speed to extract maximum power from the wind and adjust to the power regulation. When sliding mode occurs on the sliding surface, the control system acts as a robust state feedback system. Moreover, a sliding mode speed controller is designed based on a sliding surface.

关键词： sliding mode control (SMC) artificial neural network (ANN) wind turbine (WT) wind energy conversion system (WECS) induction generator (IG).

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A unified framework for optimality analysis of model predictive control

A unified framework for optimality analysis of model predict...

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World Congress on Intelligent control and automation (WCICA)

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai P.R. China Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

As well-known, model predictive control is closely related to optimal control. This paper studies relationships between them and provides a unified framework for optimality analysis of model predictive controllers (MPC). The optimality is evaluated by comparing total performance of MPC with finite and infinite horizon optimal cost. Based on relaxed value iteration method, upper and lower bounds of optimality evaluation functions are expressed explicitly in terms of optimization horizon. These results reveal detailed characteristics on performance of closed-loop MPC systems due to using “receding horizon optimization” implementation style.

关键词： Optimal control Nonlinear systems Cost function Predictive control Predictive models

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Finite-time consensus of leader-follower multi-agent systems with fixed and switching topologies

Finite-time consensus of leader-follower multi-agent systems...

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World Congress on Intelligent control and automation (WCICA)

作者： Yakun Zhu Cailian Chen Xinping Guan Xiaoyuan Luo School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao P. R. China Department of Automation Key Laboratory of System Control and Information Processing Shanghai P. R. China Institute of Electrical Engineering Yanshan University Qinhuangdao P. R. China

This paper proposes a novel nonlinear distributed consensus protocol of the finite-time consensus problems of leader-follower multi-agent systems based on the distributed consensus error functions. It is proved that the leader-follower multi-agent systems under this nonlinear protocol can reach the consensus in finite time in the scenarios with fixed topology and two kinds of switching topologies, respectively. The results are also extended to the case with directed communication topology. Finally, some examples and simulation results are given to illustrate the effectiveness of the proposed control protocols.

关键词： Topology Switches Protocols Multi-agent systems Network topology Vehicle dynamics Educational institutions

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Network design for distributed consensus estimation over heterogeneous sensor networks

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IFAC Proceedings Volumes 2014年第3期47卷 5550-5555页

作者： Wen Yang Ling Shi Ye Yuan Xiaofan Wang Hongbo Shi Key Laboratory of Advanced Control and Optimization for Chemical Processes (East China University of Science and Technology) Ministry of Education Shanghai 200237 Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong P. R. China Department of Engineering University of Cambridge UK Department of Automation Shanghai Jiaotong University Shanghai 200240

This paper considers distributed estimation over heterogeneous sensor networks. We propose a distributed estimation strategy based on PageRank algorithm, where the link weight depends on the edge estimation covariances. We prove that the proposed estimator obtains better estimates than one typical estimator under identical initial conditions. Motivated by the advantage of the sensors with high accuracy locating at important positions, we propose an optimal sensor deployment strategy to arrange locations for sensors in a given physical network. Numerical examples are provided to demonstrate the effectiveness of the proposed estimator, showing a better performance under the optimal sensor deployment.

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Wireless Communication Infrastructure for a Short-Range Unmanned Aerial

Wireless Communication Infrastructure for a Short-Range Unma...

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International Conference on Advanced Information Networking and Applications Workshops (AINAW)

作者： J.P. Bodanese G.M. de Araújo C. Steup G.V. Raffo L.B. Becker Department of Automation and Control Systems Federal University of Santa Catarina Florianópolis Brazil Department of Distributed Systems Otto-Von-Guericke-Univesität Magdeburg Germany Electronic Engineering Department Federal University of Minas Gerais Belo Horizonte Brazil

This paper describes a low cost wireless communication infrastructure designed for a short-range Unmanned Aerial Vehicle (UAV). It aims at providing a communication link between the UAV and a base station and also additional links that may allow collecting data from a remote Wireless Sensor Network (WSN). The challenge here is using the same hardware to communicate with potential heterogeneous devices and using different protocols. The paper details the software layer designed to support a reliable communication with the base station, as well a highly efficient best-effort communication with nodes from a WSN. For both cases, a single IEEE 802.15.4 extended range transceiver is used. To demonstrate the proposed infrastructure, two different utilization scenarios were implemented and tested. The first consists of the UAV node communicating with spatially distributed sensors on the ground. In the second scenario, the UAV node delivers the collected data to the base station. Both communication scenarios are very different in terms of connection time and other communication requirements. Obtained results show that the proposed solution attends the related challenges.

关键词： Wireless sensor networks Sensors Base stations Protocols IEEE 802.15 Standards Reliability Peer-to-peer computing

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A sensor network modeling and fault detection method for large wind farms by using neural networks

A sensor network modeling and fault detection method for lar...

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International Conference on control and automation (ICCA)

作者： Qing Wang Fan Yang Quanbo Ge Qinmin Yang Zhejiang Windey Co. Ltd State Key Laboratory of Wind Power System Hangzhou Zhejiang China School of Automation Hangzhou Dianzi University Hangzhou China Department of Control Science and Engineering Zhejiang University Hangzhou China

Sensor networks have been widely utilized in various applications. In large wind farms, numerous sensor nodes are deployed across the field for monitoring purpose. They are required to work in harsh environment and usually undergo unexpected failures. This paper introduces a new method to model nodes of sensor networks by using two-layer neural networks (NN). Each node's dynamics and interconnections with other sensor network nodes are integrated into the model, whose accuracy is guaranteed by the NN's universal approximation property. Furthermore, the model can be subsequently employed to detect any incipient failures which can be modeled as a nonlinear function of state and input variables. An additional NN along with a novel simplified updating law is utilized for self-diagnostics, whose output can declare a failure alarm if it exceeds a certain threshold. Mathematical analysis is substantiated with simulation results.

关键词： Conferences automation

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Crawling Gait Planning for a Quadruped Robot with High Payload Walking on Irregular Terrain

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IFAC Proceedings Volumes 2014年第3期47卷 2153-2158页

作者： Nan Hu Shaoyuan Li Dan Huang Feng Gao Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai 200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain.

关键词： Quadruped robot gait planning trajectory planning kinematics

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On Infinite Time Performance of Nonlinear Model Predictive controllers

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IFAC Proceedings Volumes 2014年第3期47卷 1916-1921页

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases.

关键词： Model Predictive control Finite Horizon Optimal control Value Iteration Principle of Optimality

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Multi-Objective Load Distribution Optimization for Hot Strip Mills

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Journal of Iron and Steel Research International 2013年第2期20卷 27-32,61页

作者： JIA Shu-jin LI Wei-gang LIU Xiang-hua DU Bin Department of Automation and Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Automation Division of Research Institute Baosteel Group Corporation College of Information Science and Engineering Northeastern University Research Institute of Science and Technology Northeastern University

Load distribution is a key technology in hot strip rolling process, which directly influences strip product quality. A multi-objective load distribution model, which takes into account the rolling force margin balance, roll wear ratio and strip shape control, is presented. To avoid the selection of weight coefficients encountered in single objective optimization, a multi-objective differential evolutionary algorithm, called MaximinDE, is proposed to solve this model. The experimental results based on practical production data indicate that MaximinDE can obtain a good pareto-optimal solution set, which consists of a series of alternative solutions to load distribution. Decision-makers can select a trade-off solution from the pareto-optimal solution set based on their experience or the importance of ob- iectives. In comparison with the empirical load distribution solution, the trade-off solution can achieve a better per- formance, which demonstrates the effectiveness of the multi-objective load distribution optimization. Moreover, the conflicting relationship among different objectives can be also found, which is another advantage of multi-objective load distribution optimization.

关键词： hot strip mill load distribution multi-objective optimization

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