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A Robust Stabilization using State Feedback with Feedforward

A Robust Stabilization using State Feedback with Feedforward

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American control Conference

作者： Kumeresan A. Danapalasingam Anders la Cour-Harbo Girish Chowdhary Morten Bisgaard Section for Automation & Control Department of Electronic Systems Aalborg University 9220 Aalborg Denmark Daniel Guggenheim School of Aerospace Engineering Georgia Institute of Technology Atlanta GA

ISBN: (纸本)9781424474264

In a general nonlinear control system a stabilizing control strategy is often possible if complete information on external inputs affecting the system is available. Assuming that measurements of persistent disturbances are available it is shown that the existence of a smooth uniform control Lyapunov function implies the existence of a stabilizing state feedback with feedforward control which is robust with respect to measurement errors and external disturbances. Conversely, using differential inclusions parameterized as nonlinear systems with state and disturbance measurement errors, it is shown that there exists a smooth uniform control Lyapunov function if there is a robustly stabilizing state feedback with feedforward. This paper demonstrates that if there exists a smooth control Lyapunov function for a general nonlinear system with persistent disturbances for which one has previously designed a feedback controller, a feedforward always exists to be augmented for stability.

关键词： State feedback FEEDFORWARD Liapunov function Error measure external input FEEDFORWARD control There exists control strategy Stabilising

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On second-order sliding-mode control of fractional-order dynamics

On second-order sliding-mode control of fractional-order dyn...

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American control Conference

作者： A. Pisano M. R. Rapaic Z. D. Jelicic E. Usai Department of Electrical and Electronic Engineering University of Cagliari Cagliari Italy Automation and Control Systems Department University of Novi Sad Trg Dositeja Obradovica 6 21000 Novi Sad Serbia

ISBN: (纸本)9781424474264

A second-order sliding mode control scheme is developed to stabilize a class of linear uncertain fractional-order dynamics. After making a suitable transformation that simplifies the sliding manifold design, a chattering-free second order sliding mode approach that accomplishes the control task by means of a continuous control action is developed. Simple controller tuning formulas are constructively developed along the paper by Lyapunov analysis. The simulation results confirm the expected performance.

关键词： Fractional-order dynamics sliding mode control Variable structure systems control task fractional order dynamics controller tuning

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on Electrical engineering/electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward controller (FFC-PFC) are presented.

关键词： Friction Computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics

Adaptive flocking with a virtual leader of multiple agents g...

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作者： Su, Housheng Chen, Guanrong Wang, Xiaofan Lin, Zongli Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Department of Electronic Engineering City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong Department of Automation Shanghai Jiao Tong University Dongchuan Road 800 Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400473 Charlottesville VA 22904-4743 United States

ISBN: (纸本)9787894631046

We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader, without requiring the knowledge of the agent dynamics. The resulting flocking algorithm works even for the case where only one agent is informed.

关键词： Dynamics

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Face Recognition Using PCA-Based Method

Face Recognition Using PCA-Based Method

引用

2010 2nd IEEE International Conference on Advanced Management Science（IEEE ICAMS 2010）

作者： Tahia Fahrin Karim Molla Shahadat Hossain Lipu Md.Lushanur Rahman Faria Sultana Electrical & Electronic Engineering Department Primeasia University Dhaka Bangladesh Electrical & Electronic Engineering Department University of Asia Pacific Dhaka Bangladesh IP Network Implementation DepartmentTechnology Division Axiata (Bangladesh) Limited DhakaBangladesh Technical Department Automation Drives & Control Limited Dhaka Bangladesh

The objective of this paper is to develop the image processing and recognize the faces using PCA-based face recognition *** based programs are implemented to identify the faces using Indian databases and the Face recognition data,University of Essex,*** matching unknown images with known images,different techniques like sum of absolute difference (SAD),sum of squared difference (SSD),normalized cross correlation (NCC) *** be used which has been shown in this ***,it has been shown that the performance of PCA-based face recognition system is quite satisfactory instead of having some shortcomings of the system.(Abstract)

关键词： Principle Component Analysis (PCA) Independent Component Analysis (ICA) Sum of Squared Difference (SSD) Normalized Cross Correlation (NCC) Sum of Absolute Difference (SAD) Linear Discriminant Analysis (LDA) Peak Signal to Noise ratio (PSNR)

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Wireless Security control system & Sensor Network for Smoke & Fire Detection

Wireless Security Control System & Sensor Network for Smoke ...

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2010 2nd IEEE International Conference on Advanced Management Science（IEEE ICAMS 2010）

作者： Molla Shahadat Hossain Lipu Tahia Fahrin Karim Md.Lushanur Rahman Faria Sultana Electrical & Electronic Engineering Department The University of Asia Pacific Dhaka Bangladesh Electrical & Electronic Engineering Department Primeasia University Dhaka Bangladesh IP Network Implementation DepartmentTechnology Division Axiata (Bangladesh) Limited DhakaBangladesh Technical Department Automation Drives & Control Limited Dhaka Bangladesh

The project entails the design and engineering of a wireless smoke detector unit and *** premise of the wireless network is to alert and to set off all of the smoke detectors in the network if one smoke detector is set *** hardware modules include the PIC microcontroller,temperature sensor,smoke sensor,low battery sensor,transmitter,and *** software component includes the program and code implemented via the PIC *** its completion and entirety,the smoke detector unit properly functions and in the manner it was originally planned and designed.

关键词： Photoelectric Smoke Detectors,Wireless Detector Network,PIC16F8777A

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Local entropy difference-fast marching method for leak diagnosis and localization

Local entropy difference-fast marching method for leak diagn...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Ling Zhao Tao Wang Wei Fan Nan Ge Tong Zhao Guangzheng Peng School of Automation Complicated System of Intelligent Control and Decision Key Laboratory of Education Ministry Beijing Institute of Technology Beijing China Department of Engineering Physics Tsinghua University Beijing China

In this paper, an effective technique for leak diagnosis and localization which couples the local entropy difference method (LEDM) to the fast marching method (FMM) is proposed. A computer-based system is described to combine a specific pneumatic circuit with an on-line infrared camera which is used to test the air-tightness of a test vessel. The test object is charged with cryogenic compressed air and its temperature field is acquired by infrared thermography in this system. Then, both the leakage point and its edge can be identified by means of the designed LED-FM method. An experiment is conducted that confirms that the leak diagnosis and localization method presented in this paper is effective in diagnosing leakage points and in extracting accurate leakage edges, in spite of the presence of surface defects.

关键词： Entropy Pixel Image edge detection Level set Cameras Equations Probes

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Stochastic parallel algorithm based evaluation of available transfer capability

Stochastic parallel algorithm based evaluation of available ...

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2010 5th International Conference on Critical Infrastructure, CRIS 2010

作者： Wei, Junqiang Li, Gengyin Zhou, Ming Lo, K.L. Department of Mathematics North China Electric Power University Changping District Beijing 102206 China Key Laboratory of Power System Protection and Dynamic Security Monitoring and Control Ministry of Education North China Electric Power University Changping 102206 Beijing China Department of Electronic and Electrical Engineering University of Strathclyde Glasgow G1 1XW United Kingdom

ISBN: (纸本)9781424480814

In practical power markets, Available Transfer Capability (ATC) is crucial for transmission customers, system operators and power marketers to make a good choice. It is an indication of the expected transfer capability remaining on the transmission network. In order to assure the secure, economic, stable and reliable operation of power systems, the assessment of ATC should be carried out instantly. Most of the existing ATC calculation are mainly focused on AC power systems and based on deterministic techniques. As high performance computing has been extensively used in scientific computation and technology, less work has been done on evaluation of ATC by using parallel algorithm. This paper is dealing with the evaluation of ATC by stochastic parallel algorithm in an AC power system. Due to the stochastic nature of power system behaviors, it is important to assess ATC from a statistical and risk analysis point of view. Considering the dynamics, time-varying and uncertainties of power systems, several statistical indices is presented to evaluate ATC. They are calculated based on Monte Carlo simulation and parallel computing. The system operation states can be simulated by Monte Carlo method, and the parallel algorithm based on MATPOWER (A MATLAB™ Power system Simulation Package) is developed. Case study with an IEEE 30-bus power system is used to verify the presented approach. Five-number summary and other statistical indices of ATC are calculated. The results show that the proposed method can elapse shorter computation time and it is more effective and practical. Some new attractive issues are suggested at the end. © 2010 IEEE.

关键词： Parallel algorithms

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Monte Carlo simulation based assessment of available transfer capability in AC-DC hybrid systems

Monte Carlo simulation based assessment of available transfe...

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2010 5th International Conference on Critical Infrastructure, CRIS 2010

ISBN: (纸本)9781424480814

Available transfer capability (ATC) is defined as a measure of the system's capability for transfers of power for further commercial activity, over and above already committed uses. In practical power markets, ATC can provide important information for transmission customers, system operators and power marketers. The assessment of ATC should be carried out to assure the secure, economic, stable and reliable operation of power systems. Most of the existing ATC calculation are mainly focused on AC power system and based on deterministic techniques. As high voltage direct current (HVDC) power distribution systems have been extensively used in modem transmission network, less work has been done on evaluation of ATC in AC-DC hybrid power system. This paper is dealing with the evaluation of ATC for the integration of HVDC link with an AC power system. The mathematical model of ATC for AC-DC hybrid power system is proposed. Due to the stochastic nature of power system behaviors, it is important to assess ATC from a statistical and risk analysis point of view. Considering the dynamics, time-varying and uncertainties of hybrid power systems, several statistical indices are presented to evaluate ATC and they are calculated based on Monte Carlo simulation. States of system operation can be simulated, and the algorithm based on MATPOWER (A MATLAB™ Power system Simulation Package) is developed in the environment of MATLAB 7.5. Case study with a modified IEEE 30-bus AC-DC hybrid power system is used to verify the presented approach. Sequential solution method is employed to deal with the AC-DC power flow. Fivenumber summary and other statistical indices of ATC are calculated. The results show that the proposed method is effective and practical. The research achievements are undergoing to transfer to the application in other hybrid power systems with different control style, and some new problems are suggested at the end of paper. © 2010 IEEE.

关键词： MATLAB

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A flexible control of robot hand with three fingers

A flexible control of robot hand with three fingers

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International Conference on control, automation and systems ( ICCAS)

作者： Jin-Hwan Sok Tae-Hee An Jun-Hong Kim In-Man Park Sung-Hyun Han Department of Advanced Engineering Graduate School Kyungnam University Masan South Korea Department of Electronic Engineering Pusan National University busan South Korea Intel Company Limited Changwon South Korea Division of Mechanical System and Automation Engineering Kyungnam University Masan South Korea

In this paper we present an experimental performance for the validation of a robotic hand with three-finger applications. The increasing requirement for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which have the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have been carried out to develop artificial robot hands with capabilities similar to the human hand. This hand gripper is the wide working space compared with its physical dimensions and the capability to deal with objects in working environment conditions. This capability is achieved by using force/torque sensor and by properly controlling and coordinating the gripper and the carrying arm. After a brief illustration on the main features of the gripper, the experimental activity is presented and the results achieved are discussed. This system also aims to substitute the astronauts in periodical operations with a semi-autonomous robotic device. Note that with this control structure, it is also very simple to connect the arm/gripper system using Internet to other computational resources or robotic devices, for example to emulate tele-operation tasks.

关键词： Fingers Robot sensing systems Force Grippers Robot kinematics Force sensors

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