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World Congress on Intelligent control and automation (WCICA)

作者： Xinyu Wang Yigao Deng Yafeng Wang Youan Zhang Institute of Science and Technology for Opto-electronic Information Yantai University Yantai Shandong China The Research Institute of Vehicles Control System of Department of Control Engineering Naval Aeronautical Engineering Institute Yantai Shandong China

In this paper, a novel composite linear/adaptive terminal sliding mode (TSM) control scheme is proposed, which combines the linear state feedback with the adaptive law of TSM control. It is well known that a terminal sliding mode controller can make error quickly converge to zero in finite time. Based on the introduction of the TSM concept and adaptive TSM method, the corresponding controller of the mass-controlled saucer-like air vehicle is designed. The mass-controlled saucer-like air vehicle is a higher order and MIMO nonlinear system. This method guarantees the output tracking error fast convergence to zero in finite time, and makes the dynamic performance of the system prior to the performance under the traditional linear sliding mode (LSM) control. The simulation results show the effectiveness of the proposed control

关键词： Programmable control Adaptive control Vehicles Sliding mode control Linear feedback control systems Error correction State feedback MIMO Nonlinear systems Convergence

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A Target Differentiation Algorithm of Multi-neural-network based on Rough Set for Mobile Robot

A Target Differentiation Algorithm of Multi-neural-network b...

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World Congress on Intelligent control and automation (WCICA)

作者： Xin Ma Wei Liu Yibin Li Weidong Chen Yugeng Xi Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiaotong University Shanghai China Centre for Robotics School of Control Science and Engineering Shandong University Jinan Shandong China

Aiming at the uncertainty of sonar data in the problem of sonar-based target differentiation for mobile robot, the paper firstly presents a hierarchical reduction approach to reduce a sonar data set based on rough set theory. Then on the basis of the reduction, a multi-neural network based target differentiation algorithm is designed on the fact that the effective combination of multiple neural networks can increase the ability to pattern classification and generalization of the whole system. Parallel network architecture is adopted locally to increase the differentiation accuracy. And the average weighed strategy is applied to fuse the outputs of the parallel neural network classifiers to improve the robustness of the differentiation system to noise, physically plausible failure and missing sonar data situation. The simulation experiments prove that the new method combining with the traditional target differentiation algorithm can increase the accuracy of sonar-based target differentiation for mobile robot in indoor environments

关键词： Mobile robots Sonar Neural networks Uncertainty Set theory Algorithm design and analysis Pattern classification Fuses Noise robustness Working environment noise

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Nonlinear Dynamical Decoupling controller using Multiple Neural Network Models

Nonlinear Dynamical Decoupling Controller using Multiple Neu...

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World Congress on Intelligent control and automation (WCICA)

作者： Xin Wang Zhongjie Wang Shaoyuan Li Hui Yang Institute of Information & Control Technology Center of Electrical & Electronic Technology Shanghai Jiaotong University Shanghai China Department of Control Science & Engineering University of Tongji Shanghai China Institute of Automation Shanghai Jiaotong University Shanghai China School of Electrical & Electronic Engineering East China Jiao Tong University Jiangxi China

A multiple models neural network decoupling controller is designed to control the multivariable nonlinear discrete time system. First, at each equilibrium point, one neural network is trained offline to identify the linear term of the nonlinear system while the other neural network is trained online to identify the nonlinear term. Then the multiple models is composed of all models which is got from each equilibrium point. According to the switching index, the best model is selected as the system model. So, for the selected model, the nonlinear term is viewed as the measurable disturbance and eliminated using feedforward strategy. By the choice of the polynomial matrices, the poles of the linear term can be placed arbitrarily and the dynamical decoupling controller is designed accordingly. The simulation example shows effectiveness of the proposed system

关键词： Neural networks Automatic control Nonlinear control systems electronic mail Design engineering Design automation Discrete time systems Nonlinear systems Polynomials Intelligent control

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Multivariable Adaptive Decoupling controller using Hierarchical Multiple Models

Multivariable Adaptive Decoupling Controller using Hierarchi...

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World Congress on Intelligent control and automation (WCICA)

A hierarchical multiple models direct adaptive decoupling controller is designed to solve the problem such as too many models, long computing time and so on. The best model is searched in each level according to the switching index and fixed model set is set up in next level dynamically. By the choice of the weighting polynomial matrix, it not only eliminates the steady output error, places the poles of the closed loop system arbitrarily, but also decouples the system dynamically. At last, to this multiple models switching system, the global convergence is obtained under the common assumptions and the convergence property of the controller parameter set is proved too. When compared with the convenient multiple models adaptive controller, it reduces the number of the fixed models greatly. If the same number of the fixed models is used, system transient response and decoupling result are improved

关键词： Programmable control Adaptive control Automatic control Design engineering Convergence Design automation Polynomials Closed loop systems Switching systems Transient response

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Investigation of Transient Performance of Capacitor Voltage Transformer

Investigation of Transient Performance of Capacitor Voltage ...

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National Proceedings Power and Energy Conference (PECon)

作者： Ab. Halim Abdul Bakar Cheng Hock Lim Saad Mekhilef Protection Department Transmission Division TNB Electrical Energy & Power System Universiti Malaya Malaysia Lecturer Department of Electrical Engineering University of Malaya deputy director Center for Research Power Electronics & Drives Automation and Control.

This paper reports the digital-time domain and frequency domain studies on a typical 132 kV capacitor voltage transformer (CVT) model. The transient studies are conducted using alternative transient program (ATP-EMTP). Simulation results corresponding to the CVT transient response under both system fault and ferroresonance condition are reported in this paper. Transient studies are performed (1) to identify the CVT components that contribute to the transient response of CVT, (2) to determine system condition that affect the CVT transient response. A lightning simulation case study is also presented.

关键词： Capacitors Voltage transformers Power system transients Switches Ferroresonance Lightning Circuits Power system modeling Transient response Power system reliability

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Extraction of Yarn Positional Information from 3-D Voxel Data for Analysis of Textile Fabric Structure

Extraction of Yarn Positional Information from 3-D Voxel Dat...

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SICE Annual Conference

作者： Toshihiro Shinohara Jun-ya Takayama Shinji Ohyama Akira Kobayashi Department of Electronic System and Information Engineering School of Biology-Oriented Science and Technology Kinki University Wakayama Japan Department of Mechanical and Control Engineering Graduate School of Science and Engineering Tokyo Institute of Technology Tokyo Japan University Evaluation and Research Tokyo Japan

In this paper, a novel method for analyzing a textile fabric structure is proposed to extract each yarn positional information of the textile fabric from 3-D voxel data made out of its X-ray computed tomography (CT) images. In order to extract the positional information, directions of filaments, of which yarn consists, are firstly estimated by correlating the voxel with a filament model. Each filament is secondly reconstructed by clustering the voxels of the filament using the estimated filament direction as a similarity. Then, each yarn is segmented by clustering the reconstructed filaments using a distance which is newly defined as a dissimilarity. The each yarn positional information is finally extracted by averaging all the filaments classified into the same yarn by the yarn segmentation. The effectiveness of the proposed method is confirmed by experimentally applying the method to voxel data of a sample plain woven fabric, which is made of a two-folded polyester yarn. The yarn positional information of each two-folded yarn is correctly extracted with the proposed method

关键词： Data mining Yarn Data analysis Information analysis Textiles Fabrics X-ray imaging Computed tomography Image reconstruction Image analysis

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DELAY-DEPENDENT ROBUST H-infinity FILTERING FOR INTERVAL systemS WITH STATE DELAYS

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control AND INTELLIGENT systemS 2006年第2期34卷 113-118页

作者： Lu, C. Y. Tsai, J. S. H. Su, T. J. Department of Electrical Engineering National Kangshan Agricultural and Industrial Vocational Senior High School Kaohsiung County 820 Taiwan Control System Laboratory Department of Electrical Engineering National Cheng-Kung University Tainan City 701 Taiwan Department of Electronic Engineering National Kaohsiung University of Applied Sciences Kaohsiung 807 Taiwan Department of Electrical Engineering National Cheng-Kung University Taiwan Electronic Department National Kaohsiung University of Applied Sciences Kaohsiung Taiwan

This paper deals with the problem of robust H-infinity filtering for a class of linear continuous-time interval systems with delay dependence and structured uncertainties, which are not restricted to the matched uncertainty or the norm-bounded uncertainty. The problem aims at designing a stable linear filtering assuring asymptotic stability and a prescribed H-infinity performance level for the filtering error system. A sufficient condition for the existence of such a filter is developed in terms of linear matrix inequalities. A numerical example demonstrates the validity of the newly developed theoretical results.

关键词： H-infinity filtering linear matrix inequality interval systems time delay

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Formation control for Mobile Robots in partially known Environments using Mixed Integer Programming and Fuzzy systems

Formation Control for Mobile Robots in partially known Envir...

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SICE Annual Conference

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence Uberlingen Germany Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Institute of System Dynamics University of Stuttgart Germany

We consider a setting where a team of multiple robots has to fulfil a mission in a specifically defined formation in a partially known environment. In many real environments, not all obstacles are previously known, but often most of them. For the planning of the optimal trajectory along these obstacles a mixed integer programming algorithm is used. If during the mission at least one of the robots detects a previously unknown obstacle, the control on each robot switches from centralized formation control to decentralized control. In this case, each robot is able to use its own set of fuzzy systems for obstacle avoidance and returns to the optimal trajectory after passing the unknown obstacles. This concept allows the robots to find the optimal trajectories for the mission task in known areas using the mixed integer programming. In unknown or for the mixed integer programming too complex scenarios the robots have to use the information based on their limited onboard sensors. With the sensor information they are in most cases able to find at least a possible way through the obstacles by using a set of onboard fuzzy systems for robot control

关键词： Robot control control systems Mobile robots Linear programming Fuzzy systems Centralized control Robot sensing systems Trajectory Switches Distributed control

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A networked formation control for groups of mobile robots using mixed integer programming

A networked formation control for groups of mobile robots us...

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IEEE International Conference on Computer-Aided Design

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence 88662 Ueberlingen Germany The Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan The Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan The Institute of System Dynamics University of Stuttgart Stuttgart Germany

In this paper we demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication. Therefore we use a global centralized planning algorithm and solve the optimal trajectory problem of the formation of mobile robots by mixed integer quadratic programming (MIQP). This description of formation can be used for non-static formations as well as for formation switching between different kinds of formations where inter-robot collisions will be avoided and the formations are organized as unit-center-referenced formations. The environment itself can be formulated by convex polygons that are described as hybrid systems. The moving along the optimum trajectories is controlled by a controller structure in three levels, whereby the highest level is set on a master robot and controls the general formation using Bluetooth communication between the robots. The control of the position of each robot is realized by an individual controller on every robot and a motor controller for every wheel of each robot. The effectiveness of our formation control structure and the algorithm for the planning of the trajectory is demonstrated in simulations and experiments which also verify the dynamic models of the robots

关键词： Mobile robots Linear programming Communication system control Robot control Trajectory Mobile communication Quadratic programming Communication switching Bluetooth Wheels

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ROBUST control OF A HIGH PRECISION PLANAR PARALLEL MANIPULATOR

ROBUST CONTROL OF A HIGH PRECISION PLANAR PARALLEL MANIPULAT...

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第二届亚洲机械电子学学术会议

作者： Jacob W.F.Cheung Y.S.Hung Motion Control and Systems Laboratory Research and Development Department ASM Assembly Automation Ltd. 3/F Watson Centre 16 Kung Yip Street Kwai Chung New Territories Hong Kong. Department of Electrical and Electronic Engineering The University of Hong Kong.Pokfulam Road Hong Kong. Department of Electrical and Electronic Engineering The University of Hong Kong.Pokfulam Road Hong Kong.

A model-based robust control design approach for a novel direct-drive planar parallel manipulator aimed at high speed and high precision semiconductor packaging application is *** experimental identification approach is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic *** results demonstrate that the motion performance of the planar parallel manipulator including positioning accttracy,settling time and steady- state error is improved significantly when compared with traditional XY *** shows that the proposed planar manipulator provides a superior alternative to the traditional XY stages for high- precision motion.

关键词： Parallel manipulator mechatronics applications motion control dynamic modelling robust control

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