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IEEE International Conference on systems, Man and Cybernetics

作者： Yaping Dai Guanghui Yu Kotaro Hirasawa Department of Electrical and Electronic System Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Japan Department of Automatic Control Beijing Institute of Technology China

We present a new observation model to improve the state estimation and prediction in a target tracking problems. There are two distinguished points in this approach. First, the measurement equation is set up in the polar coordinate and even combines the derivation measurement (range rate, azimuth rate, and elevation rate) with the usual position measurements (range, azimuth angle, and elevation angle). Next, the observation noise of sensor data is considered as a colored one and is being set up as a model of AR(1), by means of a pseudo measurement equation, and the requirement of Kalman filter can be satisfied. As a result, the accuracy of both the observation and prediction is increased.

关键词： Noise measurement Equations Coordinate measuring machines Colored noise Position measurement Target tracking Azimuth Radar tracking White noise Electric variables measurement

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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

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IEEE International Symposium on Computational Intelligence in Robotics and automation (CIRA)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Electronic Engineering Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots control systems Motion control Wheels Motion planning Navigation Discrete event systems Robot control Indoor environments Collision avoidance

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Development of SF/sub 6/ gas insulated electromagnetic shield type neutral grounding reactor

Development of SF/sub 6/ gas insulated electromagnetic shiel...

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International Conference on Electrical Machines and systems (ICEMS)

作者： S. Nogawa M. Kuwata N. Takahashi K. Fujiwara Planning Department Nissin Electric Company Limited Kyoto Japan Power Efficiency & Quality Control System Department Nissin Electric Company Limited Kyoto Japan Department of Electrical and Electronic Engineering Okayama University Okayama Japan

A new reactor of SF/sub 6/ gas-insulated electromagnetic shield type for neutral grounding has been developed. This development succeeded in integrating the two functions of reactance and resistance in one reactor. The paper describes the features of the new reactor and reports the results of the magnetic field analysis together with the test results of the reactor.

关键词： Gas insulation Electromagnetic shielding Grounding Inductors Resistors Coils Protective relaying Attenuation Magnetic analysis Eddy currents

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Pole assignment for stochastic systems with unknown coefficients

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Science China(Technological Sciences) 2000年第3期43卷 313-323页

作者：陈翰馥曹希仁 Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing 100080 China Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hong Kong

This paper solves the exact pole assignment problem for the single-input stochastic systems with unknown coefficients under the controllability assumption which is necessary and sufficient for the arbitrary pole assignment for systems with known coefficients. The system noise is required to be mutually independent with zero mean and bounded second moment. Two approaches to solving the problem are proposed: One is the iterative learning approach which can be applied when the state at a fixed time can be repeatedly observed with different feedback gains; the other is the adaptive control approach which works when the trajectories satisfy a nondegeneracy condition. Both methods are essentially based on stochastic approximation, and the feedback gains are recursively given without invoking the certainty-equivalency-principle.

关键词： stochastic system leading control pole assignment adaptive control.

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Class d LC/sub s/C/sub p/ series-parallel resonant inverter with inherent maximum output power suitable for driving HPS lamps

Class d LC/sub s/C/sub p/ series-parallel resonant inverter ...

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IEEE International Symposium on Industrial electronics (ISIE)

作者： C. Branas F.J. Azcondo S. Bracho Department of Electronic Technology System Engineering and Automation University of Cantabria Santander Spain

ISBN: (纸本)0780366069

This paper proposes a design method for a class D series-parallel (LC/sub s/C/sub p/) resonant inverter suitable to drive high-intensity discharge lamps. The high voltage needed to achieve the ignition of the lamp is reached by using the gain voltage of the resonant LC/sub s/C/sub p/ network with no auxiliary circuits for this purpose. By means of a soft start-up sequence the maximum voltage and current stress are maintained below prefixed values. In steady state, the operation point is calculated to limit the maximum power that the inverter delivers to the lamp. In this way, the variation of the lamp power caused by the lamp aging is limited in order to fulfil the standard. This design results in cost-effective circuits, simplifying the DC/AC power stage of an electronic ballast. The experimental results are given for two similar 100 W high-pressure sodium lamps with different aging.

关键词： High intensity discharge lamps Voltage Resonant inverters Aging Design methodology Drives Ignition Resonance RLC circuits Stress

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Space voltage vector modulation based voltage source inverter with fuzzy logic current controller

Space voltage vector modulation based voltage source inverte...

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IEEE International Conference on Industrial Technology (ICIT)

作者： M. Rukonuzzaman M. Nakaoka Power Electronic System and Control Laboratory Department of Electrical and Electronic Engineering Yamaguchi University Ube Yamaguchi Japan

A fuzzy control based three-phase sinusoidal current control space voltage vector modulated voltage source inverter is implemented in this paper. This fuzzy controller demonstrates better dynamic response than a conventional PI controller and is chosen as a good alternative. The simulation results confirm the validity of the proposed fuzzy controller for a three-phase voltage-fed inverter with an inductive load.

关键词： Inverters Fuzzy logic Voltage control Fuzzy control Zero voltage switching control systems Electric current control Hysteresis Humans Fuzzy systems

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Initial state compensation of repetitive controller

Initial state compensation of repetitive controller

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Proceedings of the 3th World Congress on Intelligent control and automation

作者： Xu, Guangjie Bian, Runqiang Li, Yusen Wang, Zhimin She, Jin-Hua Nakano, Michio Department Automation Tianjin Institute of Technology Tianjin 3000191 China Mechatronics Department Tokyo Engineering University 1404-1 Katajura Hachioji Tokyo 192 Japan Dept. of Control System Engineering Tokyo Institute of Technology 2-12-1 Oh-Okayama Meguro-Ku Tokyo 152 Japan

A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexi... 详细信息

关键词： Digital control systems

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An Anti-Windup Decoupling Nonlinear control for a Paper Machine Headbox

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IFAC Proceedings Volumes 2000年第10期33卷 893-898页

作者： Paulo Nobile Diniz Song Won Park Jocelyn Freitas Bennaton Laboratory of Simulation and Process Control (LSCP) – Department of Chemical Engineering Polytechnic School of the University of São Paulo Laboratory of Automation and Control (LAC) – Department of Electronic Engineering Polytechnic School of the University of São Paulo Fax: +55-11-813.2380

Since most of the chemical processes are represented typically by nonlinear models, the use of nonlinear geometric control in chemical processes is straightforward. This paper presents a decoupling application in a paper machine headbox. The nonlinear geometric control is implemented with blocks for reference trajectory, tracking error, integrators of error feedback and with an anti-windup scheme. The results show a clear implementation scheme and good dynamical responses.

关键词： Affine Closed-loop controllers Decoupling problems Feedforward compensation Geometric approaches Nonlinear models Nonlinear control Paper industry

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Initial state compensation of repetitive controller

Initial state compensation of repetitive controller

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World Congress on Intelligent control and automation (WCICA)

作者： Xu Guangjie Bian Runqiang Li Yusen Wang Zhimin She Jin-Hua M. Nakano Department Automation Tianjin Institute of Technology Tianjin China Mechatronics Department Tokyo Engineering University Hachioji Tokyo Japan Department of Control System Engineering Tokyo Institute of Technology Meguro Tokyo Japan

关键词： control systems Digital control Transient response Automatic control Delay effects Performance analysis State-space methods Design automation electronic mail Computer industry

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Multi-agent intelligent field terminals for autonomous decentralized water delivery control systems

Multi-agent intelligent field terminals for autonomous decen...

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International Workshop on Autonomous Decentralized systems (IWADS)

作者： J. Kosakaya K. Yamaoka R. Sugita Electronic Control System Design Department Hitachi Device Engineering Company Limited Japan Tokyo Institute of Technology Japan Ibaraki University Japan

Through our research, we have developed a unique, autonomous decentralized system that can be used in the water control field. In conventional control systems, certain send-and-receive functions are installed in the front-end processor (FEP) of the master station according to various properties of the information arriving from field terminals (FTs). The host computer reacts by sending control data to the FTs in accordance with the pre-installed optimum control algorithm, which receives transmitted information from the FEP. Our method intellectualizes a FT to be an intelligent field terminal (IFT) which judges the diverse information from devices of other FTs automatically and autonomously without depending on the host CPU or the FEP. The IFT provides multi-agent functions which can distinguish certain information conditions from other IFTs and can cooperate with the diverse functional agents of an IFT to resolve data conflicts among IFTs.

关键词： control systems Automatic control SCADA systems Communication system control Birth disorders Centralized control Intelligent sensors Water resources Reservoirs Design engineering

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