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Optimization of block-floating-point realizations for digital controllers with finite-word-length considerations

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2003年第6期4卷 30-36页

作者：吴俊胡协和陈生褚健 Department of Electronics and Computer Science Zhejiang University Southampton SO17 1BJ National Key Laboratory of Industrial Control Technology National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control China Hangzhou 310027 UK University of Southampton

The closed loop stability issue of finite precision realizations was investigated for digital controllers implemented in block floating point format. The controller coefficient perturbation was analyzed resulting from using finite word length (FWL) block floating point representation scheme. A block floating point FWL closed loop stability measure was derived which considers both the dynamic range and precision. To facilitate the design of optimal finite precision controller realizations, a computationally tractable block floating point FWL closed loop stability measure was then introduced and the method of computing the value of this measure for a given controller realization was developed. The optimal controller realization is defined as the solution that maximizes the corresponding measure, and a numerical optimization approach was adopted to solve the resulting optimal realization problem. A numerical example was used to illustrate the design procedure and to compare the optimal controller realization with the initial realization.

关键词： Digital controller Finite word length Block floating point Closed loop stability Optimization

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Use of Elements and Algorithms of Intelligent Support in the Automation of Technologies for control and Quality Management of Bulk Materials

Use of Elements and Algorithms of Intelligent Support in the...

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2022 International Conference Automatics and Informatics, ICAI 2022

作者： Kalandarov, Palvan I. Ubaydulayeva, Shakhnoza R. Gaziyeva, Rano T. Nikolov, Nikola N. Alexsandrova, Mariela I. National Research University Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Department Automation and Control of Technology Process in Production Tashkent Uzbekistan Technical University of Varna Faculty of Computer Science and Automation Department of Automation Varna9010 Bulgaria

ISBN: (数字)9781665476256

ISBN: (纸本)9781665476256

The article deals with the choice of criteria for efficiency, applicability in measuring technology, analytical and construction, on the basis of which a methodology for assessing the quality of structures of measuring devices of moisture of materials of the agro-industrial complex is proposed. The standard deviation of the random error characterizing the accuracy of measurements is shown. A complex efficiency criterion is discussed, including the dominant particular parameters: accuracy, reliability, cost, allowing to solve the problem of optimal design of humidity control devices for the materials under consideration. As an optimal option, a differential measuring device is analyzed, which practically eliminates random and systematic errors and makes it possible to design a multiparameter measurement method that considers the features of a heterogeneous environment, such as bulk grain materials of the agro-industrial complex © 2022 IEEE.

关键词： Random errors

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Conservation of normality for master-slave and strict discrete-event system composition

Conservation of normality for master-slave and strict discre...

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2005 American control Conference, ACC

作者： Wenck, Florian Richter, Jan H. Department of Process Automation Technische Universität Hamburg-Harburg Schwarzenbergstrasse 95 21073 Hamburg Germany Institute of Automation and Computer Control Ruhr-Universität Bochum Universitätsstrasse 150 44805 Bochum Germany

In this work the normality property of specification languages for discrete-event systems under partial observation is investigated in a modular context for large-scale systems-modelling. This is related to work on controllability done previously in a similar context. The problem of preserving normality under master-slave (biased synchronous composition, BSC) and strict composition (strict product composition, SPC) operations is defined, and sufficient conditions for preserving normality under application of these operators are provided. © 2005 AACC.

关键词： Discrete time control systems

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Time-Consistency in Dynamic Cooperative Games with Multiple Trajectories 1

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8th International Scientific Conference on Intelligent Information Technologies for Industry, IITI 2024

作者： Li, Zekun Li, Yin Qiao, Wenwen Cheng, Wantong Department of Applied Mathematics and Process Control Saint Petersburg State University Saint Petersburg Russia School of Mathematics Harbin Institute of Technology Harbin China School of Mathematics and Computer Science Yanan University Yanan China

ISBN: (数字)9783031776885

ISBN: (纸本)9783031776878

This paper considers the time consistency of multistage cooperative games in which there are multiple optimal trajectories with complete information. In dynamic cooperative games, an important condition for the distribution of players’ payoffs is that individual rationality needs to be satisfied. If the players’ payoffs do not satisfy individual rationality as the game progresses along the cooperative trajectory, some players will deviate from the cooperative trajectory. If there are multiple optimal trajectories in the multistage game, the situation is further complicated by the fact that the players’ payoffs always satisfy individual rationality on some of the optimal trajectories, but not on others. Alternatively, players’ individual rationality conditions are quite different along different optimal trajectories. Therefore, four different scenarios of multi-stage cooperative games with multiple optimal trajectories are set up in the study and analysed for each of the four different situations. Four different Payoff Distribution Procedure (PDP) formulations are proposed to modify the players’ payoff distributions so that the game satisfies time-consistency on different optimal trajectories. Several theorems are given, and proofs are provided, with corresponding examples. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Multiple optimal trajectories Multistage cooperative games Time consistency

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Intellicon: An Industrial Multiloop Adaptive Regulator

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IFAC Proceedings Volumes 1985年第5期18卷 1267-1272页

作者： L. Keviczky I. Vajk J. Hetthessy Department of Process Control Computer and Automation Institute Hungarian Academy of Sciences Budapest Hungary Department of Automation Technical University of Budapest Budapest Hungary

The paper describes the design conception of an industrial multiloop adaptive regulator and the practical approach of the implementation of a highly reliable adaptive control strategy.

关键词： Adaptive control multiloop regulator PID regulator

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Sensor-based obstacle modeling in configuration space for manipulator motion planning 1

Sensor-based obstacle modeling in configuration space for ma...

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1st Workshop on Robot Motion and control, RoMoCo 1999

作者： Li, Wei Chen, Zushun Wahl, F.M. Kozlowski, Krzysztof R. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Poznań University of Technology Department of Control Robotics and Computer Science Ul. Piotrowo 3a Poznań60-965 Poland

ISBN: (纸本)0780356551

This paper presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance" sensors to detect obstacles inthe local region. By computation of the critical points of an obstacle based on information acquired by the distance" sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames. © 1999 IEEE.

关键词： Wave functions

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An Interactive Graphical PC Program Package for Identification, Design and Simulation of control Systems

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IFAC Proceedings Volumes 1986年第6期19卷 129-134页

作者： R. Bars M. Habermayer J. Hetthéssy R. Haber Department of Automation Technical University of Budapest Budapest Hungary Department of Process Control Computer and Automation Institute Hungarian Academy of Sciences Budapest Hungary

The authors present a program packaqe prepared for a personal computer of 64 kbytes. The program package is suitable for processing of measurement data, identification of control systems, design of controllers and simulation. The console communication is interactive and plotting is graphic on both the screen and the printer. Time series data are stored in files and the appropriate programs write in and read from the files. The operation of the programs is illustrated by examples.

关键词： computer aided design identification simulation controller design

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A robust algorithm for segmenting deformable linear objects from video image sequences

A robust algorithm for segmenting deformable linear objects ...

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International Conference on Pattern Recognition

作者： F. Abegg D. Engel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0769507506

A new algorithm for segmenting and tracking deformable (shape-changing) linear (thin and long with negligible diameter) objects in video images is presented. The core of algorithm is to detect the two boundary curves of a deformable linear object within adaptive tracking windows. The boundaries are found by analyzing the gray value gradients within the tracking windows. The algorithm allows moderate changes in the image brightness by introducing tolerance parameters to the algorithm. It also provides a robust tracking of the shape- and width-changing object by using a fuzzy estimation of the object's membership function at the tracked points. The result describes the shape of the object and is used to define features for shape change detection.

关键词： Robustness Image segmentation Image sequences Service robots Robot sensing systems Shape Image processing Robot vision systems Active contours Pixel

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Omega - A RISC Architecture for Real-Time applications

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IFAC Proceedings Volumes 1987年第5期20卷 45-49页

作者： H.-W. Wyes K.W. Plessmann Department of Computer Application and Process Control of Aachen Technical University Steinbachstr. 54A 5100 Aachen FRG

Although the recently developed reduced instruction set computer (RISC) architecture has proven to offer impressive performance in general applications, it has its drawbacks in the field of multitasking real-time environments. The difficulties are mainly related to the large number of processor registers which must be saved and restored on every context switch. On the other hand, since this large number of registers accounts for most of the performance benefits, a concept had to be developed which preserves the advantages of the RISC architecture and provides for the necessary real-time capabilities. This paper describes a solution in which additional hardware performs a part of the save/restore task associated with every context switch. This approach yields a RISC architecture suited for the requirements of a modern process control system. Subject area. 4.1 Digital computer control Systems

关键词： computer hardware Microcomputers System design RISC architecture Real-time data processing

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Robust algorithms for recognizing shape changes of deformable linear objects in video image sequences

Robust algorithms for recognizing shape changes of deformabl...

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IEEE International Conference on Image processing

作者： F. Abegg H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780362977

A new algorithm for segmenting and tracking deformable (shape-changing) linear (thin and long with negligible diameter) objects in video images is presented. The core of the algorithm is to detect the two boundary curves of a deformable linear object within adaptive tracking windows. The boundaries are found by analyzing the gray value gradients within the tracking windows, The algorithm provides a robust tracking of the shape- and width-changing object by using a fuzzy estimation of the object's membership function at the tracked points. The result of the segmentation is a list of base describing the shape of the object. This list is used to define features for shape change detection. For the feature analysis, we propose an algorithm which works well for several classes of feature curves. Experiments on robotic applications using both algorithms show promising results.

关键词： Robustness Image recognition Shape Image sequences Change detection algorithms Image segmentation Object detection Algorithm design and analysis Service robots Robot sensing systems

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