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Chinese control Conference (CCC)

作者： Xing Chen Donghai Li Zhiqiang Gao Chuanfeng Wang State Key Lab of Power Systems Dept of Thermal Engineering Tsinghua University Beijing 100084 China The Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University OH 44115 USA

A simple tuning method for second-order active disturbance rejection control (ADRC) that achieves high performance and good robustness for a wide range of processes is presented. ADRC is a novel control strategy whose exciting performance has been shown by literatures. The proposed method makes ADRC become easy to tune and more practical. Once the desired settling time is given, only one parameter need to be tuned during the design procedure, which can be found by monotonously increasing. Examples are given to show the effectiveness and flexibility of the method. Simulations demonstrate that second-order ADRC can handles processes with various characteristics, including low- and high-order, large dead time, non-minimum phase, unstable and distributed parameter systems.

关键词： Tuning Robustness Observers Mathematical model Transfer functions Process control Stability analysis

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Topography estimation of visual evoked potential by combinational use of mathematical models

Topography estimation of visual evoked potential by combinat...

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IEEE/ICME International Conference on Complex Medical engineering, CME

作者： Kazuhiko Goto Takenao Sugi Satoru Goto Takao Yamasaki Shozo Tobimatsu Yoshinobu Goto Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Occupational Therapy International University of Health and Welfare Fukuoka Japan Department of Clinical Neurophysiology Kyushu University Fukuoka Japan

To analyze the topographical distribution of visual evoked potentials (VEPs) in electroencephalographic (EEG) record brings about the significant information for visual processing in human brain. This study proposes a method for estimating topographical distribution of VEP from the separated power spectrum components by combining the models. VEPs with various temporal frequencies were recorded from nine healthy adults. Original power spectrum consisting of VEP, background activities, artifacts and other components were then obtained. To the extract the VEP components from the original power spectrum, models corresponding to background activities especially for posterior dominant alpha rhythm, low frequency component and high frequency component caused from electromyographic (EMG) artifact were constructed and those parameters were estimated. Finally, VEP components were calculated by subtracting those components from the original power spectrum. Topographical distribution of both first harmonic (1F) and second harmonic (2F) components of VEP were obtained by the proposed method. Estimated other components except VEPs were also investigated. Merits and usefulness of the proposed method were analyzed by comparing the conventional stimulus-locked averaging method in the time domain. Proposed method has several advanced points for conventional averaging method. Particularly, posterior dominant alpha rhythm and EMG artifact were directly taken into account in the VEP components estimation. Therefore, accurate estimation of VEP components can be done even if those components were contaminated with raw EEG. To obtain the topographical distribution of 1F and 2F components respectively is also possible.

关键词： Brain modeling Frequency estimation

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Preface

2012 IEEE Conference on Evolving and Adaptive Intelligent Sy...

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2012 IEEE Conference on Evolving and Adaptive Intelligent systems, EAIS 2012 - Proceedings 2012年 iii-iv页

作者： Angelov, Plamen Filev, Dimitar Kasabov, Nik Iglesias, José Antonio Communication Systems Department InfoLab21 Lancaster University Lancaster LA1 4WA United Kingdom Intelligent Control and Infonnation Systems Ford Research and Advanced Engineering 2101 Village Road MD #1437 Dearborn MI 48121 United States Knowledge Engineering and Discovery Research Institute School of Computing and Infonnatics Sciences Auckland University of Technology 581 Great South Rd 1020 Auckland New Zealand Carlos III University of Madrid Avda. Universidad 30 28911 Leganes Spain

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A Complementary Modularized Ramp Metering Approach Based on Iterative Learning control and ALINEA

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IEEE Transactions on Intelligent Transportation systems 2011年第4期12卷 1305-1318页

作者： Zhongsheng Hou Xin Xu Jingwen Yan Jian-Xin Xu Gang Xiong Advanced Control Systems Laboratory School of Electronic and Information Engineering Beijing Jiaotong University BJTU Beijing China Institute of Automation College of Mechatronics and Automation National University of Defense Technology Changsha China Department of Electrical and Computer Engineering National University of Singapore Singapore Automation Institute Chinese Academy of Sciences (CAS) Beijing China

Ramp metering is an effective tool for traffic management on freeway networks. In this paper, we apply iterative learning control (ILC) to address ramp metering in a macroscopic-level freeway environment. By formulating the original ramp metering problem as an output regulating and disturbance rejection problem, ILC has been applied to control the traffic response. The learning mechanism is further combined with Asservissement Linéaire d'Entrée Autoroutière (ALINEA) in a complementary manner to achieve the desired control performance. The ILC-based ramp metering strategy and the modified modularized ramp metering approach based on ILC and ALINEA in the presence of input constraints are also analyzed to highlight the advantages and the robustness of the proposed methods. Extensive simulations are given to verify the effectiveness of the proposed approaches.

关键词： Traffic control Mathematical model Convergence Learning systems Feedforward neural networks

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Remote control of Robot Arms via Network by Force-Free control Followed Template Matching

Remote Control of Robot Arms via Network by Force-Free Contr...

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SICE Annual Conference

作者： Achala Pallegedara Yoshitaka Matsuda Takeo Matsumoto Kenta Tsukamoto Naruto Egashira Satoru Goto Department of Science and Advanced Technology Graduate School of Science and Engineering Saga University Department of Advanced Technology Fusion Graduate School of Science and Engineering Saga University Department of Control and Information Systems Technology Kurume National College of Technology

ISBN: (纸本)9784907764388

Continuous advancements and rapid developments of electronics, computing, network and web technologies have been much concerned in recent period of time. The emerging technologies including teleoperation, communication and control via web, visual servo control and so forth, have induced high motivation and demand towards the researchers who belong to conventional control and robotics. In this research, teleoperation and template matching techniques are applied to control the motion of industrial robot arms remotely via network. The system has two motion control behaviors;rough motion of the robot arm is handled by teleoperation technique and accurate motion is governed by visual template matching. Two behaviors are switched, from one to another appropriately according to the desired motion. The effectiveness of the proposed methodology is verified by the experimental results.

关键词： Teleoperation Industrial robot arm Template matching Force-free control (FFC) Visual servo control Real time task Rough motion Accurate motion

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On iterative learning control design for tracking iteration-varying trajectories with high-order internal model

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控制理论与应用（英文版） 2010年第3期8卷 309-316页

作者： Chenkun YIN Jianxin XU Zhongsheng HOU Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University Beijing 100044 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China

In this paper, iterative learning control （ILC） design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models （HOLM）. An HOlM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying. The classical ILC for tracking iteration-invariant reference trajectories, on the other hand, is a special case of HOlM where the polynomial renders to a unity coefficient or a special first-order internal model. By inserting the HOlM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems. Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control.

关键词： ILC High-order intemal model Iteration-varying Nonlinear systems Continuous-time

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Navigation strategy for a quadruped robot on soft flat ground

Navigation strategy for a quadruped robot on soft flat groun...

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作者： Ikeda, Masaaki Izumi, Kiyotaka Watanabe, Keigo Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Mechanical Engineering Saga University Saga Japan Department of Intelligent Mechanical Systems Okayama University Okayama Japan

ISBN: (纸本)9781424474530

Tasks important for a mobile robot are the environmental recognition and the obstacle avoidance in the real world. The legged robot can be adapted for rough terrains. It is because the legged robot has a high degree of freedom in order to avoid an obstacle to three dimensions. In this paper, we propose a locomotion strategy on the terrain with stiffness which is different in each. The propriety of a continuation walk is determined by the force sensor mounted to the bottom of each leg of a quadruped robot. The effectiveness of the proposal approach is verified from the result of the experiment which uses the prevalent quadruped robot called TITAN-VIII. ©ICROS.

关键词： Mobile robots

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Mechanical modeling and geometric error analysis of rotatable h type stage using flexure hinge mechanism 10

Mechanical modeling and geometric error analysis of rotatabl...

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10th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2010

作者： Kim, Kyongchon Gweon, D.G. Jung, J. Kim, J.W. Shin, S.K. School of Mechanical Aerospace and Systems Engineering Korea Advanced Institute of Science and Technology Korea Republic of Department of Control and Instrumentation Engineering Korea University Korea Republic of Soonhan Engineering Sungnam-si Korea Republic of

ISBN: (纸本)9780955308284

The geomatric errors in the precision stage have increased as the LCD pannel size increased. The yaw error of the gemometric error caused by geometric error between tandem motors is dominant error in the H type stage. The rotatable stage with flexure hinge mechanism can be thought to compenate the yaw error. This paper dedicated to determine dynamic modeling of roatatable stage. The geometric errors of the rotatable stage was analyzed by HTM(Homogeneous Transformation Matrix).

关键词： Errors

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Deterioration modeling strategy for pro-active services of commercial vehicles

Deterioration modeling strategy for pro-active services of c...

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作者： Prothmann, Christoph Kokes, Michael Liu, Steven Department of Advanced Engineering Daimler Trucks Daimler AG 70327 Stuttgart-Untertuerkheim Germany Institute of Control Systems University of Kaiserslautern 67663 Kaiserslautern Germany

ISBN: (纸本)9781424474264

The goal of deterioration modeling is to support the decision on pro-active replacement of parts in components that have a shorter life cycle than the vehicle (commercial vehicle) itself. A method of deterioration modeling is demonstrated and exemplified at a turbo charger that includes expertise on the components and an integrated mathematical-physical description of wear and takes into account the knowledge on endurance strength. The deterioration model input signals are the load histories of the components which have to be stored in the truck in so called load matrices. For these load matrices a storage space requirement analysis is presented that considers the operation time of the truck and the specific commercial vehicle requirements. © 2010 AACC.

关键词： Commercial vehicles

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Visualizations of nonlinear phenomena of an inclined cantilevers by mathematica 10

Visualizations of nonlinear phenomena of an inclined cantile...

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10th International Conference on Computational Science and Its Applications, ICCSA 2010

作者： Miyake, Shuhei Sugino, Ryuzaburo Department of Business and Information Faculty of Informatics Tokyo University of Information Sciences Chiba-shi Chiba265-8501 Japan Department of Systems and Control Engineering Advaced Engineering Course Anan National College of Technology Anan-shi Tokushima774-0017 Japan

ISBN: (纸本)9780769539997

In this study, numerical solution procedures by an integral equation method are presented for the large deflection problem of an inclined cantilever by the elastica theory. Inclined cantilever with a load is analyzed systematically. The problem expressed by a class of nonlinear two-point boundary value problem is transformed into an integral equation by means of integration procedure. Using our numerical scheme, torque-turning angle curves and cantilever configurations are determined for the various loading parameters. Wang's solutions are compared with our solutions obtained by integral equation method. We treat a cantilever with an end load, and various cantilever's shape showing the large deformations in which we can recognize highly nonlinear phenomenon. The obtained results with various cantilever deformations are visualized by using Mathematica which is powerful computer algebra system. © 2010 IEEE.

关键词： Integral equations

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