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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Oleg Tărăbuţă Department of Automatic Control and Applied Informatics Technical University Gh. Asachi Iasi Iasi Romania

Relying on the Petri net formalism, the paper develops new modeling strategies for systems with increased complexity that coordinate several types of workflows and different classes of resources, within a context of specific requirements (such as priorities, deadlines etc). At the lower level of model construction, the individual behavior of the constituent workflows is captured by classical Petri nets. For the higher level of coordination, the modeling strategy is based on the concept of “system with Petri nets”, or, equivalently “Petri nets system” which is able to accommodate both the Petri net descriptions (commented above) and specialized structures ensuring adequate interfaces and optimal services (relative to a set of operation criteria). The “Petri nets system” models proposed in this paper are rigorously defined as topology and token dynamics. Finally, we present an example that illustrates the construction of a Petri nets system with self-adaptive management and effective resource allocation.

关键词： Petri nets Firing Resource management Complexity theory System recovery Delay Optimization

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A regressive schema theory based tool for GP evolved nonlinear models

A regressive schema theory based tool for GP evolved nonline...

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International Conference on Automation and Computing (ICAC)

作者： Alina Patelli Lavinia Ferariu Department of Automatic Control and Applied Informatics Gh. Asachi Technical University of Iasi Iasi Romania

Nonlinear systems identification is approached by employing a genetic programming computational tool featuring explicit building block exploitation. The level of adaptation of recurrent model sub-structures is assessed by a fuzzy module. The first contribution of the paper resides in using the fuzzy classification results to reconfigure the cut point selection probabilities of regressor inner nodes, a process called encapsulation. This allows for the second innovation, namely the design of context aware genetic operators capable of protecting the existing instances of fit building blocks and of creating new ones. The computational costs of encapsulation are reduced by employing a novel regressive schema theory - the third and main paper contribution - which assesses the inherent chances of regressor survival. A thorough theoretical support for demonstrating the efficiency of context aware operators in transmitting schema instances over the generations is introduced. The suggested algorithm is experimentally validated in the framework of a complex, industrial, nonlinear subsystem of a sugar factory.

关键词： Encapsulation Genetics Regression tree analysis Computational modeling Shape Adaptation models Maintenance engineering

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On the boundedness of cellular neural network trajectories

On the boundedness of cellular neural network trajectories

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International Symposium on Signals, Circuits and Systems (ISSCS)

作者： Mihaela-Hanako Matcovschi Octavian Pastravanu Department of Automatic Control and Applied Informatics Technical University of Gheorghe Asachi IaşI Iasi Romania

The paper revisits the boundedness for the trajectories of cellular neural networks (abbreviated as CNNs) and proposes a refined approach to this property. Our refinement envisages sufficient conditions for the existence of invariant sets with respect to the CNN dynamics. First, we construct a general framework which considers bounded sets with arbitrary time-dependence. Then we focus on the particular type of exponentially contractive sets. In both approaches, we provide results for the general case of non-symmetric sets. Finally we show that for some types of contractive sets, the invariance condition can be tested by well-known instruments of matrix algebra. An example illustrates the applicability of the theoretical developments.

关键词： Trajectory Linear matrix inequalities Matrices Symmetric matrices Cellular neural networks Sufficient conditions Recurrent neural networks

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On some properties of diagonally stable polytopic systems

On some properties of diagonally stable polytopic systems

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Mihaela-Hanako Matcovschi Octavian Pastravanu Mihail Voicu Department of Automatic Control and Applied Informatics Technical University Gh. Asachi of Ia&i Romania

For polytopic matrices and polytopic systems we introduce the concept of diagonal stability with respect to a p-norm, 1 ≤ p ≤ ∞. We address both the discrete-time and the continuous-time cases. We prove the equivalence between this algebraic concept and the following properties of uncertain linear dynamics described by polytopic models: · the existence of diagonal Lyapunov functions defined by weighted p-norm; · the existence of contractive sets shaped by weighted p-norm, which are invariant with respect to the system trajectories. We also discuss the problem of the best rate for the Lyapunov function decrease and, respectively, for the invariant set contraction. A numerical procedure has been developed to support this exploration.

关键词： Stability analysis Thermal stability Numerical stability Linear matrix inequalities Lyapunov methods Trajectory Estimation

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Real-time simulation of a vehicle drivetrain controlled through CAN using a robust MPC strategy

Real-time simulation of a vehicle drivetrain controlled thro...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Constantin Florin Caruntu Doina Onu Corneliu Lazar Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Romania Continental Automotive Romania Romania

This paper proposes a real-time implementation of a networked one step ahead robust predictive controller designed to damp driveline oscillations, which is crucial in improving driveability and passenger comfort, while compensating the time-varying delays that appear due to sending the control commands and the measurements from the sensors through controller Area Network (CAN). Firstly, the designed real-time structure integrated with CAN test-bench is described and then the model of the drivetrain is derived. Secondly, considering that the CAN-induced time-varying delays are bounded, a method to model their effects as disturbances is proposed. Then, a robust one step ahead predictive controller based on flexible control Lyapunov functions is designed, which explicitly takes into account the bounds of the disturbances caused by time-varying delays and guarantees also the input-to-state stability of the system in a non-conservative way. The proposed control scheme is tested using the designed test-bench and the experiments based on realistic scenarios illustrate its performances.

关键词： Delay Engines Real time systems Wheels Torque Computational modeling control systems

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Using an Internal Model control Method for a Distillation Column

Using an Internal Model Control Method for a Distillation Co...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Paraschiv Nicolae Baiesu Alina-Simona Mihaescu Daniel Department of Automatic Control Applied Informatics and Computers Petroleum Gas University of Ploie Petrochemical Division Oltchim Bradu Romania

The main objective of any industrial process is to obtain high economic performance with variable costs reduction and product quality assurance. In order to achieve this objective one of the advanced control methods has to be implemented. Some of well known advanced control methods, which are based on the process model, are adaptive control, model predictive control, internal model control, robust control. The purpose of this paper is to present a control application using an internal model control method for controlling a binary distillation column.

关键词： Advanced control internal model control distillation process

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An Anti-Slip Predictive controller for a V-PRA Vehicle

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IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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Model Predictive control for Real-Time Simulation of a Network-controlled Vehicle Drivetrain

Model Predictive Control for Real-Time Simulation of a Netwo...

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IEEE Eastern European Conference on the Engineering of Computer Based Systems, ECBS-EERC

作者： Constantin Florin Caruntu Doina Onu Florin Catalin Braescu Corneliu Lazar Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania Continental Automotive Romania Iasi Romania

This paper proposes a real-time implementation of a networked predictive controller designed to damp driveline oscillations, which is crucial in improving drive ability and passenger comfort, while compensating the time-varying delays that appear due to sending the control commands and the measurements from the sensors through controller Area Network (CAN). Firstly, the designed real-time structure integrated with CAN test-bench is described and then the model of the drive train is derived. Secondly, considering that the CAN-induced time-varying delays are bounded, a method to model the physical plant (vehicle drive train) including the delays is proposed. Then, a predictive control strategy, which makes use of the previously developed model, is designed in order to damp the driveline oscillations. The proposed control scheme is tested using the designed test-bench and the experiments based on realistic scenarios show that the proposed controller can outperform classical controllers, e.g., PI.

关键词： Torque Engines Delay Vehicles Real time systems Mathematical model Predictive models

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Real-time visual predictive control of manipulation systems

Real-time visual predictive control of manipulation systems

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International Conference on Advanced Robotics (ICAR)

作者： Adrian Burlacu Cosmin Copot Enric Cervera Corneliu Lazar Department of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania Department of Computer Science and Engineering Jaume I University Castello Spain

This paper presents the results obtained by visual predictive control laws in real-time visual servoing architectures. A key role when designing a stable image based control law is played by the visual features, and thus both points and image moments were considered and their performance revealed. A 6 d.o.f manipulator robot with an eye-in-configuration is used to design a visual servoing architecture and realtime implementation using Matlab is described. The results of different experiments for planar static objects are presented and discussed. For establishing the performance of visual predictive control laws a comparison with classical image based control laws is conducted.

关键词： Cameras Visualization Feature extraction Visual servoing Joints Computer architecture

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Holistic modeling and FPGA implementation of a PMSM speed controller

Holistic modeling and FPGA implementation of a PMSM speed co...

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Annual Conference of Industrial Electronics Society

作者： Bogdan Alecsa Marcian Cirstea Alexandru Onea Automatic Control and Applied Informatics Department Gheorghe Asachi Technical University of Iasi Romania Computing and Technology Department Anglia Ruskin University Cambridge UK

This paper presents a holistic approach to modeling and FPGA implementation of digital controllers. The case study of a permanent magnet synchronous motor (PMSM) speed controller is considered. The whole system is modeled in the Matlab Simulink environment. The controller is then translated to discrete time and remodeled using System Generator blocks, directly synthesizable into FPGA hardware. The algorithm is further refined and factorized to fit into a low cost FPGA, without significantly increasing the execution time. The resulting controller is then integrated together with sensor interfaces and analysis tools and implemented into an FPGA device. Experimental results validate the controller and verify the design.

关键词： Field programmable gate arrays Hardware Mathematical model Rotors Stators Generators Equations

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