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作者： Velasco, F.J. Revestido, E. López, E. Moyano, E. Dept. Electronics Technology and Systems Engineering and Automatic Control Univ. Cantabria Spain Spain Dept. Applied Mathematics and Computing Sciences Univ. Cantabria Spain

ISBN: (纸本)9783902661623

In this paper a parametric lineal model of heading is obtained, using a remote experimentation platform for marine vehicles. This platform has an in-scale fast-ferry physical model, TF-120 which is autonomous and has all the elements required to emulate a real vessel. The physical model is controlled remotely from a PC using Wi-Fi communications. The tests for the data acquisition with the platform for marine vehicles were carried out in the surroundings of the Bay of Santander. The parametric model identified is used to design a PID controller for heading autopilot and a simulation of this system is performed in Simulink. Copyright © 2007 IFAC.

关键词： Three term control systems

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Obtaining ship trajectories of an autonomous in-scale fast-ferry by identifying a heading model

Obtaining ship trajectories of an autonomous in-scale fast-f...

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IEEE International Symposium on Intelligent Signal Processing

作者： Velasco, F. J. Revestido, E. Lopez, E. Moyano, E. Dept. Electronics Technology and Systems Engineering and Automatic Control Univ. Cantabria Dept. Sciences and Navigation Technics Engines and Naval Architecture Univ. País Vasco (UPV/EHU) Dept. Applied Mathematics and Computing Sciences Univ. Cantabria

ISBN: (纸本)9781424408290

The aim of this paper is to obtain a model for an in-scale fast-ferry model TF-120 including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is autonomous and is controlled remotely from a PC using Wi-Fi communications. The identification and validation of the dynamical model is obtained with turning circle maneuverings. In this model are included the kinematical equations. The tests with the autonomous in-scale physical model of the high-speed ship were carried out in the surroundings of the Bay of Santander. With this model. simulations with several turbojets angles are made.

关键词： parametric identification ship physical model manoeuvring heading idemification

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IDENTIFICATION AND control EXPERIMENTATION WITH A REMOTE PLATFORM OF AN AUTONOMOUS IN-SCALE FAST-FERRY MODEL

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IFAC Proceedings Volumes 2007年第17期40卷 277-282页

作者： F.J. Velasco E. Revestido E. López E. Moyano Dept. Electronics Technology & Systems Engineering and Automatic Control Univ. Cantabria Dept. Sciences and Navigation Technics Engines and Naval Architecture Univ. País Vasco (UPV/EHU) Dept. Applied Mathematics & Computing Sciences Univ. Cantabria

关键词： Remote marine laboratory (RML) parametric identification PID control heading control genetic algorithms

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Strain sensing method based on the measurement of the reflected bandwidth from tapered fiber grating

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2007年第5期18卷 600-602页

作者： Yang, Xian-Hui Yu, Yong-Sen Zhang, Qiu-Hua Sun, Sheng-He Institute of Automatic Test and Control Harbin Institute of Technology Harbin 150001 China State Key Laboratory on Integrated Opto-electronics Jilin University Changchun 130023 China Dept. of Astronautic Engineering and Mechanics Harbin Institute of Technology Harbin 150001 China

We demonstrate the feasibility to make a temperature-independent strain sensor by measuring the bandwidth of the reflected light from the tapered fiber grating (TFG). This simple and low-cost sensor approach has a considerable potential, particularly application to strain sensing in the smart structures. The experimental results show that the method is suitable for distribution measurement, and it can restrain the influence of source fluctuation.

关键词： Diffraction gratings

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NONLINEAR OPTIMAL control: A control LYAPUNOV FUNCTION AND RECEDING HORIZON PERSPECTIVE

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Asian Journal of control 2008年第1期1卷

作者： James A. Primbs Vesna Nevistić John C. Doyle Dept. of Control and Dynamical Systems California Instiute of Technology Mckinsey and Co. Inc. Zürich Switzerland. Vesna Nevistic received her diploma from the department of electronics at the Military Technical Academy in Zagreb in 1998 the M.S. degree from the electrical engineering department at Zagreb University in 1991 and the Ph.D. in electrical engineering from the Swiss Federal Institute of Technology (ETH) in 1997. She currently works as a management consultant for McKinsey and Co. in their Zurich office. John Doyle received a BS and MS in EE at MIT and a Ph.D. in Mathematics from UC Berkeley. He is now Professor in Control and Dynamical Systems at Caltech. His main research interest is in robustness of comples systems. He has received several prize paper awards including 2 Axelby and a Baker prize from the IEEE.

Two well known approaches to nonlinear control involve the use of control Lyapunov functions (CLFs) and receding horizon control (RHC), also known as model predictive control (MPC). The on-line Euler-Lagrange computation of receding horizon control is naturally viewed in terms of optimal control, whereas researchers in CLF methods have emphasized such notions as inverse optimality. We focus on a CLF variation of Sontag's formula, which also results from a special choice of parameters in the so-called pointwise minnorm formulation. Viewed this way, CLF methods have direct connections with the Hamilton-Jacobi-Bellman formulation of optimal control. A single example is used to illustrate the various limitations of each approach. Finally, we contrast the CLF and receding horizon points of view, arguing that their strengths are complementary and suggestive of new ideas and opportunities for control design. The presentation is tutorial, emphasizing concepts and connections over details and technicalities.

关键词： Nonlinear optimal control control Lyapunov function receding horizon control predictive control

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control SYSTEM DESIGN CONSIDERING A TRADEOFF BETWEEN EVALUATED UNCERTAINTY RANGES AND control PERFORMANCE

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Asian Journal of control 2008年第1期1卷

作者： Y. Wakasa Y. Yamamoto Dept. of Applied Analysis and Complex Dynamical Systems Graduate School of Informatics Kyoto University Kyoto Japan. Yuji Wakasa was born in Okayama Japan in 1968. He received the B.S. and M.S. degrees in engineering from Kyoto university Japan in 1992 and 1994 respectively. From 1994 to 1998 he was a Research Associate in the Department of Information Technology Okayama University. Since April 1998 he has been a Research Associate in the Graduate School of Informatics Kyoto University. His current research interests include robust control and control system design via mathematical programming. Yutaka Yamamoto received his B.S. and M.S. degrees in engineering from Kyoto University Kyoto Japan in 1972 and 1974 respectively and the M.S. and Ph.D. degree in mathematics from the University of Florida in 1976 and 1978 respectively. From 1978 to 1987 he was with Department of Applied Mathematics and Physics Kyoto University and from 1987 to 1997 with Department of Applied System Science. Since 1998 he is a professor at the current position. His current research interests include realization and robust control of distributed parameter systems learning control sampled-data systems and digital signal processing. Dr. Yamamoto is a receipient of the Sawaragi memorial paper award (1985) the Outstanding Paper Award of SICE (1987) Best Author Award of SICE (1990) the George Axelby Outstanding Paper Award of IEEE CSS in 1996 Takeda Paper Prize of SICE in 1997. He is a Fellow of IEEE. He was an associate editor of Automatica. He is currently an associate editor of IEEE Transactions on Automatic Control Systems and Control Letters and Mathematics of Control Signals and Systems. He is a member of the IEEE the Society of Instrument and Control Engineers (SICE) and the Institute of Systems Control and Information Engineers.

This paper presents a design method of control systems such that a designer can flexibly take account of tradeoffs between evaluated uncertainty ranges and the level of control performance. The problem is reduced to a BMI problem and approximately solved by LMIs. The convergence of the proposed approximation is proved in a modified sense. A numerical example shows the effectiveness of the proposed method in comparison with the standard robust control.

关键词： control system design LMI BMI tradeoff curves

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Analysis of safe manual control by using furuta pendulum

Analysis of safe manual control by using furuta pendulum

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2006 IEEE International Conference on control Applications, CCA 2006

作者： Iwase, M. Åstom, K.J. Furuta, K. Åkesson, J. Dept. of Computers and Systems Engineering Tokyo Denki University Hatoyama Hiki-gun Saitama 350-0394 Japan Dept. of Automatic Control Lund Institute of Technology Box 118 SE-221 00 Lund Sweden

ISBN: (纸本)9780780397965

This paper focuses on the interaction of manual and automatic control in a demanding task where the process is unstable and has actuator limitation. The problem is inspired by control of high performance aircrafts but which is similar to controlling the arm of a Furuta pendulum while maintaining the stability of the pendulum. The task is to control the position of the pendulum arm manually while maintaining the pendulum in the upright position. The analysis of regions for safe maneuvers is important to realize the desired control system. ©2006 IEEE.

关键词： Pendulums

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SOSTOOLS and its control applications

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2005年 312卷 273-292页

作者： Prajna, Stephen Papachristodoulou, Antonis Seiler, Peter Parrilo, Pablo A. Control and Dynamical Systems California Institute of Technology Pasadena CA 91125 United States Mechanical and Industrial Engineering Dept. University of Illinois at Urbana-Champaign Urbana IL 61801 United States Automatic Control Laboratory Swiss Federal Institute of Technology CH-8092 Zürich Switzerland

In this chapter we present SOSTOOLS, a third-party MATLAB toolbox for formulating and solving sum of squares optimization problems. Sum of squares optimization forms a basis for formulating convex relaxations to computationally hard problems such as some that appear in systems and control. Currently, sum of squares programs are solved by casting them as semidefinite programs, which can in turn be solved using interior-point based numerical methods. SOSTOOLS helps this translation in such a way that the underlying computations are abstracted from the user. Here we give a brief description of the toolbox, its features and capabilities (with emphasis on the recently added ones), as well as show how it can be applied to solving problems of interest in systems and control. © Springer-Verlag Berlin Heidelberg 2005.

关键词： MATLAB

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Modeling and control of IP transport in cellular radio links

Modeling and control of IP transport in cellular radio links

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作者： Möller, N. Fischione, C. Johansson, K.H. Santucci, F. Graziosi, F. Dept. Signals Sensors and Systems Automatic Control Royal Institute of Technology SE-100 44 Stockholm Sweden Dept. of Electrical Engineering University of l'Aquila Poggio di Roio I-67040 l'Aquila Italy

ISBN: (纸本)008045108X

A fundamental assumption of the TCP protocol is that packet losses indicate congestion on the network. This is a problem when using TCP over wireless links, because a noisy radio transmission may erroneously indicate congestion and thereby reduce the TCP sending rate. Two partial solutions, which improve the quality of the radio link, are power control and link-layer retransmissions. We consider a radio channel with multiple users and traffic classes, and investigate how parameters in the radio model influences TCP-related quality measures, such as the average delay and the probability of spurious timeout. The results indicate that the outer loop power control is robust to uncertainties in the radio model. This robustness property supports separation between the radio layer design and the IP and TCP layers. Copyright © 2005 IFAC.

关键词： Power control

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MODELING AND control OF IP TRANSPORT IN CELLULAR RADIO LINKS

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IFAC Proceedings Volumes 2005年第1期38卷 149-154页

作者： N. Möller C. Fischione K.H. Johansson F. Santucci F. Graziosi Royal Institute of Technology Dept. Signals Sensors and Systems Automatic Control SE-100 44 Stockholm Sweden University of L'Aquila Dept. of Electrical Engineering Poggio di Roio I-67040 L'Aquila Italy

A fundamental assumption of the tcp protocol is that packet losses indicate congestion on the network. This is a problem when using tcp over wireless links, because a noisy radio transmission may erroneously indicate congestion and thereby reduce the tcp sending rate. Two partial solutions, which improve the quality of the radio link, are power control and link-layer retransmissions. We consider a radio channel with multiple users and traffic classes, and investigate how parameters in the radio model influences tcp-related quality measures, such as the average delay and the probability of spurious timeout. The results indicate that the outer loop power control is robust to uncertainties in the radio model. This robustness property supports separation between the radio layer design and the ip and tcp layers.

关键词： tcp wcdma Power control Feedback control ARQ

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