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IEEE Annual Conference on Decision and control

作者： Antonio Rosales Leonid Fridman Yuri Shtessel Deparment of Control and Robotics Faculty of Engineering National Autonomus University of Mexico 4510 Mexico City Mexico Electrical and Computer Engineering Dept. The University of Alabama in Huntsville Huntsville AL 35899 USA

ISBN: (纸本)9781467360890

In this work, the performance of the real sliding mode is characterized with the notion of performance margins under the assumption that the real sliding motion presents a limit cycle with acceptable amplitude and acceptable frequency. The performance of sliding mode controllers, in real sliding motion, is improved by means of the addition of linear compensators in cascade connection with the plant. The applied compensators are phase lead controllers which modify the frequency response of the plant in order to meet the required performance margins adding robustness to the system. Bode diagram interpretation of performance margins is presented for the first time allowing the utilization of SMC combined with the classical methodology of linear compensator design where it is possible shape the Bode diagram in order to obtain desired values of performance margins. Examples supporting the proposed idea are presented.

关键词： Bode diagrams frequency response margins limit cycles Cascade connections design performance COMPENSATORS Sliding mode

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BLOCKWISE COORDINATE DESCENT SCHEMES FOR SPARSE REPRESENTATION

BLOCKWISE COORDINATE DESCENT SCHEMES FOR SPARSE REPRESENTATI...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Bao-Di Liu Yu-Xiong Wang Bin Shen Yu-Jin Zhang Yan-Jiang Wang Coll. of Information and Control Engineering China University of Petroleum Qingdao 266580 China School of Computer Science Carnegie Mellon University Pittsburgh PA 15213 USA Dept. of Computer Science Purdue University West Lafayette IN 47907 USA Dept. of Electronic Engineering Tsinghua University Beijing 100084 China

ISBN: (纸本)9781479928941

The current sparse representation framework is to decouple it as two subproblems, i.e., alternate sparse coding and dictionary learning using different optimizers, treating elements in bases and codes separately. In this paper, we treat elements both in bases and codes homogenously. The original optimization is directly decoupled as several blockwise alternate subproblems rather than above two. Hence, sparse coding and bases learning optimizations are coupled together. And the variables involved in the optimization problems are partitioned into several suitable blocks with convexity preserved, making it possible to perform an exact block coordinate descent. For each separable subproblem, based on the convexity and monotonic property of the parabolic function, a closed-form solution is obtained. Thus the algorithm is simple, efficient and effective. Experimental results show that our algorithm significantly accelerates the learning process.

关键词： Convexity Alkali descent Elements Sparse coding Learning processes Base materials Bases DECOUPLING Alternate Codes

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Planning Mobile Robots with Boolean-based Specifications

Planning Mobile Robots with Boolean-based Specifications

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IEEE Annual Conference on Decision and control

作者： Cristian Mahulea Marius Kloetzer Aragon Institute of Engineering Research (I3A) University of Zaragoza Maria de Luna 1 50018 Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University "Gheorghe Asachi" of Iasi Romania

ISBN: (纸本)9781467360890

This research proposes an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The specification consists of logical requirements over some regions of interest for the agents' trajectories and for their final states. A Petri net (PN) with outputs models the movement capabilities of the team and the active regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities are formulated as linear constraints on PN markings, and the evaluations of the binary variables are linked with PN markings via linear inequalities. This allows us to solve a Mixed Integer Linear Programming problem whose solution yields robotic trajectories satisfying the task.

关键词： Mobile robots Specifications Automated methods Pigmentation Mixed integer linear programming trajectory

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controller Modification Applied for Active Fault Detection

Controller Modification Applied for Active Fault Detection

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American control Conference

作者： Henrik Niemann Jakob Stoustrup Niels Kjolstad Poulsen Dept. of Electrical Engineering Automation and Control Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark Dept. of Electronic Systems Automation & Control Aalborg University DK-9220 Aalborg Denmark Dept. of Applied Mathematics and Computer Science Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark

ISBN: (纸本)9781479932757

This paper is focusing on active fault detection (AFD) for parametric faults in closed-loop systems. This auxiliary input applied for the fault detection will also disturb the external output and consequently reduce the performance of the controller. Therefore, only small auxiliary inputs are used with the result that the detection and isolation time can be long. In this paper it will be shown, that this problem can be handled by using a modification of the feedback controller. By applying the YJBK-parameterization (after Youla, Jabr, Bongiorno and Kucera) for the controller, it is possible to modify the feedback controller with a minor effect on the external output in the fault free case. Further, in the faulty case, the signature of the auxiliary input can be optimized. This is obtained by using a band-pass filter for the YJBK parameter that is only effective in a small frequency range where the frequency for the auxiliary input is selected. This gives that it is possible to apply an auxiliary input with a reduced amplitude. An example is included to show the results.

关键词： Active fault detection parametric faults feedback controllers YJBK parameterization controller modification

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Class specific dictionary learning for face recognition

Class specific dictionary learning for face recognition

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International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)

作者： Bao-Di Liu Bin Shen Yu-Xiong Wang College of Information and Control Engineering China University of Petroleum Qingdao China Dept. of Computer Science Purdue University West Lafayette IN USA School of Computer Science Carnegie Mellon University Pittsburgh PA USA

Recently, sparse representation based classification (SRC) has been successfully used for visual recognition and showed impressive performance. Given a testing sample, SRC computes its sparse linear representation with respect to all the training samples and calculates the residual error for each class of training samples. However, SRC considers the training samples in each class contributing equally to the dictionary in that class, i.e., the dictionary consists of the training samples in that class. This may lead to high residual error and instability. In this paper, a class specific dictionary learning algorithm is proposed. First, by introducing the dual form of dictionary learning, an explicit relationship between the bases vectors and the original image features is represented, which enhances the interpretability. SRC can be thus considered to be a special case of the proposed algorithm. Second, blockwise coordinate descent algorithm and Lagrange multipliers are then applied to optimize the corresponding objective function. Extensive experimental results on three benchmark face recognition datasets demonstrate that the proposed algorithm has achieved superior performance compared with conventional classification algorithms.

关键词： Dictionaries Training Testing Support vector machines Face recognition Linear programming Face

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Minimizing communication delay in RFID-based wireless rechargeable sensor networks

Minimizing communication delay in RFID-based wireless rechar...

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IEEE Communications Society Conference on Sensor and Ad Hoc Communications and Networks (SECON)

作者： Yuanchao Shu Peng Cheng Yu Gu Jiming Chen Tian He State Key Laboratory of Industrial Control Technology Zhejiang University China Singapore University of Technology and Design Singapore SG Dept. of Computer Science and Engineering University of Minnesota USA

Integrated with low-power micro-controllers and sensors, RFID-based wireless rechargeable sensor node is a very promising platform for applications such as inventory management, supply chain monitoring etc. Among other major research challenges, one of the most essential problems in such wireless rechargeable sensor networks is how to minimize the communication delay among RFID readers and RFID-based rechargeable nodes. While the existing works have mostly focused on the collision avoidance among RFID-based nodes, in this work we study an orthogonal approach which focuses on how to optimally plan the movement of the reader so as to minimize the communication delay in the network. To solve this problem, we introduce both an optimal solution for the linear reader movement pattern and an approximation solution for the generic two-dimensional reader move pattern with a provable approximation ratio. In addition, we also provide a solution for guaranteeing the quality of communication while minimizing the communication delay. We verify our observations through testbed experiments and extensively evaluate our design by both emulations and large-scale simulations. The results show our design can effectively reduce communication delay in wireless rechargeable sensor networks when compared with baseline solutions.

关键词： Delays Wireless sensor networks Wireless communication Radiofrequency identification Approximation methods Minimization

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Petri net approach for deadlock prevention in robot planning

Petri net approach for deadlock prevention in robot planning

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2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013

作者： Kloetzer, Marius Mahulea, Cristian Colom, Jose-Manuel Dept. of Automatic Control and Applied Informatics Technical University Gh. Asachi of Iasi Romania Dept. of Computer Science and Systems Engineering Univ. of Zaragoza Spain

ISBN: (纸本)9781479908622

This paper provides a strategy for supervising the motion of some mobile robots that evolve in the same environment. Some regions of the environment are assumed to have a limited capacity in terms of the number of robots that can simultaneously occupy them, and a set of possible trajectories is available for each robot. The solution comprises the construction of a specific Petri net model for the available trajectories, and the use of resource-allocation techniques based on restricted-capacity regions and on deadlock-free execution. © 2013 IEEE.

关键词： Petri nets

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Identification of inactive constraints for SCED model considering uncertain power injection

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2014年第34期34卷 6050-6057页

作者： Ding, Tao Bo, Rui Guo, Qinglai Sun, Hongbin Huang, Can Li, Fangxing State Key Lab of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing100084 China Midwest ISO St. Paul MN55108 United States Department of Electrical Engineering and Computer Science The University of Tennessee Knoxville TN37996 United States

With the constant expansion of power grid, a large number of security constraints have put tremendous challenges to the online economic dispatch. An efficient tool to eliminate the inactive constraints becomes necessary for security constraints economic dispatch (SCED) in large power systems. In this paper, considering the uncertainty of renewable energy integration, a fast and effective method to identify the inactive security constraints was proposed. Firstly, the definition of uncertain inactive security constraints and a necessary and sufficient condition to identify those were presented respectively. Considering the time-consuming identification, we relaxed the feasible region of original SCED model and utilized greedy algorithm to quickly eliminate part of inactive constraints. Then another necessary and sufficient condition was proposed and verified, where the remaining inactive constraints could be identified. Through the simulation of 24-time periods 9-bus system and 96-time periods IEEE 118-bus system, the speed and effectiveness of proposed method were verified. Moreover, the results can help dispatch operators to locate the transmission lines with the highest congestion risk. © 2014 Chin. Soc. for Elec. Eng.

关键词： Scheduling

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Distributed MPC for Frequency Regulation in Multi-Terminal HVDC Grids

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IFAC Proceedings Volumes 2014年第3期47卷 11141-11146页

作者： Paul Mc Namara Ronan Meere Terence O'Donnell Seán McLoone Dynamics and Control Research Group Dept. Electronic Engineering Callan Building NUI Maynooth Maynooth Kildare Ireland Electricity Research Centre Engineering & Materials Science Centre University College Dublin Belfield Dublin 4 Ireland Energy Power and Intelligent Control Research Cluster School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast Northern Ireland

High Voltage Direct Current (HVDC) lines allow large quantities of power to be transferred between two points in an electrical power system. A Multi-Terminal HVDC (MTDC) grid consists of a meshed network of HVDC lines, and this allows energy reserves to be shared between a number of AC areas in an efficient manner. Secondary Frequency control (SFC) algorithms return the frequencies in areas connected by AC or DC lines to their original setpoints after Primary Frequency controllers have been called following a contingency. Where multiple TSOs are responsible for different parts of a MTDC grid it may not be possible to implement SFC from a centralised location. Thus, in this paper a simple gain based distributed Model Predictive control strategy is proposed for Secondary Frequency control of MTDC grids which allows TSOs to cooperatively perform SFC without the need for centralised coordination.

关键词： Multi-terminal HVDC Distributed MPC Secondary Frequency control

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Second-order sliding-mode controller for higher-order DC-DC converters

Second-order sliding-mode controller for higher-order DC-DC ...

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IEEE Workshop on computers in Power Electronics

作者： Ramon Leyva Dragan Maksimovic Rui Ling Dept. Electronic Electrical and Automatic Control Engineering Universitat Rovira i Virgili Tarragona. Spain Colorado Power Electronics Center ECEE Department University of Colorado Boulder Boulder CO College of Automation Chongqing University Chongqing China

The paper adapts the second-order sliding mode (SOSM) control technique to higher-order dc-dc converters. In particular, the paper presents an adaptation of this control technique for buck converters with input filter. The approach consists of regulating the converter output voltage by means of a state-machine similar to the basic SOSM controller, which is shown to perform well as long as the input filter is properly damped, thus ensuring the overall converter stability. Stability and fast dynamic responses are verified by simulations on a 5 V-to-1.3 V point-of-load buck converter with a damped LC input filter.

关键词： Switches Damping Power harmonic filters Trajectory Capacitors Integrated circuit modeling

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