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48th IEEE Conference on Decision and control (CDC)

作者： M. Amundarain Ormaza M. Alberdi Goitia A.J. Garrido Hernandez I. Garrido Hernandez University of the Basque Country Dept. Automatic Control and Systems Engineering Plaza de la Casilla 3 48012 Bilbao SPAIN

ISBN: (纸本)9781424438716

Wave energy is one of the most promising forms of ocean renewable sources because of its high availability. The Wells turbine has been one of the defining technologies in the development of wave energy. In this paper a neural control method for the Wells turbine-generator module is presented. For this purpose, a neural control using the backpropagation algorithm has been implemented, based on the addition of external resistances in series with the rotor winding of the induction generator connected to the turbine. The proposed control system does appropriately adapt the rotor resistance according to the pressure drop entry. It will be shown how the controller avoids the stalling behaviour and that the average power of the generator fed into the grid is significantly higher in the controlled case than in the uncontrolled one.

关键词： neuroregulation WELLS Wave energy turbogenerators Backpropagation algorithms Induction generators Rotors (windings) Pressure decline power generator rotor resistance Technology Development average power

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The mobility performances of new wheeled and legged hybrid mechanisms system robot iSRo

The mobility performances of new wheeled and legged hybrid m...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Kuswadi, Son Sulistijono, Indra Adji Ardyansyah, Rachman Zulkarnain, Ahmad Avianto, Tiyo Imaduddin, Ilmi Rizki Luthfi, Achmad Saifulloh, Moh. Jazidie, Achmad Sampei, Mitsuji Surabaya 60111 Indonesia Kampus ITS Jalan Raya ITS Sukolilo Surabaya 60111 Indonesia Dept. of Mechanical and Control System Engineering Tokyo Institute of Technology 2-12-1 O-okayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9784907764333

In rescue robot competition field, a robot needs to operate in various dynamic environments where they encounter a multitude of unknown both static and/or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment. © 2009 SICE.

关键词： Robots

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A control theoretical approach to congestion control of TCP/AQM networks

A control theoretical approach to congestion control of TCP/...

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European control Conference (ECC)

作者： Teresa Alvarez Anuar Salim J.M. Maestre Department of Engineering Science and Automatic Control University of Valladolid Valladolid Spain Dept. de Ingeniería de Sistemas yAutomática University of Seville Spain

This paper shows how control techniques, such as PID or generalized predictive control, can improve the performance of TCP/IP networks when dealing with congestion. Drop tail, or more sophisticated AQM techniques such as RED, perform worse than process control techniques. A comparison between the different methods in different working scenarios is analyzed. Two different GPC controllers are evaluated. One considers the model resulting from on-line identification and the other is the linearization of the non-linear model.

关键词： Mathematical model Predictive control Predictive models Transfer functions Delays Feedback control Computational modeling

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Robust Model Predictive control of continuous-time sampled-data nonlinear systems with Integral Sliding Mode

Robust Model Predictive Control of continuous-time sampled-d...

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European control Conference (ECC)

作者： M. Rubagotti D.M. Raimondo A. Ferrara L. Magni Dept. of Computer Engineering and Systems Science University of Pavia Pavia Italy Automatic Control Laboratory Swiss Federal Institute of Technology Zürich Switzerland

A hierarchical Nonlinear Model Predictive control (NMPC) scheme with guaranteed Input-to-State-practical-Stability (ISpS) is proposed. The controller is formed by an Integral Sliding Mode (ISM) controller and a NMPC one. The ISM, relying on the knowledge of the nominal continuous-time model of the system and of the piecewise constant control signal generated by the NMPC produces a control action aimed at reducing the difference between the dynamics of the nominal closed-loop system and the actual evolution of the state. The NMPC in this way can be designed based on a system with reduced uncertainty. In order to prove the stability of the overall control scheme, some general Regional ISpS results for continuous-time systems are proven.

关键词： Robustness Closed loop systems Uncertainty Stability analysis Economic indicators Manifolds Predictive control

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Safety assessment for stochastic linear systems using enclosing hulls of probability density functions

Safety assessment for stochastic linear systems using enclos...

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European control Conference (ECC)

作者： Matthias Althoff Olaf Stursberg Martin Buss Institute of Automatic Control Engineering (LSR) Technische Universität München München Germany Dept. of Electrical Eng. University of Kassel Germany

This contribution addresses the problem of computing the probability that a linear system with uncertain inputs reaches an unsafe region in the state space. The probability of reaching unsafe states is bounded by an upper limit, by intersecting enclosing hulls of the probability density function for time intervals with the specified unsafe regions. Disturbances are modeled as white Gaussian noise, whose mean is modeled as uncertain within specified sets. This allows to consider white non-Gaussian noise in an over-approximative manner. The presented approach is efficient in the sense that high-dimensional systems can be handled.

关键词： Decision support systems Europe Ear Safety Linear systems Probability density function

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State resetting for bumpless switching in supervisory control 10

State resetting for bumpless switching in supervisory contro...

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2009 10th European control Conference, ECC 2009

作者： Kinnaert, Michel Delwiche, Thomas Yame, Joseph Dept. of Control Engineering and System Analysis Université Libre de Bruxelles 50 Av. F. D. Roosevelt BrusselsB-1050 Belgium CRAN-UMR 7039 CNRS Université Henri Poincaré Nancy i Vandoeuvre-les-NancyF-54506 France

ISBN: (纸本)9783952417393

In this paper the realization and implementation of a multi-controller scheme made of a finite set of linear single-input-single-output controllers, possibly having different state dimensions, is studied. The supervisory control framework is considered, namely a minimal parameter dependent realization of the set of controllers such that all controllers share the same state space is used. A specific state resetting strategy based on the behavioral approach to system theory is developed in order to master the transient upon controller switching. © 2009 EUCA.

关键词： controllers

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Thermal production and combustion gas components of a mixture of waste oil and waste liquid

Thermal production and combustion gas components of a mixtur...

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Joint Conference: International Thermal Treatment Technologies (IT3) and Hazardous Waste Combustors (HWC)

作者： Torii, Shuichi Yoshikawa, Jun Ibe, Hidetoshi Department of Mechanical System Engineering Kumamoto University 2-39-1 Kurokami Kumamoto 890-8555 Japan Public Corporation Electrical and Control Systems Dept. 2 Social Infrastructure Systems Company Toshiba Corporation 1-1 Shibaura 1-Chome Minato-Ku Tokyo Japan Environmental Systems Engineering Dept. Social Infrastructure Systems Company Toshiba Corporation 1-1 Shibaura 1-Chome Minato-Ku Tokyo Japan

ISBN: (纸本)9781615671830

The aim of the present study is to produce thermal energy from waste liquid. Emphasis is placed on the combustion gas analysis of free jets formed in stagnant air, in which a mixture of a waste liquid (e.g., pig-urine) and a waste oil is injected in the horizontal direction. Here the combustion gas components H2, O2, N2, CH4, CO, CO2 and N2O are measured with the aid of a gas chromatograph. Consideration is given to the effects of flow rates of waste oil, waste liquid and air on the concentration of N2O. It is found that (i) the concentration of N2O and its production are affected by the mix rate of waste oil and waste liquid, and (ii) the corresponding production of N2O is increased in the combustion gases of only waste oil.

关键词： Liquids

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A signal-based approach for detection and isolation of current sensor faults in induction motors

A signal-based approach for detection and isolation of curre...

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European Conference on Power Electronics and Applications

作者： Manuel Gaalvez-Carrillo Michel Kinnaert Universite Libre de Bruxelles Bruxelles Bruxelles BE Dept. of Control Engineering and System Analysis Universite Libre de Bruxelles (ULB) Brussels Belgium

Incipient fault detection and isolation (FDI) in the current sensors of a controlled induction motor is addressed by an original diagnosis system based exclusively on the three-phase signals model. In this way we avoid a reduction in the performance of the FDI system due to the uncertainty in the machine model. Assuming that the three current signals are measured, the proposed FDI system is made of a combination of Kalman filters and statistical change detection and isolation algorithms (CUSUM or Cumulative Sum). The approach is validated by a closed-loop simulation using a squirrel cage induction motor. The latter is controlled by a linear quadratic regulator combined with an extended Kalman filter.

关键词： Signal detection Fault detection Induction motors Sensor systems Stators Fault diagnosis Optimal control Sensor phenomena and characterization Signal generators control system synthesis

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Design of a static output feedback controller for bilateral teleoperation 9th

Design of a static output feedback controller for bilateral ...

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9th IFAC Symposium on Robot control, SYROCO 2009

作者： Delwiche, Thomas Aberkane, Samir Catoire, Laurent Torfs, Serge Kinnaert, Michel Dept. of Control Engineering and System Analysis Université Libre de Bruxelles CP 165/55 50 Av. F. D. Roosevelt BrusselsB-1050 Belgium CRAN-UMR 7039 CNRS Université Henri Poincaré Nancy I Vandoeuvre-les-NancyF-54506 France

ISBN: (纸本)9781617825583

Traditional H∞ design methods available in commercial softwares lead to controllers which present the same order as the model of the plant. Considering the high order of teleoperation systems, implementing such controllers may require the use of order-reduction methods. To avoid this extra step in the design, we propose to produce fixed-order controllers directly based on a full-order model of the system. In this paper, a zero-order (static output feedback) controller is designed for a teleoperation system. The design procedure, based on a cone complementary formulation is described and applied to a 22nd-order model of the system. The resulting controller is implemented on a one degree of freedom teleoperation system. The experimental results obtained with this simple control structure validate the use of very low order control structures in the case of teleoperation systems with the extra advantage, with respect to conventional H∞ design techniques, that the involved and time-consuming order reduction step is avoided.

关键词： controllers

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Identification and optimal control of blowing system

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UPB Scientific Bulletin, Series C: Electrical engineering 2008年第4期70卷 115-122页

作者： Azzouzi, Messaouda Dept. of Automatic Control and System Engineering University Politehnica of Bucharest Bucharest Romania

The major efforts regarding this analysis, on algorithmic development, and on computations deal with the flow and temperature control and their optimization. This study treats the steady state in order to avoid the unsteady problems. The paper's analyses, i.e. the numerical analyses, and computations have addressed two important types of controls which are the air flow and the temperature. The principal object of this paper is to control several important characteristics of a chemical process by using an automatic device for optimization and system identification;in each case one intends to control the temperature degrees and the air pressure values in the same time, starting from a mechanical apparatus connected at a computer where there are installed the respective control software;this apparatus gives the possibility to set the temperature values at a specified pressure which can produce cold air.

关键词： Temperature control

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