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2005 IEEE International Conference on Robotics and Automation

作者： Gámez García, J. Robertsson, A. Gömez Ortega, J. Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Dept. Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)078038914X

In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Event-based selective control strategy for raceway reactor: A simulation study

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IFAC-PapersOnLine 2016年第7期49卷 478-483页

作者： Pawlowski, A. Frenández, I. Guzmán, J.L. Berenguel, M. Acién, F.G. Dormido, S. Dept. of Computer Science and Automatic Control UNED Madrid Spain Dept. of Computer Science University of Almería ceiA3 CIESOL Almería Spain Dept. of Chemical Engineering University of Almería ceiA3 CIESOL Almer´ia Spain

This work presents a simulation study of an event-based selective control strategy for a raceway reactor. The control system aims are to maintain simultaneously a pH and dissolved oxygen within specific limits. In the analyzed control scheme, the pH value is prioritized over the dissolved oxygen, since it has a critical influence on the process performance. Besides, the dissolved oxygen also influences the photosynthesis rate and should be kept within the limits. The control structure is evaluated through simulation, where a nonlinear model for microalgae culture in the raceway photobioreactor is used. Analysis of different configurations allows to determine the most adequate control system setup to achieve the desired goals. The obtained results show that combination of an event-based approach with selective control allows to increase the overall productivity as well as to address effective CO2utilization and aeration system energy minimization. © 2016

关键词： Dissolved oxygen Algae control systems Dissolution Microorganisms Dissolved oxygen control Micro algae PH control raceway reactor Selective control

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LPV non-integer order model and control of an irrigation canal using gain scheduling technique

LPV non-integer order model and control of an irrigation can...

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35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

作者： Martínez, Rubén Bolea, Yolanda Grau, Antoni Martínez, Herminio Automatic Control Dept. Technical University of Catalonia Barcelona Spain Electronics Engineering Dept. Technical University of Catalonia Barcelona Spain

In this paper, a novel method for controlling main irrigation canals with variable dynamic parameters is proposed. A non-integer order based gain-scheduling controller for canal systems is presented. This controller takes into account the variations of parameters in each operating point by using a linear parameter variable (LPV) non-integer order model obtained by fractional LPV identification. This non-integer controller has been designed in accordance with the control input bound and assure closed loop poles placement desired in all the working operation canal range. This approach is validated in a pilot canal plant. control results guarantee the desired performance and stability for slow parameters variation in the whole operation canal range. ©2009 IEEE.

关键词： Irrigation canals

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Fundamental study for control of Hue and brightness in the laser coloring 8

Fundamental study for control of Hue and brightness in the l...

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8th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2015

作者： Tanaka, Tomohisa Harada, Syo Zhu, Jiang Yoshioka, Hayato Saito, Yoshio Dept. Micro-Nano System Engineering Nagoya University Japan Dept. Mechanical and Control Engineering Tokyo Institute of Technology Japan

This study is focused on the basic mechanism of the laser coloring technique to the titanium by using Nd/YVCM laser. Relation between laser irradiation parameters and obtained color has been carefully investigated by color evaluation and surface roughness measurement. The obtained colors changed as the input energy increase and the trend of color change matched qualitatively to the theoretical estimation assuming that the thickness of the layer becomes higher by increase of the input energy. On the other hand, as the surface became rough, the color became dark. Therefore it can be concluded that if laser parameters are suitably controlled, arbitrary value of hue and brightness can be obtained.

关键词： Surface roughness

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Robust LMI control of a buck-boost converter with low ripple propagation

Robust LMI control of a buck-boost converter with low ripple...

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2012 20th Mediterranean Conference on control and Automation, MED 2012

作者： Ingles, J.V. Garces, P. Leyva, R. Dept. of Electronic Electrical and Automatic Control Engineering Universitat Rovira i Virgili 43007 Tarragona Spain

ISBN: (纸本)9781467325318

This paper proposes a new robust control strategy to prevent the current ripple propagation into the dc-dc converter input, thus avoiding converter malfunctions. Concretely, we apply the new strategy to a buck-boost converter. The strategy is based on LMI control and use readily, fast convex optimization algorithms to obtain the solution. The control objective is maximizing the current disturbance rejection, where current ripple propagation and usual, prescribed dynamic performances are ensured. The paper describes the control design procedure, besides an illustrative example and simulation verifications. Simulation waveforms are in perfect agreement with objective function and performances constraints of the control design. That is, the current ripple propagation is almost zero and other prescribed constraints are satisfied. © 2012 IEEE.

关键词： Buck-Boost converter

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Optimality analysis of if-conversion transformation

Optimality analysis of if-conversion transformation

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24th High Performance Computing Symposium, HPC 2016, Part of the 2016 Spring Simulation Multi-Conference, SpringSim 2016

作者： Elkhouly, Reem El-Mahdy, Ahmed Elmasry, Amr Alexandria Egypt Dept. of Computer Engineering and Automatic Control Tanta University Tanta Egypt Dept. of Computer Engineering and Systems Alexandria University Alexandria Egypt

ISBN: (纸本)9781510824256

control-flow dependence has always been posited as a substantial dilemma against program acceleration. With the availability of instruction-level parallel architectures, ifconversion optimization has become pivotal for extracting parallelism from serial programs. While many if-conversion optimization heuristics have been proposed in the literature, few of them investigated the proximity to optimality paying more concern to the input program subjectively. In this paper, we study the effectiveness of the LLVM if-conversion transformation using a broad range optimality analysis technique. The whole optimization space of branch instructions within an arbitrarily selected hotspot function of a program is analyzed, tackling the best-performing combination sequence of converted or non-converted branches. In order to precisely observe the influence of selectively converted branches we magnify individual function call and study the behavior with different call circumstances and input data detecting the impact of data size and distribution. We implemented our technique on LLVM 3.6.1 compilation infrastructure and experimented on several representative kernels of the SPEC-CPU2006 vl.l benchmarks suite running on a multicore system of Intel(R) Xeon(R) 3.50GHz processors. Our findings show a performance gain up to 22.7% at the best optimization over the standard optimized code, indicating the need for more aggressive compilation optimization that is able to capture the individual characteristics of every branch. © 2016 Society for Modeling & Simulation International (SCS).

关键词： Optimization

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Particle filter-based Gaussian process optimisation for parameter inference 19

Particle filter-based Gaussian process optimisation for para...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Dahlin, Johan Lindsten, Fredrik Division of Automatic Control Linköping University Sweden Dept. of Engineering University of Cambridge United Kingdom

ISBN: (纸本)9783902823625

We propose a novel method for maximum-likelihood-based parameter inference in nonlinear and/or non-Gaussian state space models. The method is an iterative procedure with three steps. At each iteration a particle filter is used to estimate the value of the log-likelihood function at the current parameter iterate. Using these log-likelihood estimates, a surrogate objective function is created by utilizing a Gaussian process model. Finally, we use a heuristic procedure to obtain a revised parameter iterate, providing an automatic trade-off between exploration and exploitation of the surrogate model. The method is profiled on two state space models with good performance both considering accuracy and computational cost. © IFAC.

关键词： Gaussian distribution

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BLOCK DIAGONAL FORM AND BLOCK DIAGONAL controlLER OF NONLINEAR systemS

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Chinese Journal of Aeronautics 1997年第1期10卷 51-57页

作者： Zhao Guorong Zhang Fuen(dept. of automatic control, Harbin Institute of Technology, Harbin, China, 150001)Gu Wenjing(Naval Aeronautical engineering Academy, Yantai, Shantong, China, 264001) Dept. of Automatic Control Harbin Institute of Technology Harbin 150001 China Nav. Aero. Engineering Academy Yantai Shantong 264001 China

A block diagonal form about a nonlinear system is defined. Based on the de finition, a design method ca1led block diagonal controller (BDC) is proPOsed bo feedbacklinearization. Thus, a linearization design of a class of nonlinear system can be simply re-alized. The result of design has been proved by mathematical simulation of a certain anti-ship missile.

关键词： feedback linearization nonlinear systems flight control controllers

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One-cycle control for the parallel operation of synchronous buck converters

One-cycle control for the parallel operation of synchronous ...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Berbel, Néstor Guerrero, Josep M. Cruz, Juan Miret, Jaime Castilla, Miguel Dept. Electronics Engineering Universitat Politècnica de Catalunya Spain Dept. Automatic Control and Computer Eng. CEIB Spain

Thispaperpresentsanovelcontrolforamultiphasedc-dcconverter, whichprovidestightoutputvoltageregulation,fasttransientresponse, androbustnessagainstlarge-signaldisturbancesintheinput-voltageandtheload- current. © 20... 详细信息

ISBN: (纸本)0780387384

关键词： Electric converters

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Algebraic synthesis for online adaptation of dependable discrete control systems

Algebraic synthesis for online adaptation of dependable disc...

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4th IFAC Workshop on Dependable control of Discrete systems, DCDS 2013

作者： Hillmann, Christian Stursberg, Olaf Dept. of Electrical Engineering and Computer Science Control and System Theory University of Kassel Germany

Common practice in industrial design of discrete controllers as well as in most synthesis procedures advocated for discrete control in academia is to create the control logic and to transfer it into a PLC language before process start-up. Changes in the operational constraints of the controlled process (e.g. of available resources, nominal set-points, occurrences of failures) have to be accounted for by dedicated alternative routines, i.e. dependability is restricted to variations which are envisaged during design. In contrast, the approach proposed in this paper operates online on a model of the uncontrolled process to compute a control strategy that is adapted to the current set of constraints. By using algebraic computations largely resembling techniques for discrete-time continuous-valued controllers, perceived process variations (including newly defined control-goals) are first assessed with respect to the existence of a feasible successful control strategy, before such a dependable and optimal strategy is computed. © 2013 IFAC.

关键词： Product design

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