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2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010

作者： Qu, Yaohong Zhang, Youmin Dept. of Mechanical and Industrial Engineering Concordia University Montreal H3G 2 W1 Canada School of Automation Northwestern Polytechnical University Xi'an 710072 China Dept. of Mechanical and Industrial Engineering Diagnosis Flight Control and Simulation Lab Concordia University Montreal H3G 2 W1 Canada

ISBN: (纸本)9781424471010

A novel fault-tolerant localization method for low-cost UAVs flying at constant altitude is proposed in this paper, which is based on measuring relative ranges from one UAV to other UAVs. Contrast to the traditional navigation methods of single aerial vehicle, like INS/GPS and SINS/GPS, the proposed method is more suitable for low-cost small-size UAVs because of its low requirement to the navigation device. Furthermore, its localization accuracy is higher than other methods for multi-UAV because the sharable information in multi-UAV network is made full of use. Similar to the principle of GPS, the method takes three other UAVs as the reference points of an UAV whose GPS receiver works improperly due to failure. Thus the UAV's location in 2D horizontal plane can be determined by using the relative ranges from the faulty UAV to the other three UAVs at known location in inertial coordinate system. In order to improve the accuracy of estimated location, a Kalman filter is designed, which can calculate the variance of observations in terms of horizontal dilution of positioning (HDOP) adaptively. Meanwhile, option of the reference points is also optimized in the paper. Simulation results in Matlab\Simulink show the effectiveness of the proposed approach. © 2010 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Design of Sliding Mode Observers for TS Fuzzy Systems with Application to Disturbance and Actuator Fault Estimation

Design of Sliding Mode Observers for TS Fuzzy Systems with A...

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2010 49th IEEE Conference on Decision and control

作者： Patrick Gerland Dominic Gross Horst Schulte Andreas Kroll Institute of Measurement and Control Dept. of Mechanical Engineering University of Kassel (Germany) Institute of Control and System Theory Dept. of Electrical Engineering University of Kassel (Germany) Faculty of Electrical Engineering and Automation University of Applied Science Berlin (Germany)

ISBN: (纸本)9781424477456

In this paper an observer-based fault detection approach for a class of nonlinear systems, which can be modeled by Takagi-Sugeno (TS) fuzzy models, is presented. We propose a sliding mode fuzzy observer that deals with unmeasurable premise variables, bounded uncertainties in the plant and allows fault estimation based on an equivalent output error injection approach. Necessary conditions for the existence of the robust observer are derived from sliding mode theory [10]. Stability is ensured by linear matrix inequality (LMI) based sufficient conditions. An illustrative example demonstrates the effectiveness of the proposed scheme.

关键词： sliding mode observer Sliding mode disturbance Fuzzy systems Defect detection transport stream actuators fuzzy observer

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Modeling and control aspects of long distance telesurgical applications

Modeling and control aspects of long distance telesurgical a...

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International Conference on Computational Cybernetics (ICCC)

作者： Tamás Haidegger Levente Kovács Stefan Preitl Radu-Emil Precup Adalbert Kovács Balázs Benyó Zoltán Benyó Department of Control Engineering and Information Technology Politehnica University Timisoara Timisoara Romania Dept. of Control Engineering and Information Technology Dept. of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Dept. of Mathematics “Politehnica” University of Timisoara Timisoara Romania

ISBN: (纸本)9781424474325

There is an increasing need to support telemedicine with advanced technology. Currently, long distance telesurgical systems are only used on Earth for research purposes, but the military and the space agencies are interested in the spatial extension of effective surgical treatment through remote teleoperation. One of the major limitations of future systems is the communication lag time. In the case of the envisioned human exploratory space missions to Moon and Mars, the signal latency can be several seconds or even minutes. This paper deals with theoretical and practical aspects of the problem. Modeling approaches are discussed, proposing simplified human and machine representations to accommodate long distance telesurgical applications. Further, classical control methods are presented based on cascade control, focusing on teleoperation. A suitable controller can be designed with an empirical controller of the inner loop, based on Kessler methods, while the outer loop can be based on predictive control.

关键词： Space technology Humans Telemedicine Earth Surgery Space exploration Space missions Moon Mars Delay

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A simple youla-parametrized mimo regulator

A simple youla-parametrized mimo regulator

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12th IASTED International Conference on control and Applications, CA 2010

作者： Keviczky, L. Bányás, C. Comp. and Automat. Res. Inst. of the Hungarian Ac. of Sci. Control Engineering Res. Group of the HAS Dept. of Automation and Informatics Budapest Univ. of Technology and Economics Kende u 13-17 H-1111 Budapest Hungary

The classical Youla-parametrization is extended for multivariable linear dynamic processes. The regulator design method uses the simplest naive plant model, which can be easily handled in MATLAB computations.

ISBN: (纸本)9780889868526

关键词： MIMO systems

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An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation

An extended PI model for hysteresis and creep compensation i...

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2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School of Chinese Academy of Sciences Beijing 100001 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China

ISBN: (纸本)9781424493173

One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities. © 2010 IEEE.

关键词： Creep

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Hybridization approach of plant models for enhancing ship electrical system analysis

Hybridization approach of plant models for enhancing ship el...

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Electrical Systems for Aircraft, Railway and Ship Propulsion

作者： R. Iza E. Irigoyen V. Gómez F. Artaza H. Etxebeste INGETEAM MARINE Zamudio Spain System Engineering and Automation Department Control Intelligent Research Group University of Basque Country (UPV-EHU) Bilbao Spain System Engineering and Automation Dept. University of the Basque Country Bilbao Spain

This work presents a Hybrid Model Library (HML) for enhancing the analysis of ship electrical systems. Lots of studies were made in order to select the most appropriated software platform to test the new models developed. This work shows examples of models developed in Simulink-MATLAB and PSIM platforms. Later on, we present a research methodology based on modeling techniques by hybridization. Several modeling stages will be presented in order to clarify what kind of difficulties has been solved during marine plant models designing. Finally, we present some conclusions about the HML developed and the chances to improve its core.

关键词： Load modeling Analytical models Marine vehicles Libraries Propulsion Software control systems

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Cooperative localization of UAV based on information synchronization

Cooperative localization of UAV based on information synchro...

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International Conference on Mechatronics and automation

作者： Qu, Yaohong Zhang, Youmin Zhou, Qingli School of Automation Northwestern Polytechnical University Xi'an 710072 China Dept. of Mechanical and Industrial Engineering Concordia University Montreal QC H3G 2W1 Canada Diagnosis Flight Control and Simulation Lab. Dept. of Mechanical and Industrial Engineering Concordia University Montreal QC H3G 2W1 Canada Mechanical and Industrial Engineering Department Concordia University Montreal QC H3G 2W1 Canada

ISBN: (纸本)9781424451418

Information synchronization is the key technology of multi-UAV in formation flight. Based on the linear update law, this paper develops a general analytical solution of synchronization for a ring communication topological structure. Considering the fact that GPS is vulnerable to fail in some circumstances which may lead to that the localization of the UAV cannot continue, we propose a localization method by other members' measurements in the UAV team. First, we assume that these UAVs construct a ring communication topological structure and all the units in the network can respectively obtain the position information of the UAV by measuring the relative range and the azimuth from the UAV. Next, the information is synchronized in the ring communication network and it converges to a same value. Finally, the data is communicated to the UAV whose GPS receiver works improperly so that the UAV is capable of continuing the navigation task. Simulation results in Matlab/Simulink show the effectiveness of the proposed approach. © 2010 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Active sensor configuration validation for refrigeration systems

Active sensor configuration validation for refrigeration sys...

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作者： Hovgaard, Tobias Gybel Blanke, Mogens Niemann, Henrik Izadi-Zamanbadi, Roozbeh Dept. of Electrical Engineering Automation and Control Group Technical University of Denmark Building 326 DK-2800 Kgs. Lyngby Denmark Norwegian University of Science and Technology CeSOS NO-7491 Trondheim Norway Department AC-RC Danfoss A/S E17 A103 Nordborgvej 81 DK-6430 Nordborg Denmark

ISBN: (纸本)9781424474264

Major faults in the commissioning phase of refrigeration systems are caused by defects related to sensors. With a number of similar sensors available that do not differ by type but only by spatial location in the plant, interchange of sensors is a common defect. With sensors being used quite differently by the control system, fault-finding is difficult in practice and defects are regularly causing commissioning delays at considerable expense. Validation and handling of faults in the sensor configuration are therefore essential to cut costs during commissioning. With passive fault-diagnosis methods falling short on this problem, this paper suggests an active diagnosis procedure to isolate sensor faults at the commissioning stage, before normal operation has started. Using statistical methods, residuals are evaluated versus multiple hypothesis models in a minimization process to uniquely identify the sensor configuration. The method as such is generic and is shown in the paper to work convincingly on refrigeration systems with significant nonlinear behaviors. © 2010 AACC.

关键词： Fault detection

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Fault-tolerant Localization for Multi-UAV Cooperative Flight

Fault-tolerant Localization for Multi-UAV Cooperative Flight

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2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： Yaohong Qu Youmin Zhang School of Automation Northwestern Polytechnical University Xi’an 710072 P. R. China Diagnosis Flight Control and Simulation Lab at the Dept. of Mechanical and Industrial Engineering

A novel fault-tolerant localization method for low-cost UAVs flying at constant altitude is proposed in this paper, which is based on measuring relative ranges from one UAV to other UAVs. Contrast to the traditional navigation methods of single aerial vehicle, like INS/GPS and SINS/GPS, the proposed method is more suitable for low-cost small-size UAVs because of its low requirement to the navigation device. Furthermore, its localization accuracy is higher than other methods for multi-UAV because the sharable information in multi-UAV network is made full of use. Similar to the principle of GPS, the method takes three other UAVs as the reference points of an UAV whose GPS receiver works improperly due to failure. Thus the UAV’s location in 2D horizontal plane can be determined by using the relative ranges from the faulty UAV to the other three UAVs at known location in inertial coordinate system. In order to improve the accuracy of estimated location, a Kalman filter is designed, which can calculate the variance of observations in terms of horizontal dilution of positioning (HDOP) adaptively. Meanwhile, option of the reference points is also optimized in the paper. Simulation results in Matlab\ Simulink show the effectiveness of the proposed approach.

关键词： Equations Unmanned aerial vehicles Global Positioning System

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Performance/Robustness Limit Evaluation for Lyapunov-Stable Nonlinear Plants

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IFAC Proceedings Volumes 2010年第10期43卷 202-207页

作者： Cs. Bányász L. Keviczky Computer and Automation Research Institute of the H. Ac. of Sc. Control Engineering Research Group of the H. Ac. of Sc.at the Dept. of Automation and Informatics Budapest Univ. of Technology and Economics H-1111 Budapest Kende u 13-17 HUNGARY

Lyapunov-stable nonlinear plants can be approximated by an LTI model in many cases. If this approximation is obtained then it is possible to construct a G2DOF control system. The paper presents a new approach how the important relationships between the actuator, process and design parameters furthermore robustness measures can be determined. In this decomposition method the optimal control design for two-degree of freedom time delay control systems is discussed. Using a proper CAD algorithm the exact relationships can be plotted and the ultimate robustness limit of any control can be explicitly calculated.

关键词： nonlinear control Lyapunov stability performance analysis robustness limit

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