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SICE Annual Conference 2005

作者： Zhao, Z. Ikegami, Y. Nakamura, M. Dept. of Automation School of Information Sci. and Tech. Beijing University of Chemical Technology Beijing China Institute of Ocean Energy Saga University Saga Japan Dept. of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

A new control method of model free control based on gradient estimation is proposed in this paper. The dynamic system is embedded in a linear model set. Based on the embedded property of the dynamic system, an optimal control algorithm is proposed. The robust convergence of the proposed control algorithm has been proved and the static control error with the proposed method is also analyzed. The application results of the proposed method to the Spring Thermal Energy Conversion (STEC) plant control and polymerization reactor temperature control have verified its feasibility and effectiveness. © 2005 SICE.

关键词： Gradient methods

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Multiple models adaptive feedforward decoupling controller

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Journal of Systems engineering and Electronics 2005年第4期16卷 837-842页

作者： Wang Xin Li Shaoyuan Wang Zhongjie Inst. of Information & Control Technology Center of Electrical & Electronic Technology Shanghai Jiaotong Univ. Shanghai 200030 P. R. China Inst. of Automation Shanghai Jiaotong Univ. Shanghai 200030 P. R. China Dept. of Control Science & Engineering Tongji Univ. Shanghai 200092 P. R. China

When the parameters of the system change abruptly, a new multivariable adaptive feedforward decoupling controller using multiple models is presented to improve the transient response. The system models are composed of multiple fixed models, one free-running adaptive model and one re-initialized adaptive model. The fixed models are used to provide initial control to the process. The re-initialized adaptive model can be reinitialized as the selected model to improve the adaptation speed. The free-running adaptive controller is added to guarantee the overall system stability. At each instant, the best system model is selected according to the switching index and the corresponding controller is designed. During the controller design, the interaction is viewed as the measurable disturbance and eliminated by the choice of the weighting polynomial matrix. It not only eliminates the steady-state error but also decouples the system dynamically. The gtobel convergence is obtained and several simulation examples are presented to illustrate the effectiveness of the proposed controller.

关键词： multiple models feedforward decoupling indirect adaptive control.

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Self calibrating procedure for a 3D force observer

Self calibrating procedure for a 3D force observer

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

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

ISBN: (纸本)0780395689

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently In order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system Identification. 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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INTERVAL ANALYSIS AND NONLINEAR control OF WASTEWATER PLANTS WITH PARAMETER UNCERTAINTY

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IFAC Proceedings Volumes 2005年第1期38卷 55-60页

作者： H. Aschemann A. Rauh M. Kletting E.P. Hofer M. Gennat B. Tibken Dept. of Measurement Control and Microtechnology University of Ulm D-89081 Ulm Germany Chair of Automation/Control Engineering University of Wuppertal D-42119 Wuppertal Germany

This paper presents the successful application of interval arithmetics to a simplified activated sludge model that describes the reduction of biodegradable substrate in biological wastewater treatment. Reliable analysis of the steady-state behaviour as well as plant control have to account for the dominant uncertain system parameter given by the maximum specific growth rate of biomass. The proposed control strategy consists of nonlinear control of oxygen concentration using desired trajectories derived from interval evaluations of the uncertain steady-state substrate concentration. By this, plant operating costs can be significantly reduced resulting in superior plant efficiency.

关键词： Intervals nonlinearity uncertain dynamic systems flatness-based control water pollution

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Detecting sensor faults for a chemical reactor rig via adaptive neural network model

Detecting sensor faults for a chemical reactor rig via adapt...

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Second International Symposium on Neural Networks: Advances in Neural Networks - ISNN 2005

作者： Yu, Ding-Li Yu, Dingwen Control Systems Research Group School of Engineering Liverpool John Moores University Byrom Street Liverpool L3 3AF United Kingdom Dept. of Automation Northeast University Qinhuangdao China

An adaptive neural network model based approach to sensor fault detection is proposed for multivariable chemical processes. The neural model is used to predict process output for multi-step ahead with the prediction error used as the residual, while the model is on-line updated to capture dynamics change. The recursive orthogonal least squires algorithm (ROLS) is used to adapt a radial basis function (RBF) model to reduce the effects of data ill conditioning. Two error indices are developed to stop the on-line updating of the neural model and its corresponding threshold is used to distinguish the fault effect from model uncertainty. The proposed approach is evaluated in a three-input three-output chemical reactor rig with three simulated sensor faults. The effectiveness of the method and the applicability of the method to real industrial processes are demonstrated. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Chemical reactors

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Approximated optimal control of singularly perturbed systems via Haar wavelets

Approximated optimal control of singularly perturbed systems...

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作者： Karimi, H.R. Jabedar, Maralani P. Moshiri, B. Lohmann, B. Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran Institute of Automation University of Bremen Otto-Hahn-Allee NW1 D-28359 Bremen Germany

ISBN: (纸本)008045108X

This paper deals with the implementation of Haar wavelet to the optimal control of linear singularly perturbed systems. The approximated composite control and the slow and fast trajectories with respect to a quadratic cost function by solving only the linear algebraic equations are calculated. The results are illustrated with a simple example. Copyright © 2005 IFAC.

关键词： Cost functions

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Force and Acceleration Sensor Fusion for Compliant Robot Motion control

Force and Acceleration Sensor Fusion for Compliant Robot Mot...

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IEEE International Conference on Robotics and automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Dept Jaen University Jaen Spain Dept. of Automatic Control Lund University Lund Sweden

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors— that is, encoders mounted at each joint of the robot with six degrees of freedom, a wrist force sensor and an accelerometer— whose goal is to obtain a suitable contact force estimator for the three Cartesian axes. This new observer contributes to overcome many of the difficulties of uncertain world models and unknown environments, which limit the domain of application of currents robots used without external sensory feedback. 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.

关键词： Force sensors Acceleration Sensor fusion Robot motion Force control Motion control Robot control Robot sensing systems Manipulator dynamics Force measurement

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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Self Calibrating Procedure for a 3D Force Observer

Self Calibrating Procedure for a 3D Force Observer

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IEEE Conference on Decision and control

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University. Campus Las Lagunillas Jaen Spain Dept. of Automatic Control Lund University Lund Sweden System Engineering and Automation Department Jaen University Jaen Spain

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Manipulator dynamics Robot sensing systems Service robots Force measurement Torque measurement Wrist End effectors Fuses Accelerometers

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APPROXIMATED OPTIMAL control OF SINGULARLY PERTURBED SYSTEMS VIA HAAR WAVELETS

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IFAC Proceedings Volumes 2005年第1期38卷 353-358页

作者： H.R. Karimi P. Jabedar Maralani B Moshiri B Lohmann Control and Intelligent Processing Center of Excellence Dept. of Electrical and Computer Engineering University of Tehran Tehran Iran Institute of Automation University of Bremen Otto-Hahn-Allee NW1 D-28359 Bremen Germany

关键词： Singularly perturbed systems Haar wavelet and optimal control

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