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Optimizing Hybrid control Trajectories by Model abstraction and Refinement

IFAC Proceedings Volumes 2009年第17期42卷 298-303页

作者： Tina Paschedag Michael Fall Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Technische Universität München

Techniques for optimal control of hybrid systems have to consider the complex interaction of continuous and discrete dynamics and are required to limit the computational complexity arising from the corresponding search spaces. This contribution proposes an approach to computing hybrid optimal control trajectories based on an iterative model-abstraction and refinement scheme. The hybrid automaton is mapped to an abstract representation which is enriched by cost information gained from graph. Candidate solutions are computed on the abstract level and are mapped back to the level of the hybrid model, where they are validated. A refinement step guides the search for (sub-) optimal hybrid control trajectories. The proposed approach is implemented for the optimization of the start-up procedure for a chemical reactor.

关键词： hybrid systems optimal control abstraction model refinement graph search

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Output feedback stabilization for min-max systems

Output feedback stabilization for min-max systems

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2009 International Conference on Information engineering and Computer Science, ICIECS 2009

作者： Wei, Hongyun Chen, Wende Wang, Yongji Wei, Qingyun Dept. of Control Science and Engineering Huazhong Univ. of Sci. and Tech. Wuhan China College of Computer Science South-Central Univ. for Nationalities Wuhan China Academy of Mathematics and System Sci. Chinese Academy of Sci. Beijing China Dept. of Control Sci. and Engineering Huazhong Univ. of Sci. and Tech. Wuhan China Dept. of Electronic Information Countermeasures Air Force Rader Academy Wuhan China

ISBN: (纸本)9781424449941

A variety of problems arising in communication networks, computer networks, automated manufacturing plants, etc. can be described by min-max-plus system models. Output feedback stabilization for the nonlinear, non-autonomous min-max-plus system (F, G, H) is studied in this paper. A new coloring graph structure is presented based on the new, complex conditions. The former research on new circuits of closed-loop max-plus projection system is considered with only one feedback edge, but more feedback edges should be included in the new circuits is pointed out in this paper. Finally, a sufficient condition for output feedback stabilization of min-max-plus system (F, G, H) is obtained. ©2009 IEEE.

关键词： Stabilization

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State resetting for bumpless switching in supervisory control

State resetting for bumpless switching in supervisory contro...

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European control Conference (ECC)

作者： Michel Kinnaert Thomas Delwiche Joseph Yamé Dept. of Control Engineering and System Analysis Université Libre de Bruxelles Brussels Belgium CRAN-UMR 7039 CNRS Université Henri Poincaré Vandoeuvre-les-Nancy France

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.

关键词： Decision support systems Europe Switches Supervisory control

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A Sensorless Vector control of Induction Motor Drives based on Artificial Neural Networks

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IFAC Proceedings Volumes 2009年第8期42卷 185-190页

作者： Oscar Barambones Dept. of Automatic Control and System Engineering. University of the Basque Country. EUI. Nieves cano 12. Vitoria. Spain

This paper presents a speed control of an induction motor. The design uses an feedforward Artificial Neural Network (ANN) to implement a rotor speed estimator, and a robust control strategy based on the sliding-mode. The proposed control scheme also make use of the field oriented control theory to simplify the proposed control design. The stability analysis of the presented control scheme is provided using the Lyapunov stability theory. Finally simulated results show that the presented controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances.

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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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Safety Assessment of Driving Behavior in Multi-Lane Traffic for Autonomous Vehicles

Safety Assessment of Driving Behavior in Multi-Lane Traffic ...

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IEEE Intelligent Vehicles Symposium (IV)

作者： Matthias Althoff Olaf Stursberg Martin Buss Institute of Automatic Control Engineering (LSR) Technische Universitat Munchen Institute of Control and System Theory Dept. of Electrical Eng. University of Kassel

ISBN: (纸本)9781424435036

An approach for the safety assessment of planned trajectories of autonomous vehicles is presented. Due to the unsafe nature of road traffic, the proposed safety assessment is performed in a probabilistic setting, where the probability distributions of possible future positions of traffic participants are computed based on dynamic models. The underlying algorithms have to be efficient as they need to provide a safety level of the currently planned path while the vehicle is in operation. In order to achieve the necessary efficiency of computation, the dynamics of traffic participants is abstracted into Markov-chains. The approach considers vehicle dynamics, interaction between traffic participants, and lane changes in multi-lane traffic.

关键词： Safety assessment Autonomous Vehicles Driver Behavior Multilane Traffic Lane changing Probability distribution Road traffic

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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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Resource Management Strategies for Low Cost Access Points in Fixed Mobile Convergence

Resource Management Strategies for Low Cost Access Points in...

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International Conference on Next Generation Mobile Applications, Services and Technologies (NGMAST)

作者： S.V. Vardhan Eddanapudi S. Ponnekanti Otello Gasparini Enrico de Marinis Nalanda Institute of Engineering & Technology Guntur (Dt) India System Analysis Dept DUNE srl Rome Italy Syst. Anal. Dept. DUNE srl Rome Italy

There is a great surge of interest recently in the fixed-mobile convergence from the telecom industry. This is supported by strong 3G operator interest in using the broadband penetration as a spring board to achieve cost effective delivery of the multimedia data for indoor coverage. Statistics indicated that more than 70% of the calls are made from end-users in indoor environments. Based on this trend, there is new impetus for low cost access point technology tailored to in-building coverage. The key technology elements used for this purpose are different from the general base stations or node Bs in the mobile networks. The technology is normally driven by low cost, low power and effective indoor coverage without interfering with the prevalent outdoor networks. In the near term, the technology is called femto cells in the industry and it is seen as a retrofit to the existing networks. Some analysts claim that in coming years millions of such femto cells will be deployed various countries and some major operators have been assessing this technology at the present time. The momentum gathered here is also evidence at the kick-start of the new Femto Cell Forum (***). There are some technology challenges exposed by this rapidly growing concept which paved the way to uncover some innovative solutions. This paper addresses two key items related to distributed resource management and scalable network management in the scenario that would be akin to the densely populated access points.

关键词： Resource management Costs Convergence Surges Telecommunications Communication industry Springs Statistics Indoor environments Femtocell networks

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Design of a static output feedback controller for bilateral teleoperation *

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IFAC Proceedings Volumes 2009年第16期42卷 419-424页

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

Abstract 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 22 nd -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： H ∞ control static controllers telerobotics matrix inequalities MIMO

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A fast algorithm of the optimal smoothing scheme for transmitting stored video

A fast algorithm of the optimal smoothing scheme for transmi...

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IITA International Conference on control, Automation and systems engineering

作者： Zilei Wang Hongsheng Xi Guo Wei Key Lab of network communication system and control Chinese Academy of Sciences University of science and technology of China (USTC) Dept. of electronic engineering and information science USTC

ISBN: (纸本)9781424445530

Minimum changes bandwidth allocation (MCBA) is an optimal video transmission scheme resulting in the minimum number of rate changes with the minimum peak rate, which can reduce renegotiation frequency in statistical multiplexing service. The existing MCBA algorithm with searching frontiers, however, has a high computational complexity, which depressed the applicability of MCBA. In this paper, we design a fast algorithm of MCBA that examines for the bounded point based on the convex envelopes of the overflow and underflow curve. As a result, our algorithm can work out an MCBA scheme in a shorter time because we can find the bounded point with a linear complexity, and calculate each transmission rate within several iterations. The simulation using real video traces confirmed the philosophy and efficiency of our algorithm.

关键词： Smoothing methods Bandwidth Streaming media Optimal control Communication system control control systems Channel allocation Computational complexity Storage automation systems engineering and theory

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