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15th World Congress of the International Federation of Automatic control, 2002

作者： Calado, J.M.F. Mendes, M.J.G.C. Sá Da Costa, J.M.G. Korbicz, J. IDMEC/ISEL - Instituto Superior de Engenharia de Lisboa Polytechnic Institute of Lisbon Mechanical Engineering Studies Centre Rua Conselheiro Emidio Navarro Lisboa1949-014 Portugal Technical University of Lisbon Instituto Superior Técnico Dept. of Mechanical Engineering GCAR/IDMEC Av. Rovisco Pais Lisboa1049-001 Portugal Institute of Control and Computation Engineering Technical University of Zielona Góra ul. Podgórna 50 Zielona Góra65-246 Poland

ISBN: (纸本)9783902661746

In this paper a hierarchical structure of several artificial neural networks has been developed for fault isolation purposes. Two different approaches have been considered. The hierarchical structure is the same for both approaches, but one uses multi-layer feedforward artificial neural networks and the other uses fuzzy neural networks. A result comparison between the two architectures will be presented. It is aimed to isolate multiple simultaneous abrupt and incipient faults from only single abrupt fault symptoms. A continuous binary distillation column has been used as test bed of the current approaches. Copyright © 2002 IFAC.

关键词： Fuzzy neural networks

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NEURO-FUZZY STRUCTURES IN FDI SYSTEM

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IFAC Proceedings Volumes 2002年第1期35卷 465-470页

作者： M.J.G.C. Mendes M. Kowal J. Korbicz J. M. G. Sá da Costa IDMEC/ISEL - Instituto Superior de Engenharia de Lisboa Polytechnic Institute of Lisbon Dept. of Mechanical Engineering Rua Conselheiro Emidio Navarro 1949-014 Lisboa Portugal fax:+351 21 8317057 University of Zielona Góra Institute of Control and Computation Engineering ul. Podgórna 50 65-246 Zielona Góra Poland fax:+4 8 68 3254615 Technical University of Lisbon Instituto Superior Técnico Dept. of Mechanical Engineering GCAR/IDMEC Av. Rovisco Pais1049-001 Lisboa Portugal fax:+351 21 8498097

Fault diagnosis systems have an important role in industrial plants because the early fault detection and isolation (FDI) can minimize damages in the plants. The main aim of this work is to propose a two-stage neuro-fuzzy approach as a fault diagnosis system in dynamic processes. The first stage of the system is responsible for fault detection and is implemented using a neuro-fuzzy (N-F) model. The second stage of the system is responsible for fault isolation and is built using an hierarchical structure of fuzzy neural networks. The FDI system is applied to fault diagnosis in the actuators of one sugar factory.

关键词： Fault diagnosis neural network fuzzy modelling backpropagation algorithms hierarchical structure actuators

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NEURO AND NEURO-FUZZY HIERARCHICAL STRUCTURES COMPARISON IN FDI: CASE STUDY

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IFAC Proceedings Volumes 2002年第1期35卷 453-458页

作者： J.M.F. Calado M.J.G.C. Mendes J. M. G. Sá da Costa J. Korbicz IDMEC/ISEL – Instituto Superior de Engenharia de Lisboa Polytechnic Institute of Lisbon Mechanical Engineering Studies Centre Rua Conselheiro Emídio Navarro 1949-014 Lisboa Portugal Fax + 351 21 8317057 Technical University of Lisbon Instituto Superior Técnico Dept. of Mechanical Engineering GCAR/IDMEC Av. Rovisco Pais 1049-001 Lisboa Portugal Fax + 351 21 8498097 Institute of Control and Computation Engineering Technical University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Fax: + 48 68 3254615

关键词： Fault isolation neural networks fuzzy systems hierarchical structures fuzzification white noise

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On the Structure of Singular Discrete Linear Repetitive Processes

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IFAC Proceedings Volumes 2001年第13期34卷 555-559页

作者： K. Galkowski E. Rogers D.H. Owens Institute of Control and Computation Enginrering Technical University of Zielona Gora Poland Dept. of Electronics and Computer Science University of Southampton Southampton S017 1BJ U.K. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD U.K.

Repetitive processes are a distinct class of 2D systems of both theoretical and applications interest. They are characterized by a series of sweeps through a set of dynamics with explicit interaction between the outputs, or pass profiles, produced on successive passes. Their essential unique features are that (i) information propagation is over a finite duration in one of the two separate directions of information propagation; and (ii) the explicit interaction between successive pass profiles can lead to oscillations in the sequence of pass profiles that increase in amplitude in the pass to pass direction. In the case of processes with linear dynamics (either differential or discrete) a reasonably rich systems theory is available for models which are standard (or nonsingular). In this paper, we provide the first substantial results on discrete linear repetitive processes described by a singular state space model.

关键词： Repetitive dynamics discrete dynamics singularity 2D linear systems

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Path Following for Autonomous Marine Craft ⋆

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IFAC Proceedings Volumes 2000年第21期33卷 117-122页

作者： P. Encarnação A. Pascoal M. Arcak Institute for Systems and Robotics and Dept. Electrical Eng. Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 USA

A new methodology is proposed for the design of path following systems for autonomous marine craft in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

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Path Following for Marine Vehicles in the Presence of Unknown Currents 1

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IFAC Proceedings Volumes 2000年第27期33卷 507-512页

A new methodology is proposed for the design of path following systems for autonomous marine vehicles in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

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Interlaced systems and recursive designs for global stabilization 4

Interlaced systems and recursive designs for global stabiliz...

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4th European control Conference, ECC 1997

作者： Sepulchre, R. Janković, M. Kokotović, P.V. Universite Catholique de Louvain Av. G. Lemaitre 4 Louvain-La-NeuveB1348 Belgium Ford Scientific Research Laboratories P.O. Box 2053 DearbornMI48121 United States Center for Control Engineering and Computation Dept. of Electrical and Computer Engineering University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9783952426906

Interlaced systems constitute a class of systems only characterized by the zero entries of their matrix configuration and a local stabilizability condition. All these systems are globally stabilizable by a recursive design procedure which combines steps of backstepping and forwarding. When a nonlinear system misses this structural characterization, other types of conditions (sign, growth) are needed to ensure global stabilization.

关键词： Design

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Backstepping Design with Nonsmooth Nonlinearities *

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IFAC Proceedings Volumes 1995年第14期28卷 435-440页

作者： R.A. Freeman P.V. Kokotović Center for Control Engineering and Computation Dept. of Electrical and Computer Engineering University of California Santa Barbara CA 93106 Telephone: (805) 893-4691

We develop tools for backstepping with Lyapunov functions and control laws which are locally Lipschitz but not differentiable. We use Clarke’s generalized gradient and its associated calculus to show that the locally Lipschitz backstepping construction is essentially the same as the differentiable one. Our recursive method is constructive and yields an explicit expression for the control law.

关键词： Backstepping nonsmooth Lyapunov functions generalized gradient

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Tracking controllers for Systems Linear in the Unmeasured States *

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IFAC Proceedings Volumes 1995年第14期28卷 577-582页

For nonlinear systems in extended strict feedback form, where unmeasured states enter linearly, we construct dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference tr... 详细信息

关键词： Nonlinear systems global tracking dynamic partial state feedback

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Global robustness of nonlinear systems to state measurement disturbances

Global robustness of nonlinear systems to state measurement ...

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IEEE Conference on Decision and control

作者： R.A. Freeman P.V. Kokotovic Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA USA University of California Santa Barbara Santa Barbara CA US Dept. of Electr. & Comput. Eng. California Univ. Santa Barbara CA USA

We consider nonlinear control systems for which an estimate x/spl circ/ of the system state x is available for feedback. We assume x/spl circ/=x+d/sub m/, where d/sub m/(t) is an unknown locally bounded state measurement disturbance. We present conditions under which we can design a smooth feedback law u=/spl mu/(x/spl circ/) which renders the mapping from d/sub m/ to x globally input/output stable. For any initial condition, such a feedback law will guarantee that no finite escape times occur, that bounded disturbances d/sub m/ produce bounded signals, and that x/spl rarr/0 when d/sub m//spl rarr/0. We show that the class of systems for which such feedback laws exist include systems in strict feedback form. One important application is in the output feedback stabilization problem, where the disturbance d/sub m/ comes from a separately designed observer.< >

关键词： Nonlinear systems control systems Output feedback State feedback Radio control Stability control engineering control engineering computing Noise robustness Robust control

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