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

作者： Rzewuski, M. Rogers, E. Owens, D.H. Dept. of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783902661746

Recent years has seen much progress in the theory and application of iterative learning control schemes for both linear and (classes of) nonlinear dynamics. In the case of the former, many algorithms based on minimizing a suitable cost function have been reported. Here the interest is in the so-called norm optimal approach where the basic philosophy is to compute the control input on the current trial such that the tracking error is reduced in an optimal way without too much deviation from the control input used on the previous trial. This paper compares the performance of a range of controllers arising from use of the norm optimal approach - both stand alone and against alternatives. Copyright © 2002 IFAC.

关键词： Iterative methods

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Implementation of constrained predictive outer-loop controllers: Application to a boiler control system 15th

Implementation of constrained predictive outer-loop controll...

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

作者： Tadeo, Fernando Alvarez, Teresa Grimble, Mike Vilanova, Ramon Departamento de Ingenieria de Sistemas y Automática Facultad de Ciencias Universidad de Valladolid Valladolid47011 Spain Industrial Control Centre Strathclyde University United Kingdom Automatic Control and Systems Engineering Group Dept. of Computer Science Universitat Autonoma de Barcelona Bellaterra Barcelona08193 Spain

ISBN: (纸本)9783902661746

This paper addresses the problem of implementing predictive controllers for supervisory level control systems. In this configuration the manipulated variables calculated by the Predictive controller are used as command signals for the Distributed control Systems, which provide references to the operator-tuned local PID controllers that act on the physical system. This structure introduces the problem of loosing of performance if the inner-loop controllers are re-tuned. The paper discusses the solution to this problem based on the use of a two-degrees-of-freedom structure in the inner loop, that separates open and closed-loop properties. Both design guidelines and robustness issues are discussed. Copyright © 2002 IFAC.

关键词： controllers

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Quantitative analysis of a crack inside of pressure pipe by electronic speckle pattern interferometry (ESPI)

Quantitative analysis of a crack inside of pressure pipe by ...

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Proceedings of the International Symposium on Precision Mechanical Measurement

作者： Kim, Koung Suk Jang, Wan Shik Ko, Nak Yong Kim, Choong Won Kang, Ki Soo Dept. of Mechanical Engineering Chosun Univ. #375 Seosuk-Dong Kwangju 501-759 Korea Republic of Dept. Info. and Control Msrmt. Eng. Chosun Univ. #375 Seosuk-Dong Kwangju 501-759 Korea Republic of Dept. of Computer Engineering Chosun Univ. #375 Seosuk-Dong Kwangju 501-759 Korea Republic of Chosun Univ. #375 Seosuk-Dong Kwangju 501-759 Korea Republic of

ISBN: (纸本)7560317685

Electro Speckle Pattern Interferometry (ESPI) and Shearography for quantitative analysis of a crack inside of pipelines are described. Shearography is used widely for non-destructive inspection because of high sensitivity and simple interferometer. However, it is difficult to determine the defect size quantitatively because there are so many effect factors- shearing distance, shearing direction, induced load, and crack dept., which is depend on operator's skill. In this paper, a crack inside of pipeline is inspected with Shearography and ESPI. Firstly, the condition of these factors in Shearography is optimized for quantitative analysis and the size of crack is determined. And also, ESPI is used for determination of crack size quantitatively also. This method is independent on information of a crack and only induced load play an important role. The deformation is measured three-dimensionally and differentiated for finding of strain concentration points, which is equal to result of Shearography so that crack size can be determined quantitatively without any information of crack.

关键词： Mechanical variables measurement

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Analysis and design of a learning feedforward controller using Bartlet window

Analysis and design of a learning feedforward controller usi...

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World Congress on Intelligent control and Automation (WCICA)

作者： YangQuan Chen Ping Jiang Huadong Chen Dept. of Electrical and Computer Engineering Utah State University Logan UT USA Dept. of Information and Control Tongji University Shanghai P.R. China

A learning feedforward controller (LFFC) using the Bartlet window function is proposed for a better tracking control of linear system over a finite time interval. LFFC is applied as a feedforward controller to the existing feedback controller. This paper demonstrates that using a simple window function-Bartlet (Fejer or triangular) window in signal processing, the design of a learning feedforward controller reduces to determining only two design parameters: the learning gain and the number of point in the window. Convergence analysis is presented together with a design procedure.

关键词： control systems Convergence Spline Neural networks Adaptive control Signal design Automatic control Intelligent systems Uniform resource locators Robots

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INFINITE-IMPULSE AND FINITE-IMPULSE RESPONSE FILTERS FOR CONTINUOUS-TIME PARAMETER ESTIMATION

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IFAC Proceedings Volumes 2002年第1期35卷 121-126页

作者： Peter J Gawthrop Liuping Wang Centre for Systems and Control and Department of Mechanical Engineering University of Glasgow Glasgow. G12 8QQ Scotland Centre for Integrated Dynamics and Control Dept. of Electrical and Computer Engineering The University of Newcastle University Drive Callaghan 2308 Australia

This paper examines two classes of algorithms that estimate a continuous time ARX type of models from discrete data: one is based on infinite impulse response (IIR) filters while the other is based on finite impulse response (FIR) filters. The IIR filters use continuous time state variable filters, and discretisation is performed on the filtered derivatives. In contrast, the FIR filters are in a discrete form with carefully chosen coefficients to approximate the derivatives of the continuous time variables. The strength and weakness of each approach are discussed and demonstrated by a set of simulation examples.

关键词： continuous time systems least squares estimation parameter estimation

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Automatic acquisition of object using eigen appearance

Automatic acquisition of object using eigen appearance

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SICE Annual Conference

作者： M. Ashrafuzzaman M.M. Rahman M.M.A. Hashem Shakti Engineering Ltd. Dhaka Bangladesh Dept. of Mechanical and Control Engineering Kyushu Institute of Technology Kitakyushu Japan Bangladesh Institute of Technology Khulna Bangladesh Dept. of Computer Science and Engineering Bangladesh Institute of Technology (BIT) Khulna Bangladesh

ISBN: (纸本)4907764197

Automatic acquisition of an object using model appearance from an environment is proposed in this paper. Robots directly interact with a defined environment in order to extract object shape from its scene. The robot extracts the targeted object's appearance, creating an eigenspace, and stores it into the memory server (or intelligent data carrier). Eigenspace is constructed every time a new object appears, and various appearances are accumulated gradually. A closed sequence of appearances is generated from the accumulated shapes, which is used for object recognition. Experimental results of object accumulation and recognition show the effectiveness of the proposed method.

关键词： Robotics and automation Intelligent robots Shape Layout Data mining Covariance matrix Eigenvalues and eigenfunctions control engineering computer science Robot sensing systems

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LMI based stability analysis and controller design for a class of 2D continuous-discrete linear systems

LMI based stability analysis and controller design for a cla...

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American control Conference (ACC)

作者： K. Galkowski W. Paszke B. Sulikowski E. Rogers D.H. Owens Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland Dept. Electronics and Computer Science University of Southampton Southampton U.K. Dept Automatic Control and Systems Engineering University of Sheffield Sheffield U.K

Differential linear repetitive processes are a distinct class of 2D continuous-discrete linear systems of both applications and systems theoretic interest. In the latter area, they arise, for example, in the analysis of both iterative learning control schemes and iterative algorithms for computing the solutions of nonlinear dynamic optimal control algorithms based on the maximum principle. Repetitive processes cannot be analysed/controlled by direct application of existing systems theory and to date there are few results on the specification and design of control schemes for them. The paper uses an LMI setting to develop the first really significant results in this problem domain.

关键词： Stability analysis control systems Linear systems System testing Iterative algorithms Automatic control Algorithm design and analysis Optimal control control engineering computing Design engineering

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STOCHASTIC APPROACHES TO DYNAMIC NEURAL NETWORK TRAINING. ACTUATOR FAULT DIAGNOSIS STUDY

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IFAC Proceedings Volumes 2002年第1期35卷 53-58页

作者： Krzysztof Patan Thomas Parisini Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Dept. of Electrical Electronic and Computer Engineering DEEI-University of Trieste Via Valeno 10 34127 Trieste Italy

A paper deals with application of stochastic methods for dynamic neural network training. The considered network is composed of dynamic neurons, which contain inner feedbacks. This network can be used as a part of a fault diagnosis system to generate residuals. Up-to-date training algorithms, based on the classical back propagation, suffer from entrapment in local minima of an error function. Two stochastic algorithms are tested as training algorithms to overcome these difficulties. Efficiency of the proposed learning methods is checked using data recorded at Lublin Sugar Factory, Poland.

关键词： Actuators dynamic modelling fault detection learning algorithms neural network models

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IMPLEMENTATION OF CONSTRAINED PREDICTIVE OUTER-LOOP controlLERS: APPLICATION TO A BOILER control SYSTEM

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IFAC Proceedings Volumes 2002年第1期35卷 145-150页

作者： Fernando Tadeo Teresa Alvarez Mike Grimble Ramon Vilanova Departamento de Ingenieria de Sistemas y Automática Facultad de Ciencias. Universidad de Valladolid. 47011 Valladolid Spain Tlf:+34 983 423566 Fax:+34 983 423161 Industrial Control Centre Strathclyde University United Kingdom Automatic Control and Systems Engineering Group Dept. of Computer Science Universitat Autonoma de Barcelona 08193 Bellaterra – Barcelona Spain

关键词： Supervisory control Predictive control

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Vision-guided flight stability and control for micro air vehicles

Vision-guided flight stability and control for micro air veh...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S.M. Ettinger M.C. Nechyba P.G. Ifju M. Waszak Dept. of Electr. & Comput. Eng. Florida Univ. Gainesville FL USA Department of Electrical and Computer Engineering University of Florida Gainesville FL USA Department of Aerospace Engineering Mechanics and Engineering University of Florida Gainesville FL USA Dynamics and Control Branch NASA-Langley Research Center Hampton VA USA

Substantial progress has been made recently towards designing, building and test-flying remotely piloted Micro Air Vehicles (MAVs) and small UAVs. We seek to complement this progress in overcoming the aerodynamic obstacles to flight at very small scales with a vision-guided flight stability and autonomy system, based on a robust horizon detection algorithm. In this paper, we first motivate the use of computer vision for MAV autonomy, arguing that given current sensor technology, vision may be the only practical approach to the problem. We then describe our statistical vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification. Next, we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feedback controller for self-stabilized flight, and report results on vision-based autonomous flights of duration exceeding ten minutes.

关键词： Unmanned aerial vehicles Robust stability Detection algorithms Buildings Testing Aerodynamics computer vision Noise robustness Estimation error Adaptive control

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