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Multiple models adaptive feedforward decoupling controller

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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ROBUST STABILITY ANALYSIS OF LINEAR SYSTEMS WITH TIME-VARYING DELAYS

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IFAC Proceedings Volumes 2005年第1期38卷 173-178页

作者： C.-Y. Kao A. Rantzer Dept. of Electrical and Electronic Engineering University of Melbourne Parkville 3010 Victoria Australia Dept. of Automatic Control Lund Institute of Technology 22100 Lund Sweden

Robust stability of linear systems in presence of bounded uncertain time-varying time delays is studied. The time delay robustness problem is treated in the Integral Quadratic Constraint (IQC) framework. The stability criterion is formulated as frequency dependent linear matrix inequalities. The criterion can be equivalently formulated as a Semi-Definite Program (SDP) by applying Kalman-Yakubovich-Popov (KYP) lemma. Therefore, checking the criterion can be done efficiently by using various SDP solvers.

关键词： Time delay Robust stability Stability analysis Linear system

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Modelling of needle insertion forces for surgical simulation

Modelling of needle insertion forces for surgical simulation

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IEEE International Conference on Mechatronics and Automation, ICMA 2005

作者： Yang, Hua Liu, Peter X. Zhang, Jiadong Dept. of Systems and Computer Engineering Carleton University Ottawa Ont. K1S 5B6 Canada School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China

ISBN: (纸本)0780390458

A novel force model for needle insertion into soft tissues has been developed for virtual reality and haptics based simulation of percutaneous therapies. The forces are divided into two parts, stiffness force and friction force, for which a blood vessel model is used in order to improve the realism. The validity of the developed model is confirmed by a comparison between the results from the developed model and those derived from real data. © 2005 IEEE.

关键词： Computer simulation

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Design of RBF neural controller with differencial reconstruction and PID conpensation for a class of nonlinear system with linear input unmodeled dynamics

Design of RBF neural controller with differencial reconstruc...

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2005 International Conference on Neural Networks and Brain Proceedings, ICNNB'05

作者： Xinyu, Wang Junwei, Lei Hongyun, Yu Institute of Science and Technologyfor Opto-electronic Information Yantai University Yantai 264001 China Dept. of Automatic Control Engineering Naval Aeronautical Engineering Academy Yantai 264001 China School of Mathematics Andinformation Yantai Normal University 264001 China

ISBN: (纸本)0780394224

Considered both the situation with unknown control function matrices and the situation with linear unmodeled input dynamics, adaptive neural robust controller was designed by using adaptive backstepping method for a class of multi-input to multi-output nonlinear systems which could be turned to "standard block control type", Furthermore, It is possible to make the network more stable and make the selection of simulation parameter more easy due to the introduction of differential reconstruction which increased the damp of the system. It was proved by constructing Lyapunov function step by step that all signals of the system are bounded and exponentially converge to the neighborhood of the origin globally. Finally, simulation study is given to demonstrate that the proposed method is effective and the known information of system was made use of as maximally as possible by introducing the PID control.. © 2005 IEEE.

关键词： Radial basis function networks

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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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Design and implement the stimuli capsule at in-vitro experiment

Design and implement the stimuli capsule at in-vitro experim...

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TENCON 2005 - 2005 IEEE Region 10 Conference

作者： Woo, S.H. Yoon, K.W. Lee, J.H. Moon, Y.K. Won, C.H. Kim, T.W. Choi, H.C. Cho, J.H. School of Electronic Engineering and Computer Science Kyungpook National University Korea Republic of Department of Computer Control and Electrical Engineering Kyungil University Korea Republic of College of Veterinary Medicine Dept. of Physiology Kynugpook National University Advanced Research Center for Recovery of Human Sensibility Kyungpook National University Korea Republic of

ISBN: (纸本)0780393112

Recently, the capsule endoscope has been developed to observe image from the inside intestine. Such a capsule endoscope does not have locomotion or hold by it self. To get proper diagnosis and meditation, it is necessary to control capsule from outside to enable to guide locomotion. The designed and implemented capsule has feasibility to contracts the small intestine by electrical stimulus from stimulus pad. When the small intestine is contracted by electrical stimulus, the capsule can move to opposite direction which can boost moving speed of the capsule or change moving direction. The implemented stimuli capsule always monitors excessive energy transmit and automatically shut down electrical stimuli to make more secure. Also the stimuli capsule goes to stand by mode to save battery, and reset by comparator circuit which is connected to two stimulus pad. To verify the design and implement stimuli capsule, in-vitro experiments are performed with pig's small intestine.

关键词： Medical imaging

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Study on the detection of infrared small dim targets based on DMMFs

Study on the detection of infrared small dim targets based o...

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International Conference on Space Information Technology

作者： Li, Tao Zhang, Jian Zhang, Caifang Xie, Yubo Key Laboratory of Education Huazhong University of Science and Technology Ministry for Image Processing and Intelligent Control 430074Hubei China School of Information and Electrical Engineering Hunan University of Science and Technology Xiangtan Hunan 411201 China Dept. of Electronic and Information Engineering Huazhong University of Science and Technology Wuhan 430074Hubei China

ISBN: (纸本)0819460079

This paper presents an effective method to detect small and dim infrared image target under complex background, which is performed in spatial domain. Roughly speaking, the new method contains two steps. The first step is further divided into two steps (called difference between maximum and minimum filters, DMMFs): firstly, an original image is filtered by maximum (max) and minimum (min) filters based on the considering max filter can enhance the target and preserve the background while min filter can eliminate the target and also preserve the background;and then the difference between these two results is obtained, therefore the target is enhanced and its background is suppressed at the same time. To obtain an accurate location of the target, the second step called post processing involves local feature mapping and projecting techniques. This DMMF method focuses on reducing the cost of computation, tracking the target in real-time, enhancing the SNR, and suppressing its background clutter. The simulation results show that the proposed algorithm is effective and practical.

关键词： Infrared imaging

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Transient stability improvement by fuzzy logic-controlled braking resistor

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International Journal of Power and Energy Systems 2005年第3期25卷 143-149页

作者： Ali, M.H. Soma, Y. Murata, T. Tamura, J. Department of Electrical and Electronic Engineering Kitami Institute of Technology 165 Koen-cho Kitami Hokkaido 090-8507 Japan EEE Dept. RUET Bangladesh JSPS Post-doctoral Fellowship Program Kitami Institute of Technology Japan IEB Japan IEE of Japan Japan IEEE Power Engineering Society Taiwan Japan Technical Software Corporation Japan Kitami Institute of Technology Japan IEE of Japan Society of Instrument and Control Engineers Japan Kitami Institute of Technology Japan

The authors present the results of analyses about transient stability augmentation by the fuzzy logic-controlled braking resistor. Following a major disturbance in electric power systems, variable rotor speed of the synchronous generator is measured, and then the current through the braking resistor is controlled by the firing-angle of the thyristor switch, which is controlled by the fuzzy logic. Thus, the braking resistor controls the accelerating power in generators and makes the system transiently stable. Simulations are performed by using EMTP (Electro-Magnetic Transients Program). Through the simulation results of both balanced (3LG: Three-phase-to-ground) and unbalanced (2LG: Double line-to-ground;2LS: Line-to-line;and 1LG: Single line-to-ground) faults, the effectiveness of the fuzzy controlled braking resistor is demonstrated and the optimal conductance value of the braking resistor in enhancing the transient stability is investigated.

关键词： Fuzzy sets

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ROBUST NEURAL IDENTIFICATION OF robotIC MANIPULATORS USING DISCRETE TIME ADAPTIVE SLIDING MODE LEARNING

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IFAC Proceedings Volumes 2005年第1期38卷 336-341页

作者： Andon V. Topalov Okyay Kaynak Department of Electrical and Electronic Engineering Mechatronics Research and Application Center Bogazici University Bebek 34342 Istanbul Turkey On leave from Control Systems Dept. TU Sofia br. Plovdiv 4000 Plovdiv Bulgaria

The problem of identification of uncertain nonlinear systems using feedforward neural networks is investigated. The weights of the neural identifier are updated on-line by a discrete-time learning algorithm based on the sliding mode control technique, which is well known with its robustness to uncertainties. The learning parameters are adjusted to force the error between the actual and desired neural network outputs to satisfy a stable difference error equation and a quasi-sliding mode on the zero learning error is established. The behaviour of the proposed discrete-time algorithm is illustrated by using it for the neural identification of an experimental robotic manipulator. The results show that the neural model inherits some of the advantages of the sliding mode control approach, such as high speed of learning and robustness, and is able to follow the actual robot joint trajectories with a high accuracy.

关键词： Variable-structure systems Neural-network models Learning algorithms robotic manipulators Identification algorithms

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A unified approach to detecting crosstalk faults of interconnects in deep sub-micron VLSI

A unified approach to detecting crosstalk faults of intercon...

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Proceedings of the Asian Test Symposium, ATS'04

作者： Li, Katherine Shu-Min Lee, Chung Len Su, Chauchin Chen, Jwu E. Dept. of Electronic Engineering National Chiao Tung Univ. Hsinchu Taiwan Dept. of Electronic Control National Chiao Tung Univ. Hsinchu Taiwan Dept. of Electronic Engineering National Central University Chung-Li Taiwan

The crosstalk fault effects in deep sub-micron VLSI, namely, glitches and the crosstalk-induced delay, are investigated. The origin of their occurrence, relationship and importance in circuit operation are elucidated. It is shown that the crosstalk-induced delay is only superposition of the induced glitch with the original signal delay on the affected victim line;and crosstalk-induced delay is more important in affecting the circuit performance, and should be considered in more details for testing. A scheme which is to detect both types of faults in a unified way by just detecting glitches is proposed and studied considering the manufacture process variation. In this way, detection of crosstalk-induced faults becomes much easier.

关键词： VLSI circuits

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