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RSI/ISM International Conference on Robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Moment Matching Based Model Reduction for LPV State-Space Models

Moment Matching Based Model Reduction for LPV State-Space Mo...

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IEEE Annual Conference on Decision and control

作者： Mert Bastug Mihaly Petreczky Roland Toth Rafael Wisniewski John Leth Denis Efimov Department of Electronic Systems Automation and Control Aalborg University 9220 Aalborg Denmark Department of Computer Science and Automatic Control (UR Informatique et Automatique) Ecole des Mines de Douai 59508 Douai France Department of Electrical Engineering Control Systems Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands Non-A INRIA Lille - Nord Europe Parc Scientifique de la Haute Borne 40 avenue Halley Bat. A Park Plaza 59650 Villeneuve d'Ascq France

ISBN: (纸本)9781479978878

We present a novel algorithm for reducing the state dimension, i.e., order, of linear parameter varying (LPV) discrete-time state-space (SS) models with affine dependence on the scheduling variable. The input-output behavior of the reduced order model approximates that of the original model. In fact, for input and scheduling sequences of a certain length, the input-output behaviors of the reduced and original model coincide. The proposed method can also be interpreted as a reachability and observability reduction (minimization) procedure for LPV-SS representations with affine dependence.

关键词： Reduced order model original model INPUT-OUTPUT Affine In-law Accessibility Moment of force

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Model-based predictive control scheme for cost optimization and balancing services for supermarket refrigeration systems 19

Model-based predictive control scheme for cost optimization ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Weerts, H.H.M. Shafiei, S.E. Stoustrup, J. Izadi-Zamanabadi, R. Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Automation and Control Department of Electronic Systems Aalborg University Aalborg Denmark Danfoss A/S Nordborg6430 Denmark

ISBN: (纸本)9783902823625

A formulation of model predictive control for supermarket refrigeration systems is proposed to facilitate the regulatory power services as well as energy cost optimization of such systems in the smart grid. Nonlinear dynamics existing in large-scale refrigeration plants challenges the predictive control design. It is however shown that taking into account the knowledge of different time scales in the dynamical subsystems makes possible a linear formulation of a centralized predictive controller. A realistic scenario of regulatory power services in the smart grid is considered and formulated in the same objective as of a cost optimization one. A simulation benchmark validated against real data and including significant dynamics of the system is employed to show the effectiveness of the proposed control scheme. © IFAC.

关键词： Electric power system control

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Two-dimensional proximate time-optimal servomechanism

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Australian Journal of electrical and Electronics engineering 2014年第3期11卷 317-326页

作者： Salton, A.T. Zheng, J. Flores, J.V. Lisboa, L.P. Group of Automation and Control Systems Pontificia Universidade Católica do Rio Grande do Sul Porto Alegre Brazil Faculty of Engineering and Industrial Sciences Swinburne University of Technology HawthornVIC Australia Department of Electrical Engineering Universidade Federal do Rio Grande do Sul Porto Alegre Brazil

This paper focuses on the development of a proximate time optimal control method for two-dimensional rigid body systems, eg. XY positioning tables. Our approach is based on the traditional proximate time-optimal servomechanism (PTOS), which starts with a near-time-optimal non-linear controller and then switches to a linear controller as the system output approaches the desired target. This work proposes to expand the PTOS, a unidirectional control law to two-dimensional systems, in order to perform linear point to point trajectories in minimum time. © Institution of Engineers Australia, 2014.

关键词： Linear control systems

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Online Optimal control for VTOL Aircraft System Based on DHP Algorithm 33

Online Optimal Control for VTOL Aircraft System Based on DHP...

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第三十三届中国控制会议

作者： TAN Fuxiao LIU Derong GUAN Xinping The School of Computer and Information Fuyang Teachers College The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences The School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University

ISBN: (纸本)9781479947249

It is well known that vertical take-off and landing(VTOL) aircraft system is a complex multi-variable nonlinear system with large disturbances. In order to control the VTOL aircraft system ef ciently, it is necessary to explore new optimal control methods to stabilize the system states. In this paper, we apply dual heuristic programming(DHP) to design the optimal controller for VTOL aircraft system. As a framework of approximate dynamic programming(ADP) algorithm, DHP consists of three modules: model, critic and actor. The critic module output partial derivatives of cost function with respect to state. It has many advantages such as good dynamics, fast convergence rate, and high control resolution. Simulation and experimental results demonstrate the effectiveness of optimal controller for VTOL aircraft system based on the DHP algorithm.

关键词： VTOL aircraft,Dual heuristic programming,Adaptive critic designs,Optimal control

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An evolving Web service interaction network model

An evolving Web service interaction network model

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2014 International Conference on Applied Mechanics, Mechatronics and Intelligent System, AMMIS 2014

作者： Liu, Yong Kui Zhang, Lin Tao, Fei Wang, Long School of Automation Science and Electrical Engineering Beihang University 100191 Beijing China School of Mechano-electronic Engineering Xidian University 710071 Xi'an China Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China

ISBN: (纸本)9783038351757

With the rapid growth of Web services on the Internet, the atomic Web services as nodes and their functionality dependency relationships as edges form a complex Web service network. Various interactions between Web services can occur along the edges, such as collaboration, competition and substitution, etc. So far, however, there lack of an effective and scalable model for generating Web service interaction networks capturing the aforementioned types of interactions, which hinders the relevant researches such as development of new service composition algorithms and the investigation of evolution mechanisms of service networks. In this paper, we propose a model which is able to generate two types of Web service interaction networks, namely complementary Web service interaction network (CWSIN) and similar Web service interaction network (SWSIN). We show that CWSIN exhibits some of the typical characteristics reported in the previous empirical studies. © (2014) Trans Tech Publications, Switzerland.

关键词： Complex networks

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A Selective Moving Window Partial Least Squares Method and Its Application in Process Modeling

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Chinese Journal of Chemical engineering 2014年第7期22卷 799-804页

作者：徐欧官傅永峰苏宏业李丽娟 Zhijiang College Zhejiang University of Technology State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University College of Automation and Electrical Engineering Nanjing University of Technology

A selective moving window partial least squares(SMW-PLS) soft sensor was proposed in this paper and applied to a hydro-isomerization process for on-line estimation of para-xylene(PX) content. Aiming at the high frequency of model updating in previous recursive PLS methods, a selective updating strategy was developed. The model adaptation is activated once the prediction error is larger than a preset threshold, or the model is kept *** a result, the frequency of model updating is reduced greatly, while the change of prediction accuracy is *** performance of the proposed model is better as compared with that of other PLS-based model. The compromise between prediction accuracy and real-time performance can be obtained by regulating the threshold. The guidelines to determine the model parameters are illustrated. In summary, the proposed SMW-PLS method can deal with the slow time-varying processes effectively.

关键词： SMW-PLS Hydro-isomerizafion process Selective updating strategy Soft sensor

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Forecasting model based on multidimensional moving pattern for a class of complex production process

Forecasting model based on multidimensional moving pattern f...

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11th IEEE International Conference on Mechatronics and automation, IEEE ICMA 2014

作者： Changping, Sun Zhengguang, Xu Qiang, Gao Hang, Yu Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology Tianjin 300384 China School of Electrical Engineering Tianjin University of Technology Tianjin China School of Automation University of Science and Technology Beijing Beijing 100083 China

ISBN: (纸本)9781479939787

For a class of complex production processes, in our previous work, the idea of moving pattern based modeling is proposed. But, in our previous work, the moving pattern is confined to one dimension and the one dimensional moving pattern-based modeling is studied. In this paper, moving pattern is extended to multidimensional case, and a multidimensional moving pattern based forecasting model is proposed. First, the algorithm for constructing multidimensional pattern moving space is proposed. Second, for characterizing pattern class variable quantitatively, the multidimensional interval autoregression model (MIAR) is defined. Third, the proposed MIAR is applied to modeling the movement of pattern class variable in pattern moving space. At last, experimental results are then presented that indicate the validity and applicability of the proposed model. © 2014 IEEE.

关键词： Regression analysis

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Synchronising second-order multi-agent systems under dynamic topology via reference model-based algorithm

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Journal of control and Decision 2014年第3期1卷 214-225页

作者： Jiahu Qin Huijun Gao Tasawar Hayat Fuad E.Alsaadi Department of Automation University of Science and Technology of ChinaHefeiChina Research School of Engineering Australian National UniversityCanberraAustralia Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbinChina Nonlinear Analysis and Applied Mathematics Group King Abdulaziz University(KAU)JeddahSaudi Arabia Faculty of Engineering Department of Electrical and Computer EngineeringKing Abdulaziz UniversityJeddahSaudi Arabia Department of Mathematics Quaid-I-Azam UniversityIslamabadPakistan

This paper revisits the synchronisation problem for second-order multi-agent systems(MASs)under dynamically changing communication *** employing the reference model-based synchronisation algorithm,it is finally shown that synchronisation for both the position and velocity states can be achieved if the union of the communication topologies has a directed spanning tree frequently *** extends the existing results obtained for second-order MASs which exploits mild communication topology condition guaranteeing the synchronisation to a more general *** analysis is successfully performed by exploiting the product properties of row-stochastic matrices,which can also provide us with an estimate the convergence rate towards the synchronisation.

关键词： synchronisation double-integrator agents weakest possible communication topology rate of convergence

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Optimizing Safety Supervisors for Wind Turbines using Barrier Certificates

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IFAC Proceedings Volumes 2014年第3期47卷 11450-11457页

作者： M. Laurijsse R. Wisniewski S. Weiland Department of Electrical Engineering Eindhoven University of Technology Eindhoven The Netherlands Section for Automation & Control Aalborg University 9220 Aalborg East Denmark Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands

To avoid structural damage, a wind turbine is equipped with a safety supervisor that triggers an emergency shutdown procedure in case of internal faults or large wind gusts. This paper leverages the (compositional) barrier certificate framework for the design and optimization of such a supervisor. The problem is formulated as a sum of squares problem and is solved using semi-definite programming. Both a direct and compositional approach are successfully implemented and verified for the NREL 5MW reference turbine. In conclusion, the methods derived in this paper are indeed viable for the syntheses and optimization of safety systems for future wind turbines.

关键词： Safety analysis fault detection barrier certificates compositional safety supervisor wind turbines sum of squares

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