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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

IFAC Proceedings Volumes 2013年第20期46卷 683-688页

作者： Xiangyu Wang Chunjiang Qian Shihua Li School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering The University of Texas at San Antonio San Antonio TX 78249 USA

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme.

关键词： Output feedback stabilization Nonlinear planar systems Output-dependent growth rates Dual observer Nonlinear gains

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Alternative Resonant controller Design for Uninterruptible Power Supplies (UPS)

Alternative Resonant Controller Design for Uninterruptible P...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Luis Fernando Alves Pereira Fabio Medeiros de Carvalho Jeferson Vieira Flores Department of Electrical Engineering Universidade Federal do Rio Grande do Sul Group of Automation and Control Systems Pontificia Universidade Catolica do Rio Grande do Sul

ISBN: (纸本)9781479902255

The main objective of this paper is to present an alternative procedure to design resonant controllers for Uninterruptible Power Supplies (UPS). With this aim, a set of equations to determine controller gains is proposed based on the desired output response and the parameters of a class of UPS systems. First, the desired closed-loop poles are determined considering the Linear Matrix Inequalities (LMI) framework. Based on the characteristic polynomial representing the desired closed-loop performance and the plant parameters, algebraic conditions are derived to determine the controller gains for a range of UPS parameters and loads. Simulation and experimental results illustrate the effectiveness of the proposed methodology.

关键词： Resonant controller Uninterruptible power systems (UPS) Linear Matrix Inequalities (LMI)

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Anti-windup design with guaranteed stability regions for resonant and repetitive controllers. *

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IFAC Proceedings Volumes 2013年第2期46卷 935-940页

作者： J.V. Flores J. M. Gomes da Silva Jr PUCRS - Group of Automation and Control Systems Av. Ipiranga 6681 90619-900 Porto Alegre-RS Brazil UFRGS - Department of Electrical Engineering Av. Osvaldo Aranha 103 90035-190 Porto Alegre-RS Brazil

This paper addresses the anti-windup synthesis for control loops presenting resonant or repetitive controllers. A linear conditioning anti-windup approach is considered. Provided that the exogenous signals or the initial condition are such that the distance between the control signal provided by the controller and the set of admissible constrained controls is limited in energy, i.e dist ( u lin , ) ε L 2 , the computed anti-windup compensator minimizes the deviation of the actual system output from the ideal output that would be achieved in the absence of saturation. The main theoretical contribution of the paper is therefore the proposition of a systematic method to determine admissible sets of exogenous signals and initial conditions for which the condition dist ( u lin , u) ε L 2 holds when resonant or repetitive controllers are used.

关键词： Anti-windup periodic reference tracking resonant controller repetitive controller

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Target Tracking of Robotic Fish Based on Embedded Vision and CPG Model

Target Tracking of Robotic Fish Based on Embedded Vision and...

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IEEE International Conference on Information and automation

作者： Feihu Sun Junzhi Yu De Xu Ming Wang The State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Information and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

ISBN: (纸本)9781479913329

There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance.

关键词： Embedded vision Central Pattern Generator (CPG) fuzzy logic control robotic fish

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The variable universe fuzzy controller and its application in missile homing guidance law design

The variable universe fuzzy controller and its application i...

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Chinese control Conference (CCC)

作者： Weidong Zhang Xianlin Huang Shiyong Li Xiao-Zhi Gao Center of control theory and guidance technology Harbin Institute of Technology 150000 China Department of control science and technology Harbin Institute of Technology 150000 China Department of Automation and Systems Technology Aalto University School of Electrical Engineering Helsinki 00076 Finland

As to the high-speed and high-maneuver characteristics of the airspace targets, the method of variable universe fuzzy control is applied to convert the guidance law problem to control problem for designing. In the traditional variable universe fuzzy control, the adjustable factor is constructed by the form of artificial mathematical functions. In order to introduce artificial intelligence to make the adjustable factor more to adapt to the characteristics of the system. Through the association with dynamic characteristics of the system, an improved adjustable factor is designed, whose adjustable speed and coordination are enhanced. Through the simulation, we test the capability of the corresponding controllers in guidance law, and the ideal result is achieved.

关键词： Electronic mail Fuzzy control Educational institutions Hafnium Missiles control theory automation

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Takagi-Sugeno fuzzy observer and extended-Kalman filter for adaptive payload estimation

Takagi-Sugeno fuzzy observer and extended-Kalman filter for ...

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Asian control Conference

作者： Selami Beyhan Zsófia Lendek Musa Alcı Robert Babuška Department of Electrical and Electronics Engineering Pamukkale University Denizli Turkey Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Electrical and Electronics Engineering Ege University Bornova Izmir Turkey Delft Center for Systems and Control Delft University of Technology Delft Netherlands

ISBN: (纸本)9781467357661

In this paper, two nonlinear state estimation methods, Takagi-Sugeno fuzzy observer and extended-Kalman filter are compared in terms of their ability to reliably estimate the velocity and an unknown, variable payload of a nonlinear servo system. Using the system dynamics and a position measurement, the velocity and unknown payload are estimated. In a simulation study, the servo system is excited with a randomly generated step input. In real-time experiments, the estimation is performed under feedback-linearizing control. The performance of the TS fuzzy payload estimator is discussed with respect to the choice of the desired convergence rate. The application results show that the Takagi-Sugeno fuzzy observer provides better performance than the extended-Kalman filter with robust and less parameter dependent structure.

关键词： Payloads Observers Servomotors Fuzzy systems Nonlinear systems Real-time systems

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Single intersection signal control based on Type-2 fuzzy logic

Single intersection signal control based on Type-2 fuzzy log...

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IEEE Symposium on Computational Intelligence in Vehicles and Transportation systems (CIVTS)

作者： Yunrui Bi Dipti Srinivasan Xiaobo Lu Zhe Sun Southeast University Nanjing Jiangsu CN Department of Electrical & Computer Engineering National University of Singapore Singapore School of Automation Southeast University Nanjing China National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Single intersection is generally regarded as the elementary unit for solving traffic problem. A Type-2 fuzzy logic controller (T2FLC) for single intersection signal control is presented in this paper as Type-2 fuzzy logic can handle the imprecision, uncertainties and vagueness lying in the dynamic process more efficiently. Furthermore, the membership function parameters of Type-2 fuzzy logic controller are optimized by genetic algorithm (GA). Simulation experiments are designed to compare the queue length and vehicular average delay of Type-2 fuzzy control optimized by GA with general Type-2 fuzzy control, Type-1 fuzzy control and fixed-time control under various types of vehicle arrival rate. Experimental results indicate that our proposed control method can reduce the queue length and vehicular delay at the intersection effectively and thus demonstrates its superiority.

关键词： Vehicles Fuzzy logic Genetic algorithms Delays Optimization Junctions Educational institutions

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Containment control with multiple interacting leaders under switching topologies

Containment control with multiple interacting leaders under ...

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Chinese control Conference (CCC)

作者： Huiyang Liu Long Cheng Min Tan Zengguang Hou Zhiqiang Cao Ming Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing Beijing CN School of Information and Electrical Engineering Shandong Jianzhu University Jinan P.R. China

In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified into two categories: leaders and followers. The containment control problem in this paper is that the leaders converge to a desired formation and the followers move into the convex hull spanned by the leaders' final positions. A sufficient condition for containment control is that the union of the interaction graphs has a spanning tree frequently enough as the system evolves. It is shown that the followers' positions in the convex hull are dynamic due to the switching topology. The theoretical results are illustrated by some simulations.

关键词： Topology Switches Network topology Vectors Multi-agent systems Protocols

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On the achievable capacity of dual-polarized antenna systems in 3D indoor scenarios

On the achievable capacity of dual-polarized antenna systems...

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IEEE International Conference on Communications in China (ICCC)

作者： Fengxiang Wang Xiang Cheng Liuqing Yang Bo Yu Bingli Jiao School of Electronics Engineering & Computer Science Peking University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

Unlike triple-polarized antennas, dual-polarized antennas can be easily implemented into thickness limited devices and thus have received much attention recently. Dual-polarized antennas have the potential to double the channel capacity in comparison with an omnidirectional single-input single-output (SISO) system. However, in real three-dimensional (3D) scenarios, dual-polarized antennas cannot capture the arriving power from the third polarization direction, which is orthogonal to the two-dimensional (2D) polarization plane. This will lead to power loss, which may significantly affect the resultant channel capacity. By proposing a novel two-sphere single-bounced geometry-based stochastic model (GBSM) and rigorously analyzing the change of polarization after single-bounced scattering, this paper studies the impact of the power loss on the channel capacity and specifies the conditions under which the channel capacity of dual-polarized systems is even worse than that of omnidirectional SISO systems. Not only that this is the first endeavor on this subject, but also this work is of practical importance in guiding appropriate deployment of dual-polarized antennas in real 3D indoor scenarios.

关键词： Three-dimensional displays Antennas Channel capacity Vectors Signal to noise ratio Correlation Azimuth

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A data-driven optimal design of point-to-point ILC

A data-driven optimal design of point-to-point ILC

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Chinese control Conference (CCC)

作者： Ronghu Chi Zhongsheng Hou Shangtai Jin Danwei Wang School of Automation & Electronic Engineering Qingdao University of Science and Technology Qingdao Shandong CN Advanced Control Systems Lab School of Electronic & Information Engineering Beijing Jiaotong University Beijing Beijing CN EXQUISITUS Centre for E-City School of Electrical & Electronic Engineering Nanyang Technological University Singapore Singapore SG

This paper presents a new data-driven optimal design framework of point-to-point iterative learning control (PTP-ILC), where the control signal is directly updated from the errors of given multiple intermediate pass points. A major contribution is that the presented optimal PTP-ILC mechanism only uses the real-time measured I/O data without any model information of the plant for the controller design, convergence analysis, and conduction, from which the distinctive `data-driven' feature of the presented approaches is obvious and intuitional. Rigorous mathematical analysis is developed to illustrate the efficiency of the proposed approach.

关键词： Trajectory Robots Convergence Estimation Educational institutions Extraterrestrial measurements

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