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World Congress on Intelligent control and automation (WCICA)

作者： Jialu Du Chen Guo Rutie Li Li Qing School of Automation and Electrical Engineering Dalian Maritime University Dalian China Laboratory of simulation and Control of Navigation Systems Dalian Maritime University Dalian China

ISBN: (纸本)0780382730

A new nonlinear adaptive control algorithm is proposed for parametric uncertainty ship course nonlinear system. This algorithm incorporates the technique of Nussbaum-type function into backstepping design and does not require a prior knowledge about control directions. In the light of the presented method, we design a nonlinear adaptive ship course-keeping controller and the control law is smooth. It is theoretically proved that the designed adaptive controller guarantees uniform boundedness of all signals in the resulting ship course steering nonlinear system and convergence of the course error to zero. The simulation results for ship "Daqing232" show that the designed controller is effective.

关键词： Programmable control Adaptive control Marine vehicles Backstepping Nonlinear systems Lighting control Uncertainty Algorithm design and analysis Design methodology Signal design

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Nonlinear adaptive ship course tracking control based on backstepping and Nussbaum gain

Nonlinear adaptive ship course tracking control based on bac...

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American control Conference (ACC)

作者： Jialu Du Chen Guo School of Automation and Electrical Engineering Dalian Maritime University Dalian China Laboratory of Simulation and Control of Navigalion Systems Dalian Maritime University Dalian China

A nonlinear adaptive controller combining adaptive backstepping algorithm with Nussbaum gain technique is proposed for ship course tracking steering without a priori knowledge about the sign of control coefficient. It is theoretically proved that the presented adaptive controller guarantees that all signals in the uncertain nonlinear ship motion system is uniform bounded and the output of the controlled uncertain nonlinear ship motion system asymptotically tracks the output of the ship course reference model. The results of simulation for two ships' steering models show that the designed controller can be properly adopted to the ship course tracking with good compatibility.

关键词： Programmable control Adaptive control Marine vehicles Backstepping Nonlinear control systems Motion control Navigation control systems Robust control Communication system control

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Unified, periodic & sampled data H/sub /spl infin// control using the delta operator

Unified, periodic & sampled data H/sub /spl infin// control ...

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IEEE Conference on Decision and control

作者： B. Lennartson R. Middleton A.-K. Christiansson Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden Complex Dynamic Systems & Control School of Electrical Engineering & Computer Science University of Newcastle Callaghan NSW Australia University of Trollhättan/Uddevalla Trollhattan Sweden

A unified and general framework is presented for H/sub /spl infin// control of mixed continuous-time and discrete-time time-varying (periodic) systems. Using the delta operator, a close relationship is shown between the continuous- and discrete-time solutions. No assumptions are made on certain system matrices being zero or normalized, which makes the approach general and easy to apply. A combined continuous/discrete-time lifting procedure is shown to be useful, especially for ill-conditioned systems. This procedure together with the delta formalism results in a numerically robust design method concerning both short and long sampling periods for systems with W-conditioned dynamics, including widely spread eigenvalues.

关键词： control systems Sampling methods Riccati equations Automatic control Robustness Design methodology Eigenvalues and eigenfunctions Differential equations automation Laboratories

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Petri net-based design of modular supervisors for remotely human control systems

Petri net-based design of modular supervisors for remotely h...

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SICE Annual Conference

作者： Jin-Shyan Lee Meng-Chu Zhou Pau-Lo Hsu Department of Electrical & Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Electrical & Computer Engineering New Jersey Institute of Technology Newark NJ USA Laboratory of Complex Systems & Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)4907764227

In an Internet-based control system, particular human operations may violate desired requirements and lead to destructive failure. For such human-in-the-loop systems, this paper extends the remote supervisory scheme by Lee and Hsu (2003) to a modular one so as to reduce the supervisor synthesis complexity. Also, remote human issued commands are guaranteed to meet required specifications. A rapid thermal process in semiconductor manufacturing systems is provided to show the practicability of the proposed approach.

关键词： Humans control systems Supervisory control Automatic control Internet control system synthesis Rapid thermal processing Error correction control engineering Intelligent systems

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Low order sampled data H/sub /spl infin// control using the delta operator and LMIs

Low order sampled data H/sub /spl infin// control using the ...

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IEEE Conference on Decision and control

作者： B. Lennartson R. Middleton A.-K. Christiansson T. McKelvey Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden Complex Dynamic Systems & Control School of Electrical Engineering & Computer Science University of Newcastle Callaghan NSW Australia University of Trollhättan/Uddevalla Trollhattan Sweden Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

A procedure for H/sub /spl infin// optimization of low order controllers for discrete-time and sampled-data systems is presented in this paper. Generally, low order H/sub /spl infin// controllers may be achieved by solving bilinear matrix inequalities (BMIs). In this paper an iterative alternation between two LMIs gives a suboptimal solution. To avoid local minima in this search the initial controller is obtained by a frequency weighted controller reduction scheme, where the closed loop properties of a full order controller is taken into account. A minimal number of parameters in the state space realization of the controller also reduces the complexity and improves numerical robustness. The complete presentation is based on delta operator models, which shows a close relationship between the continuous- and discrete-time solutions. The sensitivity of the ordinary discrete-time shift operator LMI formulation to small sampling periods is also analyzed.

关键词： control systems Linear matrix inequalities Sampling methods Automatic control Frequency Weight control Robust control Signal processing State-space methods Robustness

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Optimizing the structure of hierarchical mixture of experts using genetic algorithms

Optimizing the structure of hierarchical mixture of experts ...

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International IEEE Conference on Intelligent systems, IS

作者： D.A. Karras C.E. Vlitakis Y.S. Boutalis B.G. Mertzios Chalkis Institute of Technology Department Automation and Hellenic Open University Athens Greece Department Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Thessdoniki Institute of Technology Laboratory of Automatic Control Systems Thessaloniki Hellas and Democritus University Xanthi Greece

This study is an effort to give a practical solution in the problem of optimizing the structure of the hierarchical mixture of experts model, which is a natural extension of the associative Gaussian mixture of experts system. We present two novel methods for optimizing such structures using genetic algorithms. Special concern is taken for reducing the computational time so as to efficiently allow the structure to "grow" while it evolves with the genetic algorithm. The main contribution of the paper lies on the efficient, topologically oriented, representations of such architectures so as to be optimized through involving genetic algorithms.

关键词： Genetic algorithms Biological cells Optimization methods Neural networks Classification tree analysis automation Decision trees Expert systems Computer architecture Supervised learning

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Optimizing simultaneously over the numerator and denominator polynomials in the Youla-Kucera parametrization

Optimizing simultaneously over the numerator and denominator...

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IEEE Conference on Decision and control

作者： D. Henrion V. Kucera A. Molina-Cristobal LAAS CNRS Toulouse France Institute of Information Theory and Automation Academy of Sciences of Czech Republic Prague Czech Republic Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Traditionally, when approaching controller design with the Youla-Kucera parametrization of all stabilizing controllers, the denominator of the rational parameter is fixed to a given stable polynomial, and optimization is carried out over the numerator polynomial. In this work, we revisit this design technique, allowing to optimize simultaneously over the numerator and denominator polynomials. Stability of the denominator polynomial, as well as fixed-order controller design with H/sub /spl infin// performance are ensured via the notion of a central polynomial and LMI conditions for polynomial positivity.

关键词： Polynomials Design optimization Stability control systems Transfer functions Centralized control Information theory automation MIMO Linear matrix inequalities

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Robust H 2 Filtering for Uncertain Nonlinear systems

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IFAC Proceedings Volumes 2004年第21期37卷 509-514页

作者： C.E. de Souza D.F. Coutinho K.A. Barbosa A. Trofino Department of Systems and Control Laboratório Nacional de Computação Científica - LNCC Av. Getúlio Vargas 333 25651-075 Petrópolis RJ Brazil. Department of Electrical Engineering Pontifícia Universidade Católica - RS Av. Ipiranga 6681 90619-900 Porto Alegre RS Brazil. Department of Automation and Systems Universidade Federal de Santa Catarina PO Box 476 88040-900 Florianópolis SC Brazil.

This paper addresses the design of robust H 2 filters for a class of nonlinear systems subject to uncertain parameters belonging to a given polytope. The nonlinear system is represented by differential-algebraic equations where the system matrices are allowed to be rational functions of the state and uncertain parameters. Linear matrix inequality conditions based on a parameter-dependent Lyapunov function are proposed to design a robust linear filter which ensures an optimized upper-bound on the worst-case asymptotic estimation error variance.

关键词： Robust H 2 filtering nonlinear systems uncertain systems parametric Lyapunov functions

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Improving tracking performance on disturbance-rejection controllers 2

Improving tracking performance on disturbance-rejection cont...

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2nd IFAC Conference on control systems Design, CSD 2003

作者： Vrancic, Damir Strmcnik, Stanko Huba, Mikulas Stefan Institute Department of Systems and Control Jamova 39 LjubljanaSI-1000 Slovenia Department of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak Technical University BratislavaSK-81219 Slovakia

Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on reference tracking. The only way to decrease overshoot is to use two-degrees-of-freedom (2-DOF) controllers. Unfortunately, reducing the overshoot usually results in slower tracking response when using some of the most common 2-DOF controller structures. This paper suggests using additional first-order filter on the set-point of the PI controller in order to improve tracking performance. The calculation of compensator's parameters is straightforward and can be easily performed in practice. Several examples confirmed the efficiency of the proposed approach. © 2003 IFAC.

关键词： controllers

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Composite systems control by combined math-analytical and FS/NN computing approach 3

Composite systems control by combined math-analytical and FS...

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3rd IFAC Workshop on Automatic systems for Building the Infrastructure in Developing Countries, DECOM-TT 2003

作者： Dimirovski, Georgi M. Jing, Yuan-Wei Zhao, Jun Zhang, Si-Ying Dogus University Department of Computer Engineering Faculty of Engineering Acibadem Kadiköy IstanbulTR-34722 Turkey SS Cyril and Methodius University Institute of Automation and Systems Eng Faculty of Electrical Engineering SkopjeMK-1000 Macedonia Northeastern University Institute of Control Science School of Information Science and Eng. Shenyang Liaoning China

A control systems engineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systems engineering. Copyright © 2003 IFAC.

关键词： Fuzzy systems

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