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International Workshop on Multidimensional (nD) Systems

作者： L. Hladowski K. Galkowski E. Rogers A. Kummert D.H. Owens Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland University of Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Information and Media Engineering Communication Theory University of Wuppertal Germany Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of 2D systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or 2D systems theory. Here we give the first results on how feedback/feedforward control action can be used to influence one form of controllability for processes with discrete dynamics.

关键词： Linear feedback control systems controllability Integrated circuit modeling control engineering computing Vectors Communication system control computer science Systems engineering and theory State-space methods Multidimensional systems

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Proportional plus integral output control and disturbance rejection for discrete linear repetitive processes

Proportional plus integral output control and disturbance re...

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International Workshop on Multidimensional (nD) Systems

作者： B. Sulikowski K. Galkowski E. Rogers D.H. Owens W. Paszk Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of 2D systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or 2D systems theory. Here we give further results on the relatively open problem of the design of control laws to achieve desired performance and disturbance decoupling in the sense defined in the body of the paper. The control laws are activated only by the process output and do not require access to state information.

关键词： Pi control Proportional control control systems Symmetric matrices Iterative algorithms Stability analysis automatic control control engineering computing computer science Systems engineering and theory

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control of a Class of

Control of a Class of

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IEEE International Symposium on Intelligent control (ISIC)

作者： B. Cichy K. Galkowski E. Rogers D.H. Owens Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland Gerhard Mercator Guest Professor University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of two-dimensional (2D) systems (i.e. information propagation in two independent directions occurs) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or (most often) 2D systems theory. In this paper we define a new model for these processes necessary to represent dynamics which arise in some applications areas and which are not included in the currently used models. Then we proceed to define quadratic stability for this case, obtain conditions for its existence, and also solve the problem of designing a control law to stabilize the process dynamics (including the case when there is uncertainty associated with the defining state space model)

关键词： control systems Iterative algorithms Stability State-space methods Optimal control Linear systems Uncertainty control engineering computing computer science Systems engineering and theory

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H 2 control OF DIFFERENTIAL LINEAR REPETITIVE PROCESSES

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IFAC Proceedings Volumes 2005年第1期38卷 55-60页

作者： Wojciech Paszke Krzysztof Galkowski Eric Rogers David H. Owens University of Zielona Gora Institute of Control and Computation Engineering URL. Podgórna 50 65-246 Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Repetitive processes are a distinct class of two-dimensional systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or two-dimensional (2D) systems theory. Here we give new results on the design of physically based control laws using an H 2 setting. These results are for the sub-class of so-called differential linear repetitive processes which arise in applications areas such as iterative learning control.

关键词： H 2 control differential linear repetitive processes linear matrix inequalities

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Fast norm-optimal iterative learning control for industrial applications

Fast norm-optimal iterative learning control for industrial ...

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American control Conference (ACC)

作者： J. Ratcliffe L. van Duinkerken P. Lewin E. Rogers J. Hatonen T. Harte D. Owens School of Electronics and Computer Science University of Southampton Southampton UK Department of Applied Mathematics Delft University of Technnology Delft Netherlands Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Systems Engineering Laboratory University of Oulu Oulu Finland

Norm-optimal iterative learning control has potential to significantly increase the accuracy of many trajectory tracking tasks which can be found in industry. The algorithm can achieve very low levels of tracking error and the number of iterations required to reach minimal error is small compared to many other iterative learning control algorithms. However, in the current format, the algorithm is not attractive to industry because it requires a large number of calculations to be performed at each sample instant. This implies that control hardware must be very fast which is expensive, or that the sample frequency must be reduced which can result in reduced performance. To remedy these problems, a revised version, fast norm-optimal iterative learning control is proposed which is significantly simpler and faster to implement. The new version is tested both in simulation and in practice on a three axis industrial gantry robot.

关键词： Industrial control control systems Trajectory Iterative algorithms Error correction Frequency Service robots Robotic assembly Systems engineering and theory Hardware

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control of discrete linear repetitive processes with uncertain sampling period and application to a physical example

Control of discrete linear repetitive processes with uncerta...

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International Workshop on Multidimensional (nD) Systems

作者： B. Cichy K. Gatkowski E. Rogers A. Kummert D.H. Owens Insti1tute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Inst. of Control & Comput. Eng. Zielona Gora Univ. Poland School of Electronics and Computer Science University of Southampton Southampton UK Bergische Universität Wuppertal Wuppertal Germany Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper considers the problem of stabilizing an uncertain discrete linear repetitive process where the model uncertainty is a result of the choice of the sampling period. The results obtained are applied to the engineering example of a material rolling process. The required computations to determine the control law are undertaken using LMIs.

关键词： Sampling methods Linear matrix inequalities Symmetric matrices automatic control Process control State-space methods control engineering computing Physics computing Systems engineering and theory computer science

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Task Characterisation and Cross-Platform Programming Through System Identification

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International Journal of Advanced Robotic Systems 2005年第4期2卷

作者： Theocharis Kyriacou Ulrich Nehmzow Roberto Iglesias Steve Billings Department of Computer Science University of Essex United Kingdom Department of Electronics and Computer Science University of Santiago de Compostela Spain Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, it is subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour, based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design *** iterative refinement could be reduced, we argue, if a more profound theoretical understanding of robot-environment interaction existed. In this paper, we therefore present a modelling method that generates a faithful model of a robot's interaction with its environment, based on data logged while observing a physical robot's behaviour. Because this modelling method — nonlinear modelling using polynomials — is commonly used in the engineering discipline of system identification, we refer to it here as “robot identification”.We show in this paper that using robot identification to obtain a computer model of robot-environment interaction offers several distinct advantages:*** compact representations (one-line programs) of the robot control program are *** model can be analysed, for example through sensitivity analysis, leading to a better understanding of the essential parameters underlying the robot's behaviour, *** generated, compact robot code can be used for cross-platform robot programming, allowing fast transfer of robot code from one type of robot to *** demonstrate these points through experiments with a Magellan Pro and a Nomad 200 mobile robot.

关键词： mobile robotics task identification cross-platform programming NARMAX modelling

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Predictive motion control of a mirosot mobile robot

Predictive motion control of a mirosot mobile robot

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Robotics: Trends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Sixth Biannual World Automation Congress, WAC 2004

作者： Wan, Jian Quintero, Christian G. Luo, Ningsu Vehi, Josep Department of Electronics Computer Science and Automatic Control University of Girona Campus Montilivi 17071 Girona Spain

ISBN: (纸本)1889335215

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model.

关键词： Mobile robots

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Nonlinear model predictive control via interval analysis 6

Nonlinear model predictive control via interval analysis

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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Wan, Jian Vehi, Josep Luo, Ningsu Department of Electronics Computer Science Automatic Control University of Girona Campus Montilivi Girona17071 Spain

The optimization problems of nonlinear model predictive control are generally non-convex and their convergence to global optima can hardly be assured. In mis paper, interval analysis is applied to such non-convex optimization problems by taking advantage of its guaranteed numerical nature of global optimization and constraint satisfaction. Simulation result demonstrates the feasibility of applying interval analysis to discrete-time nonlinear model predictive control. Copyright © 2004 IF AC.

关键词： Global optimization

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Adaptive notch filters based on combined parametric and nonparametric approach

Adaptive notch filters based on combined parametric and nonp...

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2004 IFAC Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2004 and IFAC Workshop on Periodic control Systems, PSYCO 2004

作者： Niedzwiecki, Maciej Kaczmarek, Piotr Faculty of Electronics Telecommunications and Computer Science Department of Automatic Control Technical University of Gdańsk ul. Narutowicza 11/12 Gdańsk Poland

The problem of either elimination or extraction of an unknown number of nonstationary complex sinusoidal signals burried in noise is considered. We derive a class of adaptive notch filtering algorithms which can be efficiently (almost transientless) started, or restarted, using the results of local nonparametric, periodogram-based signal analysis. Copyright © 2004 IFAC

关键词： Frequency estimation

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