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7th International Conference on Electrical and Electronics engineering, ELECO 2011

作者： Song, Zhengui Dimirkovsky, Gyorgyi Zhao, Jun Institute of Integrated Process Automation College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China Departments of Computer Eng. and Control Eng. Faculty of Engineering Dogus University Acibadem Zeamet Sokak 21 Kadikoy TR-34722 Istanbul Turkey Institute of Automation and Systems Eng. Faculty of Electrical Eng. and Info. Technologies SS Cyril and Methodius University Karpos 2 BB MK-1000 Skopje Macedonia

ISBN: (纸本)9786050102048

Robust H∞ output feedback control problem for a class of switched linear discrete-time systems possessing norm-bounded uncertainty and time-varying delay is investigated. A switched dynamic output feedback controller is sought that can robust exponentially stabilize and reduce to a prescribed level the effect of disturbance input on the controlled output in the closed loop. A delay-dependent linear matrix inequality based sufficient condition for the problem to be solvable is derived via the switched Lyapunov functions. controller design is performed by solving a set of linear matrix inequalities. An illustrative example along with simulation results is given to demonstrate the validity of these novel derivations. © 2011 Chamber of Turkish Electric.

关键词： Linear matrix inequalities

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Sliding mode control of switched uncertain linear systems: Designing robust H∞ sliding surface

Sliding mode control of switched uncertain linear systems: D...

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7th International Conference on Electrical and Electronics engineering, ELECO 2011

作者： Lian, Jie Dimirkovsky, Gyorgyi Zhao, Jun Institute of Integrated Process Automation College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China Departments of Computer Eng. and Control Eng. Faculty of Engineering Dogus University Acibadem Zeamet Sokak 21 Kadikoy TR-34722 Istanbul Turkey Institute of Automation and Systems Eng. Faculty of Electrical Eng. and Info. Technologies SS Cyril and Methodius University Karpos 2 BB MK-1000 Skopje Macedonia

ISBN: (纸本)9786050102048

The robust H∞ control problem for a class of uncertain switched linear systems by using the variable structure control is investigated. A robust H∞ single sliding surface is shown to exist as long as a convex combination of the subsystems of the switched system is robustly stabilizable with disturbance attenuation level γ. A switching law is constructed via the single Lyapunov function technique. Variable structure controllers of subsystems are designed so as the resulting closed-loop system guarantees the robust H∞ performance. An illustrative example and simulation results are given to demonstrate the effectiveness of the proposed design method. © 2011 Chamber of Turkish Electric.

关键词： Sliding mode control

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An Anti-Slip Predictive controller for a V-PRA Vehicle

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IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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Robust H∞ control of switched uncertain time-varying delay discrete-time systems via dynamic output feedback

Robust H∞ control of switched uncertain time-varying delay ...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Zhengui Song Gyorgyi Dimirkovsky Jun Zhao Institute of Integrated Process Automation College of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering & Information Technologies Ss Cyril and Methodius University Skopje Macedonia Departments of Computer Engineering & Control Engineering Faculty of Engineering Dogus University Kadikoy Istanbul Turkey

Robust H ∞ output feedback control problem for a class of switched linear discrete-time systems possessing norm-bounded uncertainty and time-varying delay is investigated. A switched dynamic output feedback controller is sought that can robust exponentially stabilize and reduce to a prescribed level the effect of disturbance input on the controlled output in the closed loop. A delay-dependent linear matrix inequality based sufficient condition for the problem to be solvable is derived via the switched Lyapunov functions. controller design is performed by solving a set of linear matrix inequalities. An illustrative example along with simulation results is given to demonstrate the validity of these novel derivations.

关键词： Switches Robustness Output feedback Linear matrix inequalities Switched systems Delay

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Sliding mode control of switched uncertain linear systems: Designing robust H∞ sliding surface

Sliding mode control of switched uncertain linear systems: D...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Jie Lian Gyorgyi Dimirkovsky Jun Zhao Institute of Integrated Process Automation College of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering & Information Technologies Ss Cyril and Methodius University Skopje Macedonia Departments of Computer Engineering & Control Engineering Faculty of Engineering Dogus University Kadikoy Istanbul Turkey

The robust H ∞ control problem for a class of uncertain switched linear systems by using the variable structure control is investigated. A robust H ∞ single sliding surface is shown to exist as long as a convex combination of the subsystems of the switched system is robustly stabilizable with disturbance attenuation level γ. A switching law is constructed via the single Lyapunov function technique. Variable structure controllers of subsystems are designed so as the resulting closed-loop system guarantees the robust H ∞ performance. An illustrative example and simulation results are given to demonstrate the effectiveness of the proposed design method.

关键词： Switches Switched systems Robustness Linear systems Attenuation Uncertain systems

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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Communication related design considerations of WSN-aided Multi-Robot SLAM

Communication related design considerations of WSN-aided Mul...

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International Conference on Mechatronics (ICM)

作者： Gurkan Tuna Kayhan Gulez V. Cagri Gungor Vocational College of Technical Sciences Department of Computer Programming Trakya University Edirne Turkey Electrical-Electronics Engineering Faculty Control and Automation Engineering Department Yildiz Technical University Istanbul Turkey Department of Computer Engineering Bahcesehir University Istanbul Turkey

This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations.

关键词： Wireless sensor networks Robustness Batteries Sensors

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A novel type of trigonometric neural network trained by Extended Kalman Filter

A novel type of trigonometric neural network trained by Exte...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： M. Norouzi M. Mansouri M. Teshnehlab M. Aliyari Shoorehdeli Faculty of Engineering Department of Computer Engineering Science and Research Branch Islamic Azad University Iran Intelligent System Laboratory (ISLAB) Faculty of Electrical Engineering Control Department K.N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering Advanced Process Automation &Control Laboratory (APAC) K.N. Toosi University of Technology Tehran Iran

In this study, a new type of trigonometric neural network is presented by adding frequency and phase to trigonometric activation functions. The proposed trigonometric neural network has more flexibility in comparison with conventional trigonometric neural networks and even other types of neural networks. Due to the low convergence rate and high posibility of trapping in a local minimum of backpropagation algorithm, Extended Kalman Filter algorithm is used to train the neural network's parameters which they appear in a nonlinear form. The Simulation of the suggested neural network based on the prediction of Mackey-Glass time series and identification of a nonlinear dynamic ystem reveals the efficiency of the proposed network. To show the efficiency of this method, the results are compared with the results of the others.

关键词： Biological neural networks Kalman filters Equations Neurons Vectors Covariance matrix Mathematical model

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Wavelet based fault detection, classification and location in existing 500 kV transmission line

Wavelet based fault detection, classification and location i...

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Pairoj Kajoijilertsakul Santi Asawasripongtorn Peerayot Sanposh Jittiwut Suwatthikul Hideaki Fujita Department of Electrical Engineering Faculty of Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Bangkok Thailand Department of Electrical and ElectronicEngineering Tokyo Institute of Technology Tokyo Japan

This paper describes the implementation of Wavelet Transform and Spectral Energy analysis on samples of simulated voltage and current waveforms obtained from PSCAD/EMTDC for each of the all possible fault scenarios in a modeled 500 kV transmission network. The fault detection and classification of each fault scenarios is determined based on results of the voltage and current waveforms analysis in time and wavelet domains. The analysis is carried out including variation in fault types, inception angles and locations with a practically arbitrarily assumed fault duration. The analytical results shows that the described technique is highly dependable and is able to detect and classify different kinds of faults along a transmission line whatever is the fault type, inception angle and location.

关键词： Entropy PSCAD EMTDC Power measurement TV Tin Surges

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Modeling and Simulation of 500 kV Transmission Network for Numerical Fault Calculation, Detection, Using PSCAD/EMTDC

Modeling and Simulation of 500 kV Transmission Network for N...

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IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

This paper presents modeling of the 500 kV transmission line located between Bang-Saphan 2 (BSP2) and Chom-Bung (CBG) substations, Thailand. The network is modeled based on the transient simulation program- PSCAD/EMTDC. The equivalent circuit of BSP2 and CBG is obtained from the actual parameters. The initial condition parameters are verified by PSS/E, an electrical simulation program. After the modeling has been established, a fault analysis is done by using PSCAD/EMTDC in order to study the system response when fault constrains are applied. This paper has illustrated that how the information on the sampled voltage and current waveforms derived from PSCAD/EMDTC modeling and simulation can be used for fault detection, classification and location.

关键词： Integrated circuit modeling Circuit faults PSCAD EMTDC Protective relaying Power transmission lines RLC circuits

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