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Mediterranean Conference on control and automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic B. Tovornik Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Maribor Slovenia

Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided

关键词： Automatic control Underwater vehicles Payloads control systems Remotely operated vehicles Three-term control Nonlinear control systems Employee welfare control engineering computing Nonlinear systems

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Measured disturbance estimation for model predictive controller

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Mediterranean Journal of Measurement and control 2006年第3期2卷 144-151页

作者： Kulcsar, Balazs Bokor, J. Department of Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents the Model Predictive controller design process when an unknown input observer provides measured disturbance form unmeasured one. Instead of using an unmeasured disturbance dynamic implemented into the controller, the joint observer-controller uses the estimated measured exogenous disturbance signal. Furthermore the observer can send an alarm sign to the supervisor. The detection and isolation of the unmeasured disturbance is computed by the geometric based strategy called Fundamental Problem in Residual Generation. Better the estimation of the disturbance is, better the rejection of the controller. The measured disturbance could be anticipated. A numerical example explains the effectiveness of the estimation and the usage of the unmeasured disturbance detection. Copyright © 2006 SoftMotor Ltd.

关键词： Predictive control systems

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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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Implementation of Industrial Robot Force control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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Delay-dependent stability of 2D state-delayed linear systems

Delay-dependent stability of 2D state-delayed linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： W. Paszke J. Lam K. Galkowski Shengyuan Xu E. Rogers A. Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Department of Mechanical Engineering University of Hong Kong Hong Kong China Department of Automation Nanjing University of Science and Technology of PLA Nanjing China Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK

This paper addresses the problem of stability for two-dimensional systems with delays in the state. To solve this problem, the Lyapunov second method is used. The resulting condition is written in terms of linear matrix inequalities and it is dependent on the size of delays. This fact allows us to reduce the conservatism in the stability analysis of two-dimensional systems with state delays. A simulation example is given to illustrate the theoretical developments

关键词： Stability Linear systems Delay systems Symmetric matrices control systems Linear matrix inequalities Delay lines Automatic control control engineering computing Mechanical engineering

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

关键词： Earthquake sliding mode control structural systems vibration control

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Experimental investigations of a direct adaptive neurofuzzy controller

Experimental investigations of a direct adaptive neurofuzzy ...

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2005 IEEE International Conference on control Applications, CCA

作者： Nyarko, Emmanuel K. Perić, Nedjeljko Petrović, Ivan Department of Automation and Process Control Faculty of Electrical Engineering University of Osijek 31000 Osijek Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb 10000 Zagreb Croatia

ISBN: (纸本)0780393538

The control of dynamical systems with inherent non-linear characteristics has motivated research in non-linear control theory. Two main approaches to dealing with uncertainties in control systems design are adaptive and robust control. In this paper, discrete direct adaptive control of unknown non-linear SISO systems is considered. The controller is implemented using a fuzzy neural network. The control concept is tested on a laboratory pilot plant and compared to a standard discrete FED Takahashi controller. © 2005 IEEE.

关键词： Adaptive control systems

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Windows XP issues for real-time temperature monitoring

Windows XP issues for real-time temperature monitoring

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IMTC'05 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference

作者： Marcu, Marius Moldovan, Horatiu Zilahi, Mihai Tomescu, Victor Ionas, Mihai Department of Computer and Software Engineering Politehnica University of Timisoara Faculty of Automation Control and Computer Science 2 V. Parvan Timisoara Romania

ISBN: (纸本)0780388798

Windows operating systems (NT, 2000, XP, 2003) were not designed for real-time and time-critical applications. But, due to the market requirements, many of the monitoring and control applications are to use Windows NT based operating systems. One of the most important parameter in almost all applications is temperature. Therefore, this article addresses the problem of temperature monitoring using a non real-time operating system, like Windows. A number of three solutions for thermal sensors connecting to PC's interfaces are presented. © 2005 IEEE.

关键词： Real time systems

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PCB testing using infrared thermal signatures

PCB testing using infrared thermal signatures

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IMTC'05 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference

作者： Moldovan, Horatiu Marcu, Marius Vladutiu, Mircea Department of Computer and Software Engineering Politehnica University of Timisoara Faculty of Automation Control and Computer Science Postal Address 2 V. Parvan Timisoara Romania

ISBN: (纸本)0780388798

A Printed Circuit Board (PCB) testing method using infrared thermal signatures is presented. The concept of thermal signature for PCBs is introduced. Based on this concept, the testing method is able to classify the integrated circuits (ICs) on a PCB into a number of classes (e.g. functional - fault free, non-functional - faulty and less reliable - functional circuits with high current consumption). According with thermal signature of each IC on the PCB, the PCBs can be also classified in the same number of classes. The classification system is a feed-forward neural network that learns and classifies the information achieved from the infrared image. © 2005 IEEE.

关键词： Printed circuit boards

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Experimental investigations of a direct adaptive neurofuzzy controller

Experimental investigations of a direct adaptive neurofuzzy ...

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IEEE Conference on control Technology and Applications (CCTA)

作者： E.K. Nyarko N. Peric I. Petrovic Department of Automation and Process Control Faculty of Electrical Engineering University of Osijek Osijek Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

关键词： Programmable control Adaptive control control systems Nonlinear control systems control theory Uncertainty Adaptive systems Robust control Fuzzy neural networks Fuzzy control

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