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3rd International Conference on Innovative Computing Information and Control, ICICIC'08

作者： Wang, Jianfei Jiang, Bin Shi, Peng Wang, Hankang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Computer Science VII: Robotics and Telematics Universtity of Würzburg 97074 Würzburg Germany

ISBN: (纸本)9780769531618

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods. © 2008 IEEE.

关键词： Fault detection

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Modelling and identification of a small unmanned aerial vehicle

Modelling and identification of a small unmanned aerial vehi...

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作者： Soumelidis, Alexandres Gaspar, Péter Bauer, Péter Balas, Gary Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences Kende st 13-17 Budapest H-1111 Hungary Dept. of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Bertalan Lajos st 2 Budapest H-1111 Hungary Dept. of Aerospace Engineering and Mechanics Institute of Technology University of Minnesota 110 Union st SE Minneapolis MN 55455-0153 United States

ISBN: (纸本)9789633130117

The field of Unmanned Aerial Vehicles (UAV) has gained great significance in the R&D activities of several institutions, and numerous realizations have been constructed. Controlling the movement of a UAV is one of the most significant tasks in the hierarchical control system that should be realized in order to successfully manage UAVs in several missions. Precise control of the movement requires accurate mathematical models of the aircraft that correspond to the several control schemes that are intended to apply, including linearised, LPV, and nonlinear ones. The source of mathematical models includes the physical model constructed on the basis of the Newtonian equations and the rules of aerodynamics, as well as the use of empirical observations, measurements. The methodology of system identification offers the tools that can be used to manage this field. The Systems and Control Laboratory of the computer and automation Research Institute in cooperation with University of Minnesota and Budapest University of Technology and Economics has built - as a part of a more general framework established to solve complex UAV control problems - small UAVs, equipped with on-board sensors and embedded computer with the purpose of obtaining an adequate test platform for the aircraft experiments. Based on on-board measurements acquired during the flight tests performed with the UAVs, the opportunity has been given to test several system identification approaches corresponding to the control tasks to be solved. This paper gives an outline of the system identification and modelling methods that have successfully been applied, and also analyzes the problems encountered in the data-acquisition - signal processing - computing chain.

关键词： Unmanned aerial vehicles (UAV)

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Real-Time Level Plant Control Using Improved BELBIC

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IFAC Proceedings Volumes 2008年第2期41卷 4631-4635页

作者： M. Masoudinejad R. Khorsandi A. Fatehi C. Lucas S. Fakhimi Derakhshan M.R. Jamali Advanced Process Automation & Control (APAC) Research Group Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Center of Excellence for Control and Intelligent Processing Electrical and Computer engineering Department University of Tehran Iran

Brain emotional learning based intelligent controller (BELBIC) is based on computational model of limbic system in the mammalian brain. In recent years, this model was applied in many linear and nonlinear control applications. Previous studies show that this controller has fast response, simple implementation and robustness with respect to disturbances. It is also possible to define emotional signal based on control application objectives. But in the previous studies, internal instability of this controller was not considered and control task were done in limited time period. In this article mathematical description of BELBIC is investigated and improved to avoid internal instability. Simulation and implementation of improved model was done on level plant. The obtained results showed that instability of model has been solved in the new model without loss of performance by using Integral Anti Windup (IAW).

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Robust Control of Uncertain Switched Delay Systems: a Sliding Mode Control Design

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IFAC Proceedings Volumes 2008年第2期41卷 9882-9887页

作者： Jie Lian Georgi M. Dimirovski Jun Zhao Key Laboratory of Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang 110004 P. R. of China Department of Information Engineering Research School of Information Sciences and Engineering The Australian National University Canberra ACT 0200 Australia Dapartment of Computer Engineering Faculty of Engineering Dogus University Kadikoy TR-34722 Istanbul Turkey

This paper investigates the robust sliding mode control problem for a class of uncertain switched delay systems. A single sliding surface is constructed such that the reduced-order equivalent sliding motion restricted to the sliding surface is completely invariant to all admissible uncertainties. For the cases of known delay and unknown delay, the existence conditions of the sliding surface are proposed, respectively. The corresponding hysteresis switching laws are designed to asymptotically stabilize the sliding motion. Furthermore, variable structure controllers are developed to drive the state of the switched system to reach the single sliding surface in finite time and remain on it thereafter. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.

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Stabilizability of Uncertain Switched Systems via Static/Dynamic Output Feedback Sliding Mode Control

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IFAC Proceedings Volumes 2008年第2期41卷 8624-8629页

作者： Jie Lian Georgi M. Dimirovski Jun Zhao Key Laboratory of Integrated Automation of Process Industry Ministryof Education Northeastern University Shenyang 110004 P. R. of China Dapartment of Computer Engineering Faculty of Engineering Dogus University Kadikoy TR-34722 Istanbul Turkey Department of Information Engineering Research School of Information Sciences and Engineering The Australian National University Canberra ACT 0200 Australia

The output feedback stabilizability problem of a class of uncertain switched systems is investigated using sliding mode control and a synthesis design solution derived. Firstly, a common sliding surface is constructed such that the system restricted to the sliding surface is asymptotically stable and completely invariant to matched and mismatched uncertainties under arbitrary switching. Secondly, static and dynamic output feedback variable structure controllers are designed that can drive the state of the switched system to reach the common sliding surface in finite time and remain them thereafter. A illustrative example is given to demonstrate the effectiveness of the proposed method.

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Adaptive Observer Based Actuator Fault Diagnosis for ASV

Adaptive Observer Based Actuator Fault Diagnosis for ASV

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International Conference on Innovative Computing, Information and Control (ICICIC)

作者： Jianfei Wang Bin Jiang Peng Shi Hankang Wang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Faculty of Advanced Technology University of Glamorgan Pontypridd UK Department of Computer Science VII: Robotics and Telematics University of Wurzburg Wurzburg Germany

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the Lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods.

关键词： Fault diagnosis Actuators Observers Estimation Algorithm design and analysis Robustness Adaptive systems

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Model predictive control in urban traffic network management

Model predictive control in urban traffic network management

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Mediterranean Conference on Control and automation (MED)

作者： T. Tettamanti I. Varga B. Kulcsar J. Bokor Faculty of Transportation Engineering Bertalan L u Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The paper investigates a model predictive control (MPC) strategy specialized in urban traffic management in order to relieve traffic congestion, reduce travel time and improve homogenous traffic flow. Over the theory the realization of the control method is also presented. To validate the effectiveness of the controller a busy traffic network was chosen for test field. The MPC strategy was implemented into the test network control system (hardware in loop simulation). The applied environment is a microscopic traffic simulator with mathematical software and proper computational applications for the evaluation. The simulation results prove the effectiveness of the designed MPC based traffic control strategy. The system is able to improve the network efficiency and reduce travel time, creating optimal flow in the network subjected to control input constraints.

关键词： automation Conferences

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A dominator path scheduler for deep pipeline architectures

A dominator path scheduler for deep pipeline architectures

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International Symposium on Intelligent Systems and Informatics (SISY)

作者： Aleksandar Simeonov Slavica Medic Miroslav Popovic Micronas NIT Limited Liability Company Novi Sad Serbia Faculty of Technical Sciences General Department Chair for Mathematics University of Novi Sad Novi Sad Serbia Department of Computing and Automation Chair of Computer Engineering Novi Sad Serbia

There are many different instruction scheduling techniques that are used in compilers today. The most frequently used one is the list scheduling. It is easy to implement and gives good results in most cases. It works on the basic block level. According to Fisher and Rau instruction level parallelism that can be achieved using this technique cannot be greater then 2. Architectures with deep pipeline can run much more instructions in the same cycle and global scheduler techniques can give better results. In our tests we used a dominator path scheduler with three different strategies for choosing the scheduling paths. Our application encoded sound to the mp3 format, and was run on a digital signal processor with a deep pipeline. Using these scheduling techniques, our C compiler generated 10% fewer NOP instructions compared to local instruction scheduling. In addition, this implementation of a dominator path scheduler was used on a C compiler for SUN Sparc processors (for testing purposes only), and it was shown that the same implementation of the scheduler can be used for different platforms.

关键词： Pipelines Processor scheduling Testing computer aided instruction Sun History computer architecture Mathematics automation Parallel processing

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Model-based nonlinear optimal blood glucose control of Type I diabetes patients

Model-based nonlinear optimal blood glucose control of Type ...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Levente Kovacs Balazs Kulcsar Jozsef Bokor Zoltan Benyo Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University Delft Netherlands Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

Using induced L 2 -norm minimization, a robust controller was developed for insulin delivery in Type I diabetic patients. The high-complexity nonlinear diabetic patient Sorensen-model [1] was considered. LPV (Linear Parameter Varying) methodology was used to develop open loop model and robust controller. Considering the normoglycemic set point (81.1 mg/dL), a polytopic set was created over the physiologic boundaries of the glucose-insulin interaction of the Sorensen-model. In this way, LPV model formalism was defined. The robust control was developed considering input and output multiplicative uncertainties with other weighting functions.

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Adaptive Synchronization for a Class of Complex Delayed Dynamical Networks

Adaptive Synchronization for a Class of Complex Delayed Dyna...

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2008 American Control Conference (ACC), vol.12

作者： Wei-Song Zhong Georgi M. Dimirovski Jun Zhao Key Laboratory Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang China Faculty of Electrical Engineering Information Technologies Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Dogus University Acibadem Istanbul Turkey Department of Information Engineering Australian National University Canberra ACT Australia

This paper introduces a complex dynamical network with time-varying coupling delays and investigates its locally and globally synchronization. Based on the Lyapunov-Krasovskii functional method, some decentralized adaptive synchronization criteria are derived. The coupling terms are bounded by high-order polynomials, which are applicable to a large class of complex dynamical networks. The effectiveness of the proposed synchronization scheme are illustrated by a numerical example.

关键词： Complex networks Polynomials Network topology Oscillators Cellular neural networks Programmable control Adaptive control Australia Council Laboratories automation

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