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

IFAC Proceedings Volumes 2003年第7期36卷 7-18页

作者： Georgi M. Dimirovski Yuan-Wei Jing Jun Zhao Si-Ying Zhang Dogus University Department of Computer Engineering Faculty of Engineering Acibadem Kadiköy TR-34722 Istanbul Turkey Fax# +90-216-327-9631 SS Cyril and Methodius University Institute of Automation & Systems Eng. Faculty of Electrical Engineering MK-1000 Skopje R. of Macedonia Northeastern University Institute of Control Science School of Information Science & Eng. Shenyang Liaoning P.R. of China Fax# +90-24-2389-0912

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.

关键词： Complex composite systems fuzzy systems neural networks nonlinear systems

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Input reconstruction by means of system inversion: Application to fault detection and isolation 15th

Input reconstruction by means of system inversion: Applicati...

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15th World Congress of the International Federation of Automatic control, 2002

作者： Szigeti, F. Bokor, J. Edelmayer, A. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.P. 11 La Hechicera Venezuela

ISBN: (纸本)9783902661746

This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the properties of input (or fault) observability in linear systems. The extension of the results to nonlinear systems as well as the mathematical conditions of the calculation of the inverse system, which provides the inverse in finite algorithmic steps, are given. The applicability of the inversion process to fault reconstruction in nonlinear systems is demonstrated. Copyright © 2002 IFAC.

关键词： Fault detection

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A reinforcement learning approach to obstacle avoidance of mobile robots

A reinforcement learning approach to obstacle avoidance of m...

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International Workshop on Advanced Motion control (AMC)

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

One of the basic issues in the navigation of autonomous mobile robots is the obstacle avoidance task that is commonly achieved using a reactive control paradigm where a local mapping from perceived states to actions is acquired. A control strategy with learning capabilities in an unknown environment can be obtained using reinforcement learning where the learning agent is given only sparse reward information. This credit assignment problem includes both temporal and structural aspects. While the temporal credit assignment problem is solved using core elements of the reinforcement learning agent, solution of the structural credit assignment problem requires an appropriate internal state space representation of the environment. In this paper, a discrete coding of the input space using a neural network structure is presented as opposed to the commonly used continuous internal representation. This enables a faster and more efficient convergence of the reinforcement learning process.

关键词： Learning Mobile robots control engineering computing Automatic control Neural networks Fuzzy logic Path planning Robotics and automation Navigation State-space methods

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ATM available bit rate congestion control with on-line network model identification

ATM available bit rate congestion control with on-line netwo...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： D. Brscic I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In this paper, the design of available bit rate (ABR) congestion control in ATM (asynchronous transfer mode) networks is considered. The goals of congestion control are high link utilization, low cell loss, and low network delay. Various algorithms for congestion control can be found in the literature. Most of them are based on a network model, which is assumed to be known. In this paper a recursive least square (RLS) algorithm for on-line identification of the network model is implemented and combined with a generalized predictive controller (GPC) and with an I-controller based on the Smith predictor. Simulations were carried out to prove the effectiveness of the proposed algorithms.

关键词： Bit rate Asynchronous transfer mode Traffic control Automatic control Communication system traffic control control design Bandwidth Switches Process control control engineering computing

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Experimental investigations of the rubber-asphalt sliding pair dynamics

Experimental investigations of the rubber-asphalt sliding pa...

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作者： Božić, Ante Petrović, Ivan Perić, Nedjeljko Matuško, Jadranko Poclain-Hydraulics Industrie Direction Technique B.P.N. 106 60411 Verberie Cedex France University of Zagreb Faculty of Electrical Engineering and Computing Department for Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

ISBN: (纸本)0791836290

A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models might be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface. Copyright © 2002 by ASME.

关键词： Tribology

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Milestone report coordinating committee on computer control 15th

Milestone report coordinating committee on computer control

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15th World Congress of the International Federation of Automatic control, 2002

作者： Verbruggen, Henk B. Park, Jaehyun Halang, Wolfgang Irwin, George Zalewski, Janusz Faculty of Information Technology and Systems Delft University of Technology Delft Netherlands Department of Automation Engineering Inha University Incheon Korea Republic of Faculty of Electrical Engineering Fern Universität Hagen Germany Intelligent Control and Systems Group School of Electrical and Electronic Engineering Queen's University Belfast United Kingdom Department of Electrical and Computing Engineering University of Central Florida Orlando United States

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Toolkit for PID dominant pole design

Toolkit for PID dominant pole design

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： I. Branica I. Petrovic N. Peric Systemcorn Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This work presents dominant pole design (DPD) methodology, one MATLAB implementation of DPD and its usage. DPD for PI and PID controllers is derived, and on this basis MATLAB toolkit for three-pole method (3PM) has been developed. The least squares procedure for finding functional dependence of PID controller parameters on process parameters is described. This least squares procedure has been applied to the first order process with dead time (FODT) obtained functional dependence, expressed through tuning formulas, is presented. Performance of PID controller tuned with 3PM tuning formulas is compared to the performance of PID controller tuned with integral criteria derived tuning formulas. Observed characteristics of DPD method are given at the end of the paper.

关键词： Three-term control control systems Design methodology MATLAB Equations Automatic control Least squares methods Process control Industrial control State feedback

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Development and implementation of a hybrid intelligent controller for interior permanent magnet synchronous motor drive

Development and implementation of a hybrid intelligent contr...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： M.N. Uddin M.A. Abido M.A. Rahman Modeling Automation and Control Engineering Laboratoryoratory Modeling Automation and Control Engineering Laboratory Lakehead University Thunder Bay ONT Canada Electrical Engineering Department King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Faculty of Engineering. & Appl. Science Memorial University of Newfoundland NEW Canada

A hybrid neuro-fuzzy scheme for the online tuning of a genetic based proportional-integral (PI) controller for interior permanent magnet synchronous motor (IPMSM) drives is presented in this paper. The proposed controller is developed for accurate speed control of the IPMSM drive under various system disturbances. In this work, initially different operating conditions are obtained based on motor dynamics incorporating uncertainties. At each operating condition, a genetic algorithm (GA) is used to optimize the PI controller parameters in a closed loop vector control scheme. In the optimization procedure, a performance index is developed to reflect the minimum speed deviation, minimum settling time and zero steady-state error. A fuzzy basis function network (FBFN) is utilized for online tuning of the PI controller parameters to ensure optimum drive performance under different disturbances. The proposed FBFN based PI controller provides a natural framework for combining numerical and linguistic information in a uniform fashion. The proposed controller is successfully implemented in realtime using a digital signal processor board DS 1102 for a laboratory 1 hp IPMSM. The efficacy of the proposed controller is verified by simulation as well as experimental results at different dynamic operating conditions. The proposed controller is found to be robust for applications In IPMSM drive.

关键词： Permanent magnet motors Drives Pi control Proportional control control systems Velocity control Synchronous motors Uncertainty Genetic algorithms Machine vector control

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On complex non-linear systems with symmetries: controllability preserving decomposition

On complex non-linear systems with symmetries: controllabili...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： G.M. Dimirovski Y.-W. Jing J. Zhao T.D. Kolemisevska-Gugulovska Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Dogus University Istanbul Turkey Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia

In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations of these systems are derived. Finally, it is shown that controllability of the original systems can be determined by that of the subsystems, which are obtained through isomorphic decomposition. The corresponding sufficient and necessary conditions are given. Two new theoretical results have been proved.

关键词： controllability Nonlinear control systems control systems Nonlinear systems Automatic control Information science automation Systems engineering and theory Feedback Mathematical model

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Global controller optimization using horowitz bounds 15th

Global controller optimization using horowitz bounds

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15th World Congress of the International Federation of Automatic control, 2002

作者： Fransson, Carl-Magnus Lennartson, Bengt Wik, Torsten Holmström, Kenneth Saunders, Michael Gutman, Per-Olof Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Sweden Center for Mathematical Modeling Department of Mathematics and Physics Mälardalen University Västerås Sweden Systems Optimization Laboratory Department of Management Science and Engineering Stanford University StanfordCA United States Faculty of Agricultural Engineering Technion Haifa Israel

ISBN: (纸本)9783902661746

A procedure for global optimization of PID type controller parameters for SISO plants with model uncertainty is presented. Robustness to the uncertainties is guaranteed by the use of Horowitz bounds, which are used as constraints when low frequency performance is optimized. The basic idea of both the optimization and the parameter tuning is to formulate separate criteria for low, mid and high frequency closed loop properties. The trade-off between stability margins, high frequency robustness and low frequency performance is then elucidated and, hence, the final choice of parameters is facilitated. The optimization problems are non-convex and ill-conditioned and we use a combination of new global and standard local optimization algorithms available in the TOMLAB optimization environment to solve the problem. The method does not rely on a good initial guess and converges fast and robustly. It is applied to a controller structure comparison for a plant with an uncertain mechanical resonance. For a given control activity and stability margin as well as identical tuning parameters it is shown that a PID controller achieves slightly improved low frequency performance compared to an H∞ controller based on loop-shaping. The reason for this somewhat surprising result is the roll-off in the H∞ controller, which adds additional high frequency robustness compared to the PID controller. Computationally, a factor of 10-20 has been gained compared to an earlier, less general, version of the procedure. Copyright © 2002 IFAC.

关键词： controllers

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