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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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Efficient methods for robust classification under uncertainty in kernel matrices

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2012年第1期13卷

作者： Aharon Ben-Tal Sahely Bhadra Chiranjib Bhattacharyya Arkadi Nemirovski William Davidson Faculty of Industrial Engineering and Management Technion - Israel Institute of Technology Technion City Haifa Israel Department of Computer Science and Automation Indian Institute of Science Bangalore Karnataka India H. Milton Stewart School of Industrial and Systems Engineering Georgia Institute of Technology Georgia Atlanta Georgia

In this paper we study the problem of designing SVM classifiers when the kernel matrix, K, is affected by uncertainty. Specifically K is modeled as a positive affine combination of given positive semi definite kernels, with the coefficients ranging in a norm-bounded uncertainty set. We treat the problem using the Robust Optimization methodology. This reduces the uncertain SVM problem into a deterministic conic quadratic problem which can be solved in principle by a polynomial time Interior Point (IP) algorithm. However, for large-scale classification problems, IP methods become intractable and one has to resort to first-order gradient type methods. The strategy we use here is to reformulate the robust counterpart of the uncertain SVM problem as a saddle point problem and employ a special gradient scheme which works directly on the convex-concave saddle function. The algorithm is a simplified version of a general scheme due to Juditski and Nemirovski (2011). It achieves an O(1/T2) reduction of the initial error after T iterations. A comprehensive empirical study on both synthetic data and real-world protein structure data sets show that the proposed formulations achieve the desired robustness, and the saddle point based algorithm outperforms the IP method significantly.

关键词： kernel functions robust optimization uncertain classification

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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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Pole structure estimation from laguerre representations using hyperbolic metrics on the unit disc

Pole structure estimation from laguerre representations usin...

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IEEE Conference on Decision and Control

作者： Alexandros Soumelidis Ferenc Schipp József Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Numerical Analysis Faculty of Informatics Eötvös Lonránd University Budapest Hungary

ISBN: (纸本)9781612848006

This paper proposes a new approach to identification of the poles in a linear system from frequency domain data. The discrete rational transfer function is represented in a rational Laguerre-basis, where the basis elements can be expressed by powers of the Blaschke-function. This function can be interpreted as a congruence transform on the Poincaré unit disc model of the hyperbolic geometry, leading to a nice geometric interpretation of the identification algorithm. Convergence results in hyperbolic metrics will be given. The full procedure is illustrated by simulation examples.

关键词： Hafnium Estimation Frequency measurement Geometry Transforms Convergence

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Proposal of educational environments with mobile robots

Proposal of educational environments with mobile robots

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IEEE Conference on Robotics, automation and Mechatronics

作者： Silas F. R. Alves Humberto Ferasoli Filho René Pegoraro Marco A. C. Caldeira João M. Rosário Wilson M. Yonezawa Laboratory of Integrated Automation and Robotics Mechanical Project Department Faculty of Mechanical Engineering State University of Campinas Campinas Sao Paulo Brazil Laboratory of Integration of Intelligent Systems and Devices Computer Department Sciences Faculty University of São Paulo State Bauru Brazil

This paper describes an initiative which uses low-cost mobile robots to create robotics courses and learning environment to support the teaching of computing and many other related disciplines. The pursued principle is that lower cost alternatives that can meet the educational needs, since it is accompanied by an environment with friendly software interface. In this sense, the hardware interface was developed to allow the computer to process data from the sensors and actuators of the mobile robot. This architecture is adequate because of the acceptance of students in their use, since the environment is unrolled within a familiar platform to them.

关键词： Robot sensing systems computer architecture computers Mobile robots Educational robots

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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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2D Phononic Crystal Sensor with Normal Incidence of Sound

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Procedia Engineering 2011年 25卷 787-790页

作者： R. Lucklum M. Zubtsov M. Ke B. Henning U. Hempel Institute of Micro and Sensor Systems (IMOS) Otto-von-Guericke-University Magdeburg Germany Department of Physics Wuhan University Wuhan PR China Faculty of Electrical Engineering Computer Science and Mathematics University of Paderborn Germany Institute for Automation and Communication (ifak) Magdeburg Germany

This contribution shows the sensor application of a resonance-induced extraordinary transmission through a regular phononic crystal consisting of a metal plate with a periodic arrangement of holes in a square lattice at normal incidence of sound. The characteristic transmission peak has been found to strongly depend on liquid sound velocity. The respective peak maximum frequency can therefore serve as measure for liquid analysis. Experimental verification has been performed with mixtures of water and propanol as model system. Numerical calculations based on COMSOL and EFIT reveal more insides to the wave propagation characteristics. Experimental investigations with Schlieren method and laser interferometry support the theoretical findings.

关键词： Phononic crystal sensor Liquid sensor

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Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

Decentralized Task Sequencing and Multiple Mission Control f...

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2011 IEEE International Conference on Robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent systems

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