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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： M. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak Laboratory for Robotics and Intelligent Control Systems - LARICS Dept. of Control and Computer EngineeringFaculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.

关键词： Aircraft Mathematical model Engines Propellers Force Atmospheric modeling

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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Feedforward-feedback P-PID control of elbow joint angle for functional electrical stimulation: A simulation study

Feedforward-feedback P-PID control of elbow joint angle for ...

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International Conference on control, Instrumentation, and Automation

作者： Negin Hesam Shariati Ali Maleki Ali Fallah Biological Systems Control Laboratory Biomedical Engineering Faculty Amirkabir University of Technology슠 Tehran Iran Electrical and Computer Engineering Faculty Semnan University Semnan Iran Biological Systems Control Laboratory Biomedical Engineering Faculty Amirkabir University of Technology슠 Tehran Iran

Functional electrical stimulation (FES) is the most commonly used system for restoring functions after spinal cord injury (SCI). In this study, we used a combined feedforward-feedback PID controller for regulating the elbow joint angle. Feedforward controller is unable to make corrections if the actual angle deviates from the desired angle. Feedback controller monitors the system output, so it can correct the error. So, a combination of feedforward and feedback control is the prefered control method in FES system designs. The controller was tuned using a model contains one joint, two links with one degree of freedom and two muscles in the sagital plane which simulated in MATLAB using SimMechanics and Simulink Toolboxes. The muscle model is based on Zajac musculotendon model. At First, the P-PID coefficients were tuned with error and effort, and then a genetic algorithm (GA) was used to optimize them. The controller optimized by GA is much better in terms of the rise time and settling time and has no overshoot and oscillation but the classical tuned controller response has a big overshoot and oscillations before getting the desired angle and has much less rise time and settling time. A comparison between the results of suggested controlling method and the results of genetic-PID feedback controller has been done. The results show that however the feedforward-feedback controller is better in terms of the rise time and the settling time, the feedback controller has less overshoot.

关键词： Muscles Genetic algorithms Joints Mathematical model Elbow Sociology Statistics

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Comparison Study between a Simple Sensorless Method and Adaptive Observer for DTC-SVM Five-Phase Induction Motor Drive

Comparison Study between a Simple Sensorless Method and Adap...

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IEEE Interantional Conference on Industrial Technology

作者： B. S. Khaldi H. Abu-Rub A. Iqbal R. Kennel M. O. Mahmoudi D. Boukhetala Department of Electrical Engineering Faculty of Science and Engineering Djelfa University Algeria Department of Electrical & Computer Engineering Texas A&M University at Qatar Doha Qatar Department of Electrical Engineering College of Engineering Qatar University Qatar Institute for Electrical Drive Systems and Power Electronics Technische Universitat Munchen Munich Germany Laboratory of Process Control National Polytechnic School Algiers Algeria

ISBN: (纸本)9781467303408;9781467303422

This paper highlights the differences between a simple sensorless method and an adaptive flux and speed observer for a five-phase induction motor control. The drive is controlled using space vector modulation direct torque control (DTC- SVM) approach. The power measurement used for speed computation is simple, with a minimum processor time and memory, and relatively robust against parameters variation when compared with the adaptive observer based approach. Simulation verification and real time implementation are presented in the paper.

关键词： direct torque control (DTC) space vector modulation (SVM) Five-phase induction machine speed sensorless power measurement adaptive observer

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A new method for hybrid-fuzzy identification *

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IFAC Proceedings Volumes 2011年第1期44卷 15013-15018页

作者： Alfredo Núñez Doris Sáez Igor Škrjanc Bart De Schutter Delft Center for Systems and Control Delft University of Technology Delft The Netherlands Electrical Engineering Department Universidad de Chile Santiago Chile Faculty of Electrical and Computer Engineering University of Ljubljana Slovenia

Abstract In this paper a new identification method for non-linear hybrid systems that have mixed continuous and discrete states by using fuzzy clustering and principal component analysis is described. The method first determines the hybrid characteristic of the system inspired by an inverse form of the merge method for clusters, which makes it possible to identify the unknown switching points of a process based on just input-output data. Using the switching points, a hard partition of the input-output space is obtained. Then, we propose to use Takagi-Sugeno (TS) fuzzy models with Gaussian MFs as sub-models for each partition. Thus, the overall model is hybrid-fuzzy and will include explicitly the hybrid behavior of the system (the detected switching points) by means of binary MFs, and in each partition all the other non-linearities by means of TS sub-models. An illustrative experiment on a hybrid-tank system is conducted to present the benefits of the proposed approach.

关键词： Nonlinear system identification hybrid and distributed system identification fuzzy identification fuzzy clustering principal component analysis

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Low power and fast DCT architecture using multiplier-less method

Low power and fast DCT architecture using multiplier-less me...

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2011 Faible Tension Faible Consommation, FTFC 2011

作者： El Aakif, M. Belkouch, S. Chabini, N. Hassani, M.M. Embedded Systems and Digital Control Laboratory National School of Applied Sciences University of Cadi Ayyad Av. Abdelkarim Khattabi Guéliz Marrakech Morocco Department of Electrical and Computer Engineering Royal Military College of Canada Kingston ON Canada Faculty of Sciences Semlalia University of Cadi Ayyad Marrakech Morocco

ISBN: (纸本)9781612846477

In this paper, a low power and fast DCT (Discrete Cosine Transform) using multiplier-less method is presented with a new modified FGA (Flow-Graph Algorithm), which is derived from our previously presented FGA of DCT based on Loeffler algorithm. The multiplier-less method is based on the replacement of multiplications with a minimum number of additions and shifts. The proposed FGA is performed and compared to a previous one. The results of FPGA implementations on Altera Cyclone II show the increase of the maximum frequency, the decrease of the resources usage and the reduction of the dynamic power by 7.2 % at 120 MHz of clock frequency with a new proposed FGA algorithm. Another comparison with recent published results has been done and proves the efficiency of the proposed FGA. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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A new T-S fuzzy observer based controller for nonlinear NCSs

A new T-S fuzzy observer based controller for nonlinear NCSs

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International Conference on control, Instrumentation, and Automation

作者： M. Azimi M. T. H. Beheshti A. Badpa H. Shokouhi Nejad Faculty of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Faculty of Electrical and Computer Engineering Tarbiat Modares University (TMU) Tehran IRAN Control Engineering Department School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Control Systems Theory Tarbiat Modares University (TMU) Tehran Iran Electrical and Computer Engineering Tarbiat Modares University (TMU) Tehran IRAN

This paper concerns the tracking control problem for a class of nonlinear networked control systems (NCSs) with external disturbances. A Takagi-Sugeno fuzzy model is employed to represent the nonlinear controlled plant in the NCSs. Both network-induced delay and packet dropout are addressed. The control scheme is based on a parallel distributed compensation (PDC) structure, a fuzzy observer and a H ∞ performance to attenuate the external disturbances. The stability of the whole closed-loop model is investigated using a general Lyapunov-Krasovskii functional. The key point of the proposed approaches is to achieve conditions under a linear matrix inequalities (LMI) formulation in the case of a disturbed T-S fuzzy model. This formulation facilitates obtaining solutions through interior point optimization methods for some nonlinear NCSs tracking problems. A numerical example is used to illustrate the validity of the design methodology.

关键词： Delay Observers Bismuth Instruments Automation Stability criteria

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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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Safety Zones Based Robustly Feasible Model Predictive control for Nonlinear Network systems

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IFAC Proceedings Volumes 2011年第1期44卷 4821-4826页

作者： Mietek A. Brdys Vu Nam Tran Wojtek Kurek Depeartment of Electronics Electrical and Computer Engineering University of Birmingham Edgbaston Birmingham B15 2TT UK Department of Control Systems Engineering Faculty of Electrical and Control Engineering Gdansk University of Technology ul. Narutowicza 11/12 80 – 233 Gdansk Poland

Abstract The paper considers design of Robustly Feasible Model Predictive controller which achieves recursive robust feasibility of the generated control actions when applied to nonlinear network systems with state constraint under bounded disturbances. The optimizing control algorithm with safety zones modifying the model based state constraints is derived to achieve recursive robust feasibility. Its performance is illustrated by application to optimizing control of hydraulics in Drinking Water Distribution System example. Copyright © 2011 IFAC

关键词： large scale complex system methodologies and tool for analysis of complexity

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Statistical analysis and modeling of peer-to-peer multimedia traffic

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2011年 5233卷 70-97页

作者： Markovich, Natalia M. Krieger, Udo R. Institute of Control Sciences Russian Academy of Sciences Profsoyuznaya Str. 65 Moscow 117997 Russia Faculty Information Systems and Applied Computer Science Otto-Friedrich-Universität Bamberg D-96052 Germany

ISBN: (纸本)9783642027413

We study peer-to-peer packet traffic arising from passive VoIP and video measurements that are generated by Skype and IPTV clients. We provide a common methodology for the statistical characterization of the packet flows, discuss the user's satisfaction and load estimation. Two main ideas are used in our analysis. Due to the dependence of the data we first partition the observations into independent blocks and deal further with these block-wise independent data. Secondly, loss is generated by packet lengths which exceed the channel capacity in a time unit if the inter-arrival times coincide with this time unit. If the inter-arrival times are random, loss is generated by the lengths of those packets corresponding to transmission rates that exceed the channel capacity. Our methodology is demonstrated by individual Skype flows and the aggregated flow of video packets exchanged with a mobile peer of a SopCast session. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： IPTV

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