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State Estimation for Linear Switched Systems with Unknown Inputs *

IFAC Proceedings Volumes 2012年第9期45卷 271-276页

作者： H. Ríos D. Efimov J. Davila T. Raïssi L. Fridman A. Zolghadri National Autonomous University of Mexico Department of Control Division of Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F The Non-A project at INRIA - LNE Parc Scientifique de la Haute Borne 40 avenue Halley Bt.A Park Plaza 59650 Villeneuve d'Ascq France Department of Automatic Control CINVESTAV-IPN Mexico D.F. AP-14-740 on leave on National Autonomous University of Mexico Engineering Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F University of Bordeaux IMS-Lab Automatic Control Group 351 cours de la libration 33405 Talence France National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P. 07340 Mexico D.F

The continuous and discrete state estimation problem in linear switched systems with unknown inputs and unstable internal dynamics is addressed. A robust observer based on High-Order Sliding-Mode is proposed to solve ... 详细信息

关键词： Switched systems State estimation Unknown inputs Sliding-Mode

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Electronic design for portable electrical capacitance sensor: A multiphase flow measurement

Electronic design for portable electrical capacitance sensor...

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IEEE International Conference on Mechatronics

作者： Mohamad, E. Johana Marwah, O. M. Faizan Rahim, Ruzairi Abdul Rahiman, Mohd Hafiz Fazalul Muji, Siti Zarina Mohd Dept of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Malaysia Dept of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

ISBN: (纸本)9781612844350

The earlier research shows that the electrical capacitance sensor through the tomography technique is applicable in flow visualization or image reconstruction, named as electrical Capacitance Tomography (ECT). ECT can be used for imaging industrial multi-component processes involving nonconducting fluids and solids in pipelines. The electrical capacitance sensor is a non-invasive device that uses non-intrusive technique to measure the concentration of flow inside a closed pipe by measuring variations in the dielectric permittivity of the material. The capacitance of the sensor changes when the mean dielectric constant between the electrodes varies due to variations in the percentage of gas and liquid flowing in the pipe. The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines, meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor previously has been assemble fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore on-board sensing plate offers a new design and idea on ECT system which is portable to be assembled in different diameter sizes of pipeline, and it's flexible to apply in any number due to different size of pipeline without redesign the sensing module. The on-board sensing plate development contains signal conditioning circuit and sensing electrode built in a single module (embedded on single plate). In this paper, the details on fabricating the sensors electrodes, had been described, including signal conditioning circuit/electronic part of measurement, such as stray immune capacitance measurement circuit, amplifying circuit, AC to DC converter circuit and filter circuit. © 2011 IEEE.

关键词： Electrodes

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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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IEEE International Conference on Mechatronics

作者： Ibrahim, B.S.K.K. Tokhi, M.O. Huq, M.S. Gharooni, S.C. Dept of Mechatronics and Robotics Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612844350

The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth © 2011 IEEE.

关键词： Fuzzy logic

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Fuzzy logic based cycle-to-cycle control of FES-induced swinging motion

Fuzzy logic based cycle-to-cycle control of FES-induced swin...

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International Conference on electrical, control and Computer engineering

作者： Ibrahim, B.S.K.K. Tokhi, M.O. Huq, M.S. Gharooni, S.C. Dept. of Mechatronics and Robotics Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612842288

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion. © 2011 IEEE.

关键词： Genetic algorithms

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An analysis of sensitivity distribution using two differential excitation potentials in ECT

An analysis of sensitivity distribution using two differenti...

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2011 5th International Conference on Sensing Technology, ICST 2011

作者： Mohamad, Elmy Johana Faizan Marwah, Omar M. Rahim, Ruzairi Abdul Ling, Leow Pei Dept. of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Dept. of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

ISBN: (纸本)9781457701672

The investigation of this work is to analysis the sensitivity distributions using two differential excitation potentials, in order to improve the situation of: (1) non-uniform sensitivity distribution: (2) less sensitivity in the central area and (3) non-linear change in ECT (electrical Capacitance Tomography) system. Simulation using COMSOL Multiphysics is developed in order to obtain the changes in capacitance inter-electrodes and the permittivity of the dielectric material when two differential excitation potentials were injected. The MATLAB simulation is used to obtain the sensitivity distribution inside the closed pipe from the sensor. Generated phantoms and measured values are presented. Simulation is verified using available experimental data through the existing system, 16- segmented ECT sensor electrodes by PROTOM Research Group UTM, MALAYSIA. By using this technique the linear relationship between the capacitances measured to inter-electrodes and the permittivity dramatically improved and the sensitivity distribution for an opposing electrode pair was increased thus gives the sensitivity distribution in the central area increased. The use of this technique does increase the level of detection signals and the SNR(signal noise to ratio) compared to those achieved using standard single-voltage source method. © 2011 IEEE.

关键词： Multiphysics

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Modeling, Simulation and control of a Spincopter

Modeling, Simulation and Control of a Spincopter

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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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Virtual nano-hand: A stable pushing strategy in AFM based sensorless nanomanipulation

Virtual nano-hand: A stable pushing strategy in AFM based se...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

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Fuzzy logic based cycle-to-cycle control of FES-induced swinging motion

Fuzzy logic based cycle-to-cycle control of FES-induced swin...

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International Conference on electrical, control and Computer engineering (INECCE)

作者： B.S. K. K. Ibrahim M.O. Tokhi M.S. Huq S.C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

关键词： Knee Joints Mathematical model Trajectory Computational modeling Muscles Fuzzy logic

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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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International Conference on Mechatronics (ICOM)

作者： B. S. K. K. Ibrahim M. O. Tokhi M. S. Huq S. C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

关键词： Knee Joints Mathematical model Trajectory Genetic algorithms Muscles Optimization

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