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10th IASTED International Conference on Artificial Intelligence and Soft Computing, ASC 2006

作者： Genç, Hakký Murat Eksin, Ybrahim Güzelkaya, Müjde Yesil, Engin Marmara Research Center Information Technologies Institute 41470 Gebze Kocaeli Turkey Technical University of Ýstanbul Electrical and Electronics Faculty Control and Automation Engineering Dept. 80626 Maslak Ýstanbul Turkey

ISBN: (纸本)0889866104

In time delay control systems, the observed information is related to a past instant and using this delayed signal may cause unsatisfactory results in control system applications. This paper deals with how time delay information can be used in reorganizing the rule base so as to improve system performance. Basically, it proposes a new scheme of appropriate shifting of the rule base to compensate the information lag caused by time delay in the system. The parameters affecting the shifting scheme are discussed in detail and the shifting scheme is tabulated with respect to system model parameters. Applications of the new methodology in different systems are simulated and the effectiveness of the scheme is fully illustrated.

关键词： Time delay

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Possible improvements in a vortex-lattice panel method

Possible improvements in a vortex-lattice panel method

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10th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2006

作者： Bauer, Péter Department of Control and Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics H-l 111 Budapest Bertalan Lajos u. 2. Z. V. Hungary

ISBN: (纸本)9789634209683

Panel methods can be widely used in linear aerodynamics (covering inviscid, incompressible and irrotational flow fields), because they give relatively accurate results in acceptable computational time. So, several methods had been developed in this field. One of the methods is the so-called vortex-lattice method. This method is relatively simple;however, it has a stable solution and gives results comparable with wind tunnel tests for conventional wing configurations. Hence it is worth dealing with the improvement of the method. In this lecture possible improvements are developed and tested, which could speed up the solution of the problem, or improve the accuracy of the solution. First of all, the possible arrangement of vortex rings on the wing's camber surface was examined, to the literature it is recommended to place the leading segment of the vortex ring on the panel's quarter chord line and place the collocation point at the centre of the three-quarter chord line. However, if one places the vortex Ime segments on the bounds and the collocation point in the centre of the panel element, only the panel comer points have to be stored, instead of both the panel and the vortex-lattice comer points. Unfortunately the resulting pressure distribution along the wing chord is greatly affected by the vortex ring placement and the method proposed in the literature is more accurate, consequently that method should be used, to the second step, the formulas used for influence coefficient calculations can be improved to speed up the solution. The formula used to calculate the effect of a semi infinite vortex line was simplified, and far field formulas were tested. The simplified formula was faster, but no exact condition was found when far field formulas can be used. In the third step, the influence coefficients can be calculated, considering the neighbouring vortex line segments only once. This was solved by the stepping of an 8 point scheme on the vortex lattice. It needed mo

关键词： Angle of attack

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Anti-synchronization chaos shift keying method based on generalized lorenz system

Anti-synchronization chaos shift keying method based on gene...

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作者： Čelikovský, Sergej Lynnyk, Volodymyr Šebek, Michael Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 182 08 Prague 8 Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University In Prague Czech Republic

ISBN: (纸本)9783902661098

In this paper, a modified version of the Chaos Shift Keying (CSK) scheme for secure encryption and decryption of data is proposed. The proposed scheme uses the effect of anti-synchronization, rather than synchronization. More specifically, the classical CSK method determines the correct value of binary signal through checking which unsynchronized system is getting synchronized. On the contrary, our novel method determines wrong value of binary signal through checking which already synchronized system is loosing synchronization. The advantage of the proposed method is two-fold. First, it requires very reasonable amount of data to encrypt and time to decrypt a single bit. Secondly, its security can be investigated and estimated as practically unbreakable. The main reason for both advantages is that anti-synchronization is thousand times faster than synchronization, even when using two close each to other chaotic systems. Our method is implemented and thoroughly tested on the recently introduced generalized Lorenz system (GLS) family making advantage of its special parametrization. Copyright © 2006 IFAC.

关键词： Synchronization

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Bridge assessment under uncertain parameters via interval analysis

Bridge assessment under uncertain parameters via interval an...

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3rd International Conference on Bridge Maintenance, Safety and Management - Bridge Maintenance, Safety, Management, Life-Cycle Performance and Cost

作者： Garcia, O.D. Vehí, J. Matos, J.C. Henriques, A.A. Figueiras, J.A. Casas, J.R. MiceLab - Modal Intervals and Control Engineering Laboratory University of Girona Department of Electronics Informatic and Automation Girona Spain LABEST - Laboratory for the Concrete Technology and Structural Behaviour - Faculty of Engineering University of Porto Civil Engineering Department Porto Portugal Civil Engineering Department Technical University of Catalonia Barcelona Spain

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Analysis of fractional - Order robot axis dynamics

Analysis of fractional - Order robot axis dynamics

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作者： Rosario, J.M. Dumur, D. Tenreiro Machado, J.A. Laboratory of Automation and Robotics Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 - Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

ISBN: (纸本)9783902661128

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics. Copyright © 2006 IFAC.

关键词： Calculations

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Preliminary Results on Dynamic Obstacle Avoidance for Powered Wheelchair

Preliminary Results on Dynamic Obstacle Avoidance for Powere...

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： A. Fattouh S. Nader Laboratory of Automatic Control and Automation Faculty of Electrical and Electronic Engineering University of Aleppo Aleppo Syria

The main objective of this paper is to develop a simulator for powered wheelchair which permits to implement different control and motion planning strategies in order to study their performance and to compare them. In simulation the wheelchair can easily be integrated in any desired environment and the algorithm under test can be implemented and tested in this virtual environment. The paper presents firstly a brief description of a general powered wheelchair, then a control algorithm for a powered wheelchair is discussed based on the position of the wheelchair rather than its velocities. A general algorithm for motion planning and obstacle avoidance is briefly talked. This algorithm calculates the next desired position based on the actual and desired final position of the wheelchair and the obstacle position, motion direction and velocity. The next desired position is then fed to the control unit which executes the command. Some simulation results will be finally presented based on existing techniques like the virtual force field technique and the vector field histogram method

关键词： Wheelchairs Motion control Wheels DC motors Testing Histograms Equations Robots Heuristic algorithms Laboratories

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Symbolic Computation for Nonlinear Systems Using Quotients over Skew Polynomial Ring

Symbolic Computation for Nonlinear Systems Using Quotients o...

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Mediterranean Conference on control and automation (MED)

作者： Miroslav Halas Mikulas Huba Department of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

Nonlinear control systems are more difficult to handle than linear, since the associativity is not valid. Laplace transforms and transfer functions, which form a symbolic computation for linear systems, are, therefore, disabled. A modern development of nonlinear control systems is thus related mainly to the systematic use of differential algebraic methods. However, such methods allow us to introduce similar symbolic computation also for nonlinear systems. To provide a basis for such a symbolic computation the theory of non-commutative polynomials over the field of meromorphic functions is introduced. In that respect, differential operators, which act on one-forms, play a key role. They form the left skew polynomial ring. Quotients of such polynomials stand for transfer functions of nonlinear systems. In other words, presented paper tries to show that there is no reason to believe well known dogma saying that nonlinear systems have no transfer functions

关键词： Nonlinear systems Polynomials Transfer functions Nonlinear control systems control systems Linear systems Algebra Switches automation Automatic control

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Optimization-based decomposition of a large-scale system

Optimization-based decomposition of a large-scale system

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1st IFAC Workshop on Applications of Large Scale Industrial Systems, ALSIS'06

作者： Rehák, Branislav Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Technická 2 166 27 Praha 6 Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 182 08 Prague Czech Republic

ISBN: (纸本)9783902661159

The problem of design of a controller for a large-scale system is studied. The design objective is to achieve behavior comparable with the standard controller that is LQ optimal. On the other hand the amount of interconnections between subsystems should be kept as small as possible. This is guaranteed by solving of an optimization problem where the number of interconnections is minimized while the difference in the values of the cost functional for the standard and decentralized controller is a constraint. To find the value of the cost of the decentralized control in presence of interconnections one can use linear matrix inequalities.

关键词： Linear matrix inequalities

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Measured disturbance estimation for model predictive controller

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Mediterranean Journal of Measurement and control 2006年第3期2卷 144-151页

作者： Kulcsar, Balazs Bokor, J. Department of Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents the Model Predictive controller design process when an unknown input observer provides measured disturbance form unmeasured one. Instead of using an unmeasured disturbance dynamic implemented into the controller, the joint observer-controller uses the estimated measured exogenous disturbance signal. Furthermore the observer can send an alarm sign to the supervisor. The detection and isolation of the unmeasured disturbance is computed by the geometric based strategy called Fundamental Problem in Residual Generation. Better the estimation of the disturbance is, better the rejection of the controller. The measured disturbance could be anticipated. A numerical example explains the effectiveness of the estimation and the usage of the unmeasured disturbance detection. Copyright © 2006 SoftMotor Ltd.

关键词： Predictive control systems

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Autotuning Autopilots for Micro-ROVs

Autotuning Autopilots for Micro-ROVs

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Mediterranean Conference on control and automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic B. Tovornik Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Maribor Slovenia

Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided

关键词： Automatic control Underwater vehicles Payloads control systems Remotely operated vehicles Three-term control Nonlinear control systems Employee welfare control engineering computing Nonlinear systems

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