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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Karimi, H.R. Lohmann, B. Moshiri, B. Jabchdar Maralani, P. Control and Intelligent Processing Center of Excellence Dept. of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Institute of Automation University of Bremen Otto-Hahn-Allee NW1 BremenD-28359 Germany

This paper presents an application of wavelet networks in identification and control design tor a class of non-linear dynamical systems. The technique of feedback linearization, supervisory control and H∞ control are used to design an adaptive control law and also the parameters of the wavelet networks arc adapted using a Lyapunov-based design. By some theorems, it will be proved that even in the presence of modelling errors, named network error, the stability of the overall identification scheme and the convergence of the network parameters and the boundedness of the state errors are guaranteed. Copyright © 2004 IFAC.

关键词： Feedback linearization

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Remote Experiments in control Education

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IFAC Proceedings Volumes 2004年第7期37卷 135-140页

作者： Mikuláš Huba Pavol Bisták Katarína Žáková Dept. of Automation and Control Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava Slovakia

This paper reports about experience in building control Laboratory with remote access via Internet and in organizing the learning process with the aim to foster an active and creative learning by doing.

关键词： control education Multimedia Laboratory education Resource Based Learning Tele-experiments Flexible Learning

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Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

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2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

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Optimizing supervision and control for industrial furnaces: Predictive control based design 4

Optimizing supervision and control for industrial furnaces: ...

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4th IFAC Workshop Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2004

作者： Dimirovski, Georgi M. Dinibütün, A. Talha Vukobratovic, Miomir K. Zhao, J. Faculty of Electrical Engineering MK-1000 Skopje SS Cyril and Methodius University Macedonia Computer Engineering Department Faculty of Engineering Acibadem Dogus University Zeamet Sk. 21 Kadikoy IstanbulTR-34722 Turkey Centre of Robotics and Flexible Automation Institute Mihailo Pupin Belgrade11000 Serbia School of Information Science and Engineering Institute of Control Theory Northeastern University Shenyang Liaoning110004 China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons. Copyright © 2004 IFAC.

关键词： Integrated control

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Universal algorithm for the solution of the regulator equation 6

Universal algorithm for the solution of the regulator equati...

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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Rehák, Branislav Čelikovský, Sergej Czech Technical University Faculty of Electrical Engineering Department of Control Engineering Technická 2 Praha 6166 27 Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 Prague182 08 Czech Republic

The computational aspects of the output regulation problem are considered. The standard solution of the output regulation problem uses the explicit solution of the so-called regulator equation being a highly complex PDE combined with algebraic equations. At this moment, the methods to solve regulator equation are, nevertheless, restricted to special classes of systems only. A universal algorithm to solve the regulator equation is proposed here. It is based on a special regularization procedure combined with finite elements method and an optimization of the error induced by the regularization. The approach is demonstrated on an example of the two-cart with an inverted pendulum system. Copyright © 2004 IFAC.

关键词： Nonlinear equations

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Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Improved basic planar algorithm of vehicle guidance through ...

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International Symposium on Communications control and Signal Processing (ISCCSP)

作者： V. Bakaric Z. Vukic R. Antonic Department of Control Engineering Brodarski institut Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Split College of Maritime Studies Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to use in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current compensation method to cancel its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

关键词： Navigation Remotely operated vehicles Computer vision System recovery Error correction control engineering Automatic control control engineering computing Automotive engineering automation

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DSPN model and performance analysis of WorldFIP MAC sub-layer

DSPN model and performance analysis of WorldFIP MAC sub-laye...

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Annual Conference of Industrial Electronics Society

作者： Yue Zhou Hai-bin Yu Tian-ran Wang Zhong-feng Wang Cheng-dong Wu Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

ISBN: (纸本)0780387309

A detailed DSPN (deterministic and stochastic Petri net) model and performance analysis of WorldFIP MAC sub-layer is constructed in this paper. Firstly, the MAC mechanism of WorldFIP is introduced. Secondly, the accurate modeling of WorldFIP MAC is constructed by using DSPN. Thirdly, the simulation research based on the DSPN model is developed, which gets some valuable quantitative results of WorldFIP system.

关键词： Performance analysis Traffic control Access protocols Data communication Communication system control automation Stochastic processes Communication system traffic control Media Access Protocol Field buses

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Scheduling of iterative algorithms on FPGA with pipelined arithmetic unit

Scheduling of iterative algorithms on FPGA with pipelined ar...

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IEEE Symposium on Real-Time and Embedded Technology and Applications

作者： P. Sucha Z. Pohl Z. Hanzalek Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Czech Republic Department of Signal Processing Institute of Information Theory and Automation AS CR Czech Republic

This paper presents a scheduling technique for a library of arithmetic logarithmic modules for FPGA illustrated on a RLS filter for active noise cancellation. The problem under assumption is to find an optimal periodic cyclic schedule satisfying the timing constraints. The approach is based on a transformation to monoprocessor cyclic scheduling with precedence delays. We prove that this problem is NP-hard and we suggest a solution based on integer linear programming that allows to minimize completion time. Finally experimental results of optimized RLS filter are shown.

关键词： Iterative algorithms Field programmable gate arrays Arithmetic Resonance light scattering Libraries Active filters Noise cancellation Timing Delay Integer linear programming

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Multilevel validation of online monitor for hard real-time systems

Multilevel validation of online monitor for hard real-time s...

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International Conference on Microelectronics, MIEL

作者： M. Jevtic V. Zerbe S. Brankov Department of Electronics. Faculty of Electronic Engineering University of Nis Nis Serbia Department of System and Control Theory Faculty of Automation and Informatics Technische Universität llmenau Llmenau Germany

To achieve the required performance of complex electronic systems it is necessary to validate the system function during all phases of the design, which means multilevel validation. A hybrid Online Monitor for hard real time systems (HRTS) has been developed. A special attention was dedicated on the multilevel validation in all phases of the design.

关键词： Monitoring Real time systems Hardware System testing Kernel Runtime Automotive engineering Electrical equipment industry Automobiles Circuit faults

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