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IEEE Conference on Decision and control

作者： F.L. Lewis S. Bogdan A. Gurel O. Pastravanu Automation and Robotics Research Institute University of Texas Arlington Worth TX USA Faculty of Electrical Engineering and Computer University of Zagreb Zagreb Croatia Department Automatic Control and Ind. Inf Polytechnic Institute Iasi Romania

A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these systems. In this application to deadlock analysis, the exact relations between circular blockings and deadlocks are given for a large class of reentrant flow lines. Explicit matrix equations are given for online dynamic deadlock analysis in terms of circular blockings, and certain 'critical siphons' and 'critical subsystems'. This allows efficient dispatching with deadlock avoidance using a generalized kanban scheme. For the class of flow lines considered, the existence of matrix formulae shows that deadlock analysis is not NP-complete, but of polynomial complexity.

关键词： System recovery Discrete event systems Equations Dispatching Robotics and automation Petri nets Manufacturing Bills of materials Assembly Lifting equipment

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Teaching Discrete Event control of Manufacturing Systems

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IFAC Proceedings Volumes 1997年第12期30卷 261-266页

作者： O.C. Pastravanu A. Gürel F.L. Lewis Dept. of Automatic Control and Industrial Informatics Technical University of Iasi Str. Horia 7-9 6600 Iasi Romania Dept. of Electrical and Electronic Engineering Eastern Mediterranean University P.O. Box 95 Gazi Magosa Mersin 10 Turkish Republic of Northern Cyprus Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth Texas 76118-7115 USA

controller design for Flexible Manufacturing Systems (FMS) is addressed within a systems theory-basea framework, which allows the separation of the workcell (comprised of machines and resources to be controlled), and the controller (consisting of the decision-making scheduler). This point of view is particularly profitable for teaching FMS design to control engineering students, who are familiar with the feedback control principles. The design algorithm uses standard manufacturing engineering tools to produce a rule-based controller that is described mathematically in terms of matrix equations, yielding the Petri net and max/plus representations of the closed-loop FMS. This matrix approach is exploited to develop a MATLAB software which implements new functions for idempotent calculus in the semiring (R∪{-∞},max,+), and offers a large flexibility in changing the operating conditions and design specifications.

关键词： flexible manufacturing systems discrete-event systems Petri-net models max/plus models MATLAB simulation control education

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Design of a multivariable state-space adaptive controller, and its application to a turbo-generator pilot plant

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control engineering PRACTICE 1996年第5期4卷 699-704页

作者： Nazaruddin, YY Unbehauen, H Automatic Control Laboratory Faculty of Electrical Engineering Ruhr-University D-44780 Bochum Germany

An application of a multivariable state-space adaptive controller to a turbogenerator set is considered in this paper. The turbo-generator, consisting of an air pressure turbine and a synchronous generator, is a typical electromechanical system, which exhibits highly nonlinear behaviour and non-negligible couplings between electrical and mechanical control loops. Especially if the plant is not connected to the rigid 50 Hz grid, the control task for varying loads at different operating points is quite difficult. Great fluctuations of the central pressure pump cause the turbo-generator to work in a noisy environment as well. The parameters of the state-space model are identified directly, using the recursive prediction error algorithm, which also estimates the system states. Based on the estimated parameters and states, the adaptive controller is determined through state feedback. The optimal control strategy is commissioned for designing the state controller. The results of real-time control experiments on the turbogenerator demonstrate the features and applicability of the designed multivariable state-space adaptive controller.

关键词： adaptive control state-space methods recursive estimation optimal control real-time computer systems

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Dual control for an Unstable Mechanical Plant

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IEEE control Systems 1996年第4期16.0卷 31-37页

作者： Filatov, N.M. Keuchel, U. Unbehauen, H. Automatic Control Laboratory Faculty of Electrical Engineering Ruhr-University D-44780 Bochum Germany

The problem of applying direct dual control for positioning of a laboratory pilot-plant for the roll angle control of a vertical takeoff airplane by means of two propellers is described in the article. The bicriterial approach is applied for the synthesis of dual controllers, where two criteria are used which correspond to the two goals of dual control: control of the system output and exciting the system for speeding up the parameter estimation. The control law is derived after compromised optimization of two cost functions. The basic theory needed for synthesis of a direct dual control for linear single-input, single-output plants is discussed. After describing the experimental setup, the results of adaptive control of a mechanical laboratory pilot-plant are presented. It is pointed out that adaptive control is necessary and is the most suitable approach for this kind of plant. The new direct dual control algorithm is compared with indirect and direct adaptive control strategies based on the standard CE assumption.

关键词： Adaptive control control system synthesis Programmable control Optimal control Laboratories Stochastic processes Adaptive systems Dynamic programming Minimization methods Employment

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Modeling of dynamic systems

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automatica 1996年第6期32卷 946-947页

作者： J. Štecha Czech Technical University Faculty of Electrical Engineering Department of Automatic Control Charles Square 13 12135 Prague Czech Republic

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Development of transient stability controller system (TSC) based on on-line stability calculation

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electrical engineering IN JAPAN 1996年第4期117卷 61-79页

作者： Ota, H Inoue, T Ito, H Fukushima, N Omata, K Morita, K Kokai, Y Chubu Electric Power Co. Toshiba Corporation Hitachi Ltd. [?]Graduated in 1955 from the Department of Electrical Engineering of the Faculty of Engineering University of Tokyo and joined Chubu Electric Power Co. in the same year. He is engaged mainly in developing technology for construction planning as well as protection stabilization and automatic control of power systems. He is currently a Director and Vice President of the company. He received an OHM Technology Award in 1971 and an Achievement Award from the I.E.E. Japan in 1992.

A new transient stability controller system (TSC) based on on-line transient stability calculation has been developed. The TSC system prevents the power system from wide-area blackout by shedding generators optimally when a serious fault occurs. This system consists of a central processing unit (TSC-P), and four local units for fault detection (TSC-C), and seventeen units for generator shedding(TSC-T). The TSC-P selects optimal generators to be shed for stabilization based on on-line transient stability calculation for contingencies at 500 kV lines and buses every five minutes. The results are transmitted to the TSC-Cs periodically. Should any fault occur, only one TSC-C will detect the fault occurrence and send control signals to the TSC-Ts which actually generate shedding signals. To realize the TSC system, essential are fast stability evaluation methods for a large number of contingencies and effective selection methods of optimal generators to be shed for stabilization. This paper presents total algorithms applied in the TSC-P, the results of algorithm verification tests using a prototype system combined with a large-scale analog simulator, and the characteristics of the actual system.

关键词： power system stabilization generation shedding on-line stability calculation screening parallel calculation

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Internal model control of a robot using new neural networks

Internal model control of a robot using new neural networks

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IEEE International Conference on Systems, Man and Cybernetics

作者： S. Yildirim M.F. Sukkar Robotics Research Laboratory Mechanical Engineering Department Faculty of Engineering University of Erciyes Kayseri Turkey Automatic Control and Ind. Electronics Departmentartment Faculty of Electrical and Electronics Engineering University of Aleppo Aleppo Syria

The use of neural networks for control of a robot manipulator is presented in this paper. The control system consists of a neural model of the robot, a neural controller and a conventional PID controller. The control structure uses internal model control (IMC). The Alopex method is employed as a learning algorithm to train the networks. The standard backpropagation (BP) algorithm is also utilised for comparison with the Alopex learning algorithm (ALA). The proposed network is a recurrent hybrid network which is suitable for identification and control of robot manipulators. Compared to neural networks with pure nonlinear hidden processing elements, e.g., the diagonal neural network, the proposed recurrent hybrid network converges faster than taught to identify linear and nonlinear dynamics systems. Simulation results are presented to evaluate the performance of the IMC for the control of a SCARA-type robot manipulator.

关键词： Robot control Neural networks automatic control Robotics and automation Manipulator dynamics Adaptive control Uncertainty Robust control Nonlinear systems Feedforward neural networks

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Adaptive robust robot control using BP-SMENs

Adaptive robust robot control using BP-SMENs

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IEEE International Conference on Industrial Technology (ICIT)

作者： S. Yildirim R. Demirci M.F. Sukkar V. Aslautas Robotics Research Laboratory Engineering Faculty Erciyes University Kayseri Turkey Electrical Department Technical Education Faculty Abant Izzet Baysal University Duzce Bolu Turkey Automatic Control and Industrial Electronics Department Electrical and Electronics Engineering Faculty Aleppo University Aleppo Syria

This paper presents the development of a new adaptive recurrent neural network for the control of a nonlinear system represented by a two-link SCARA type planar robot manipulator. The standard backpropagation algorithm is used to adjust the weights of the networks. The proposed control system consists of an inverse neural model of robot (INNM), an INNM-based neural controller, a robust controller, a conventional PI controller, and a second order linear filter. To evaluate the performance of the proposed control scheme and neural network, a simulated SCARA type robot was studied and the results showed how well the proposed controller can minimise the error between an actual and desired end-effector trajectory. From simulation examples, the robot trajectory tracking showed superior performance that is very attractive for real-time implementation and application in complex industrial tasks. For comparison, the standard computed torque method is employed for controlling the robot.

关键词： Programmable control Adaptive control Robust control Robot control Service robots Adaptive systems Recurrent neural networks Nonlinear control systems control systems Nonlinear systems

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Design of adaptive NNs-robust-PID controller for a robot control

Design of adaptive NNs-robust-PID controller for a robot con...

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IEEE International Symposium on Intelligent control (ISIC)

作者： S. Yildirim M.F. Sukkar R. Demirci V. Aslantas Engineering Faculty Erciyes University Robotic Research Laboratory Kayseri Turkey Automatic Control and Industrial Electronics Department Electrical and Electronics Engineering Faculty Aleppo University Aleppo Syria Electrical Department Technical Education Faculty Abant Izzet Baysal University Duzce Bolu Turkey

This paper investigates the trajectory control of a robot using a new type of recurrent neural network. A three-layered recurrent neural network is used to estimate the forward dynamics model of the robot manipulator. The standard backpropagation (BP) algorithm is used as a learning algorithm for this network to minimise the difference between the robot manipulator actual response and that predicted by the neural network. This algorithm is employed to update the connection weights of a recurrent neural network controller with three layers using a stochastic gradient function. The control architecture consists of a neural feed-forward model which is a recurrent network used for identification of the robot dynamics, a conventional PID controller, a robust controller and a neural controller. Simulations illustrate that the proposed neural control approach which is applied to some nonlinear processes can gain satisfactory performance results. The results of the simulations are presented to show the promising performance of the neural controller.

关键词： Robot control Programmable control Adaptive control Recurrent neural networks Manipulator dynamics Backpropagation algorithms Neural networks Stochastic processes Feedforward systems Three-term control

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Composition of Conflict-Free Petri Net Models for control of Flexible Manufacturing Systems

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IFAC Proceedings Volumes 1996年第1期29卷 547-552页

作者： B. Hrúz A.J. Niemi T. Virtanen Slovak Technical University Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems Ilkovicova 3 812 19 Bratislava Slovak Republic phone: +42 -7-791698 Helsinki University of Technology Department of Information Technology Control Engineering Laboratory Otakaari 5A FIN-02150 Espoo Finland phone: +358-0-4513334

An approach using Petri nets to modelling and control of flexible manufacturing systems (FMS) is worked out in the paper. A class of Petri nets suitable for the modelling of FMS and for the design of their control is formulated. In the Petri net models not only conflicts due to mutual exclusions of the shared system resources but conflicts of branching operations are analyzed and solved, as well. Models of FMS suitable for system performance analysis and control design are built up of a set of elementary building blocks proposed in the paper. Analysis, modelling method and control design is developed on the background of a pilot experimental FMS developed at the Helsinki University of Technology.

关键词： Discrete event dynamic systems flexible manufacturing systems Petri nets control oriented models

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