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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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Decentralized controller Design: Subsystem Robust Stabilization Approach

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IFAC Proceedings Volumes 2011年第1期44卷 2541-2545页

作者： D. Rosinová V. Veselý Institute of Control and Industrial Informatics Slovak University of Technology Faculty of Electrical Engineering and Information Technology Bratislava Slovak Republic

Abstract This paper studies decentralized control design problem for uncertain linear system. Decentralized control design procedure is proposed for static output feedback control which is based on solving robust control design problems of subsystems’ size. The presented approach uses so called equivalent subsystems to consider the interactions in the local robust controller design. The resulting decentralized control scheme has been successfully tested on the linearized model of three interconnected boiler-turbine subsystems.

关键词： decentralized control robust stability bilinear matrix inequalities

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A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

A Guideline for Humanoid Leg Design with Oblique Axes for Bi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Konrad Fründ Anton Leonhard Shu Florian Christoph Loeffl Christian Ott German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany Faculty of Electrical Engineering and Information Technology TU Wien Automation and Control Institute Vienna Austria

ISBN: (纸本)9798350309805

The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain inclinations. This is in contrast to the most popular humanoid design with a configuration based on perpendicular joint axes. This paper reviews the oblique joint axes of the mainly involved joints for locomotion of the human musculoskeletal system. We elaborate on how the oblique axes affect the performance of walking and running. The mechanisms are put into perspective for the locomotion types of walking and running. In particular, walking robots can highly benefit from using oblique joint axes. For running, the primary goal is to align the axis of motion to the mainly active sagittal plane. The results of this analysis can serve as a guideline for the kinematic design of a humanoid robot and a prior for optimization-based approaches.

关键词： Legged locomotion Musculoskeletal system Actuators Torque Robot kinematics Humanoid robots Kinematics

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Bias-free Parameter Identification for Non-Commensurable Fractional Systems

Bias-free Parameter Identification for Non-Commensurable Fra...

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European control Conference (ECC)

作者： Oliver Stark Martin Pfeifer Stefan Krebs Sören Hohmann Faculty of Electrical Engineering and Information Technology Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

This paper deals with the parameter identification for non-commensurable fractional systems under noisy observations of the output signal. Fractional systems are increasingly used to describe complex systems or memory effects. Actual identification methods can not handle noisy observations of the output signal if the system is not at rest. In this paper, an approach is proposed which uses a combination of the modulating function method and the instrumental variable method. The instrumental variable method yields unbiased estimates without knowing anything about the noise which corrupts the output signal. To calculate the instrumental variables, an algorithm to calculate the closed-form solution of a fractional system is also extended by the short-memory principle. The presented approach is compared to the common least-squares method by a numerical simulation.

关键词： Closed-form solutions Instruments Noise measurement Fractional calculus Time-domain analysis Splines (mathematics) Complex systems

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Fuzzy direct adaptive sliding mode control of interconnected large-scale systems

Fuzzy direct adaptive sliding mode control of interconnected...

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2002 IEEE International Conference on Systems, Man and Cybernetics

作者： Zhang, Yanxin Dimirovski, Georgi M. Jing, Yuanwei Zhang, Siying Institute of Control Science Faculty of Information Sci. and Eng. Northeastern University P.O. Box 321 Shenyang Liaoning 110004 China Department of Computer Engineering DOGUS University Faculty of Engineering Acibadem Zemaet Sk. 21 Kadikoy TR-81010 Istanbul Turkey ASE Institute Faculty of Electrical Engineering SS Cyril and Methodius University MK-1000 Skopje Macedonia

Fuzzy direct adaptive sliding mode control design for a class of interconnected large-scale nonlinear systems with unknown functions has been resolved. It makes use of the fuzzy control method via fuzzy logic approximation with fuzzy sliding mode control to approximate the ideal controller synthesised. Fuzzy sliding mode control is introduced to attenuate the fuzzy approximation errors. The (sub)system parameters are being regulated on-line by adaptive laws and stabilised by virtue of Lyapunov's second method applied.

关键词： Large scale systems

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Securing the Future after Pager Bombs:Lifecycle Protection of Smart Devices via Blockchain Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2355-2358页

作者： Fei Lin Qinghua Ni Jing Yang Juanjuan Li Nan Zheng Levente Kovács Radu Prodan Mariagrazia Dotoli Qing-Long Han Fei-Yue Wang the Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China the State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBei-jing 100049China IEEE Obuda University John von Neumann Faculty of InformaticsBecsi Str.96/bH-1034 BudapestHungary the Institute of Information Technology University of Klagenfurt9020 Klagenfurt am WortherseeAustria the Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190

THE Lebanese wireless device explosion incident has drawn widespread attention,involving devices such as pagers,walkie-talkies,and other common devices[1].This event has revealed and highlighted the security vulnerabilities in global supply chains from raw material manufacturing and distribution to the usage of devices and equipment,signaling the onset of a new wave of"supply chain warfare"[2].

关键词： Smart cycle chains

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Analog, Programmable Switched Capacitor FIR Filter Based on Rotator Architecture Implemented in CMOS Technology

Analog, Programmable Switched Capacitor FIR Filter Based on ...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Paweł Pawłowski Rafał Długosz Marek Radkowski Mateusz Wątły Adam Dąbrowski Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Poznań University of Technology Poznań Poland Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz University of Science and Technology Bydgoszcz Poland

The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the filter is based on the switched capacitor technique. In circuits of this type, one of main challenges is an efficient implementation of filter coefficients, which result from several factors described in this work. When implementing such filters as programmable circuits, the values of their coefficients have to be limited to a selected range, i.e. a given resolution in bits. In the implemented prototype filter, the filter coefficients are represented by 6 bits in sign-magnitude notation, so they can take 63 different values only. In such filters, it is not possible to directly implement any frequency response of the filter. Each time, it is necessary to properly round the theoretical values of the coefficients so that they fit into the available range of discrete values resulting from the implementation. The authors of the work designed an algorithm that allows such matching. The paper also presents results of measurements of the prototype chip.

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On identification of nonlinear dynamic systems using three-block cascade models

On identification of nonlinear dynamic systems using three-b...

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International Conference on Process control

作者： Jozef Voros Slovak Technical University Faculty of Electrical Engineering and Information Technology Institute of Control and Industrial Informatics

ISBN: (纸本)9781479909261

The paper deals with the parameter identification of nonlinear dynamic systems using three-block cascade models with static input and dynamic output nonlinearities. Multiple application of a decomposition technique provides an output equation for the corresponding nonlinear model description that is linear in parameters but includes more internal variables. An iterative technique allows estimation of all the model parameters and all the immeasurable internal variables based on measured input/output data. An illustrative example is included.

关键词： Nonlinear systems Identification Cascade models Backlash

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The petri nets and Markov chains approach for the walking robots dynamical stability control

The petri nets and Markov chains approach for the walking ro...

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2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011

作者： Vladareanu, Luige Tont, Gabriela Yu, Hongnian Bucur, Danut A. Institute of Solid Mechanics Romanian Academy Robotics and Mechatronics Department C-tin Mille 15 Bucharest 1 010141 Romania University of Oradea Faculty of Electrical Engineering and Information Technology Universitatii 1 Oradea 410087 Romania Faculty of Computing Engineering and Technology Staffordshire University Stafford ST16 0DG United Kingdom

ISBN: (纸本)9780955529375

This paper investigate Zero Movement Point (ZPM) dynamic control of walking robots and develop an open architecture of real time control multiprocessor systems, in view of obtaining new capabilities for walking robots. Considering the complexity of the movement mechanism of a walking robot being a repetitive tilting process with numerous instable movements can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The capability of the time-dependent method for describing a multi-state system and assessing the operational situation of a robotic system is evaluated based on a case study. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new strategy of the walking robot control systems for slope movement and walking by overtaking or going around obstacles has increased the robot's mobility and stability in real. © 2011 Intl Journal of Adv Mechatr.

关键词： Real time control

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Robust PI controller Design for Coupled-Tank Process: LMI Approach

Robust PI Controller Design for Coupled-Tank Process: LMI Ap...

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International Conference on Process control

作者： Ivan Holic Danica Rosinova Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology

ISBN: (纸本)9781479909261

This paper proposes an approach to a robust PI controller design for real uncertain Coupled-Tank process in time domain. Only the first independent tank is considered (single-input single-output system). Polytopic model of uncertain system is considered as a plant model to be controlled. Stability and performance of the closed loop system is determined through the LMI region, where the closed loop poles of whole uncertainty domain are placed. A robust stability condition based on the parameter-dependent Lyapunov function (PDLF) is used.

关键词： Robust stability PI controller LMI region Output feedback Lyapunov function

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