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Robust control of discrete linear repetitive processes with parameter varying uncertainty

International Workshop on Numerical Linear Algebra in Signal, Systems, and control

作者： Cichy, Blazej Galkowski, Krzysztof Rogers, Eric Kummert, Anton Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom Faculty of Electrical Information and Media Engineering University of Wuppertal Rainer-Gruenter-Strasse 21 Wuppertal 42119 Germany

ISBN: (纸本)9789400706019

Repetitive processes propagate information in two independent directions where the duration of one of these is infinite. They pose control problems that cannot be solved by application of results for other classes of 2D systems. This paper develops robust controller design algorithms for discrete linear processes based on the poly-quadratic stability that produce less conservative results than currently available alternatives. © 2011 Springer Science+Business Media B.V.

关键词： Robust control

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision Processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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Unknown input reconstruction for nonlinear autonomous switched systems via high-order sliding modes observers

Unknown input reconstruction for nonlinear autonomous switch...

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Annual Conference of Industrial Electronics Society

作者： Hector Rios Jorge Davila Leonid Fridman Department of Control Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico Distrito Federal Mexico National Polytechnic Institute Section of Graduate Studies and Research ESIME UPT Mexico Distrito Federal Mexico Department of Automatic Control CINVESTAV IPN Mexico Distrito Federal Mexico Engineering Department of Control and Robotics Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico Distrito Federal Mexico

The unknown input identification problem is studied for a class of nonlinear autonomous switched systems. It is proposed a robust observer which is capable of reconstructing the continuous state and the discrete state in the presence of unknown inputs. On the other hand, it is provided a method for identification of unknown inputs using the high frequency equivalent output injection. Simulation results support the proposed method.

关键词： Observers Switches Switched systems Vectors Trajectory

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An on-board pan-tilt controller for ground target tracking systems

An on-board pan-tilt controller for ground target tracking s...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhekui Xin Yongchun Fang Bin Xian Beijing AeroSpace Automatic Control Institute China Institute of Robotics and Information Automatic System Nankai University Tianjin China Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane when the target is in sight. When the target is temporarily out of view due to various reasons, the designed controller will make the camera quickly re-capture the target by estimating its state and then regulating the orientation of the camera correspondingly. Specifically, a novel state transformation is firstly introduced to make the error system independent of the target image. Subsequently, a nonlinear pan-tilt controller is designed for the transformed error system. Lyapunov techniques are then employed to prove that the target tracking error in the image plane is driven to zero exponentially fast. To facilitate the implementation of the constructed controller, a visual estimator is also utilized to obtain the state information of the target even if it is occasionally out of the view of the camera by introducing an effective nonlinear filter. Simulation results are provided to validate the performance of the presented control system.

关键词： Target tracking Cameras Helicopters Jacobian matrices Visualization Robot vision systems

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Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability

Feedback design for the Acrobot walking-like trajectory trac...

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Milan Anderle Sergej Čelikovský Institute of Information Theory and Automation Academy of Sciences of Czech Republic Prague Czech Republic Faculty of Electrical Engineering Department of Control Engineering Czech Technical University in Prague Prague Czech Republic

This paper aims to the further improve of the previously developed design for the Acrobot walking based on the partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4 dimensional linear time varying system having 3 time varying entries only. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 4×4 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot “walking”.

关键词： Legged locomotion Trajectory Stability analysis Eigenvalues and eigenfunctions Equations Jacobian matrices Time varying systems

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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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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Luige Vladareanu Gabriela Tont Hongnian Yu Danut A. Bucur Head of Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy Faculty of Electrical Engineering and Information Technology University of Oradea Oradea Romania Computing Engineering and Technology Staffordshire University Stafford UK Academia Romana Bucuresti RO

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.

关键词： Markov processes Legged locomotion Navigation Lead Position control Predictive models

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Introduction

Communications and Control Engineering

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Communications and control engineering 2011年第9780857292551期 1-15页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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Advanced control of quadrotor using eigenaxis rotation

Advanced control of quadrotor using eigenaxis rotation

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IEEE Conference on control Technology and Applications (CCTA)

作者： Jaromír Dvořák Marcelo de Lellis Zdeněk Hurák Institute of Information Theory and Automation Academy of Sciences in the Czech Republic Prague Czech Republic Faculty of Electrical Engineering Czech Technical University Prague Czech Republic European SpaceMaster programme CTU FEE Prague Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic

This paper describes a novel strategy for reorientation of an indoor micro quadrotor consisting in combination of an LQ-optimal state-feedback and an eigenaxis rotation. The proposed control scheme is capable of performing large scale maneuvers with no path constraints or singularities while achieving short settling times and high energy efficiency. A suitable interface to the translation controller is introduced.

关键词： Quaternions Actuators Torque Aircraft Mathematical model Angular velocity Atmospheric modeling

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Smoothing control of Discrete Linear Repetitive Processes

Smoothing Control of Discrete Linear Repetitive Processes

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2011 Chinese control and Decision Conference（CCDC）

作者： Blazej Cichy Krzysztof Galkowski Eric Rogers Anton Kummert Institute of Control and Computation Engineering University of Zielona Góra currently a Gerhard Mercator guest professor at University of Wuppertal School of Electronics and Computer Science University of Southampton Faculty of Electrical Information and Media EngineeringUniversity of Wuppertal

Repetitive processes are a distinct class of twodimensional (2D) systems (*** propagation in two independent directions occurs) of both systems theoretic and applications *** particular,a repetitive process makes a series of sweeps or passes through dynamics defined on a finite *** the end of each pass,the process returns to the starting point and the next pass *** novel feature is that the output on the previous pass acts as a forcing function on,and hence contributes to,the current pass *** has been a considerable volume of profitable work on the development of a control theory for such processes but currently the most effective control law design algorithms are based on sufficient but not necessary stability conditions and hence conservativeness may prevent the design of control laws in some *** paper considers the design of a new control law which exploits extra available information to allow stabilizing control law design.

关键词： Linear Repetitive Processes,Stability analysis,control law design

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Tremor analysis by decomposition of acceleration into gravity and inertial acceleration using inertial measurement unit

Tremor analysis by decomposition of acceleration into gravit...

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作者： Šprdlík, Otakar Hurák, Zdeněk Hoskovcová, Martina Ulmanová, Olga Růžička, Evžen Institute of Information Theory and Automation of the ASCR Pod Vodarenskou vezi 4 CZ-182 08 Prague 8 Czech Republic Czech Technical University in Prague Faculty of Electrical Engineering Dept. of Control Eng Technická 2 16627 Praha 6 Czech Republic Dept. of Neurology Centre of Clinical Neuroscience Charles University in Prague Czech Republic

Decomposition of acceleration was investigated as an alternative to commonly used direct spectral analysis of measured acceleration or angular velocity for tremor quantification. An orientation estimation algorithm was devised to decompose the measured acceleration into the gravitational artifact and the inertial acceleration caused by sensor movement in an inertial reference frame. Resulting signals, beside the measured acceleration and angular velocity, were used to assess tremor amplitude and frequency by spectral peak detection. The algorithm was tested on experimental data from a clinical study including patients with essential tremor. The testing comprised of the classification of measurements to come from a patient or a healthy control and of the regression of the visual assessment of tremor amplitude. Small improvements in performance measures were achieved by using the decomposed acceleration. The regression accuracy was comparable to the accuracy achieved in other works. The influence of sensor calibration and connections of results to an analytic approach were analyzed briefly. © 2010 Elsevier Ltd. All rights reserved.

关键词： Acceleration

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