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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Weizhong Zhang Tamer Inanc Alberto Elfes Department of Automation University of Electronic Science and Technology Chengdu China Electrical and Computer Engineering University of Louisville KY USA Faculty of Electrical and Computer Engineering University of Louisville KY USA NASA Jet Propulsion Laboratory CA USA

The 40th anniversary of Apollo 11 project with man landing on the moon reminds the world again by what science and engineering can do if the man is determined to do. However, a huge step can only be achieved step by step which may be relatively small at the beginning. Robotic exploration can provide necessary information needed to do the further step safely, with less cost, more conveniently. Trajectory generation for a robotic vehicle is an essential part of the total mission planning. To save energy by exploiting possible resources such as wind will assist a robotic explorer extend its life span and perform tasks more reliably. In this paper, we propose to utilize Nonlinear Trajectory Generation (NTG) methodology to generate energy efficient trajectores for the JPL Aerobot by exploiting wind. The Aerobot model is decoupled into longitudinal and lateral dynamics with control inputs as elevator deflection δ e , thrust demand δ T , vectoring angle δ v for the longitudinal motion, aileron deflection δ a , rudder deflection δ r for the lateral motion. The outputs are the velocities and orientation of the Aerobot. The Aerobot state space model parameters are obtained from experimental identification on AURORA Airship since the actual JPL Aerobot is similar to the AURORA Airship. In this paper, the results show that with the state-space model, the proposed trajectory generation method can guide the Aerobot to take advantage of previously known wind profile to generate an energy-efficient trajectory.

关键词： Trajectory Robots Atmospheric modeling Elevators Three dimensional displays Planets Mathematical model

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Internal model control for hysteretic nonlinear systems based on support vector regression

Internal model control for hysteretic nonlinear systems base...

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World Congress on Intelligent Control and automation (WCICA)

作者： Wenguang Zhang Jianqin Mao Yanhua Ma Beijing Key Laboratory of Measurement and Control Technology and System for Industrial Process Control & Computer Engineering School North China Electric Power University Beijing China School of Automation Science and Electrical Engineering Beijing Aeronautics and Astronautics University Beijing China

Aim at the hysteretic nonlinearity characteristic of the giant magnetostrictive actuator in control, an internal model control method based on support vector regression is presented in this paper. Its models are built by support vector regression using the input and output data of the actuator and the internal model control is achieved. The simulation results show the method in this paper has better control precision.

关键词： Support vector machines Actuators automation Data models Computational modeling Hysteresis Magnetostriction

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Robust exponential stabilization of Networked Switched Control Systems

Robust exponential stabilization of Networked Switched Contr...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Dan Ma Georgi M. Dimirovski Jun Zhao Key Laboratory of Integrated Automation of Process Industry Ministry of Education and College of Information Science and Engineering Northeastern University Shenyang China Research School of Information Science and Engineering Australian National University Canberra ACT Australia FEIT College of Electrical Engineering & Information Technologies Ss Cyril and Methodius University Macedonia Computer Engineering Department Dogus University Istanbul Turkey

The use of networks in control systems to connect controllers and sensors/actuators has become a common practice. A networked switched control system, a special case of such systems, is studied in this paper by making use of linear descriptor system theory. Such a control system is modeled as switched delay systems involving network-induced delay and packet dropout. Sufficient conditions for robust exponential stability are given for a class of switching signals with average dwell time. A design method to stabilize a continuous-time, linear switched plant under a given communication network via a hybrid state feedback controller is proposed. The design solution for hybrid controllers is network-dependent and given in terms of linear matrix inequalities.

关键词： Robust control Control systems Communication system control Communication switching Delay systems Robust stability Sensor systems Actuators Control system synthesis Packet switching

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Synchronization of a class of complex dynamical networks with time-varying delay couplings

Synchronization of a class of complex dynamical networks wit...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Weisong Zhong Georgi M. Dimirovski Jun Zhao Laboratory of Integrated Automation of Process Industry Ministry of Education College of Information Science & Engineering Northeastern University Shenyang Liaoning China FEIT College of Electrical Engineering & Information Technologies Ss Cyril and Methodius University Skopje Macedonia Computer Engineering Department Dogus University Istanbul Turkey Australian National University Canberra ACT Australia

This paper investigates synchronization dynamics of a complex delayed dynamical network as well as the effects of time-varying delay. Following the approach via Razumikhin theorem, simple delay-dependent synchronization criteria are derived in terms of linear matrix inequalities, which can be verified via the interior-point algorithm. The proposed criteria can deal with a fast time-varying delay in coupling term and enabled removing the restriction on the derivative of the time-varying delay. The effectiveness of the proposed synchronization scheme and the theoretical results are illustrated by a numerical example.

关键词： Delay effects Complex networks Control systems Time varying systems Linear matrix inequalities Network topology Cellular neural networks automation Information science Australia

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Controlled synchronization of complex dynamical networks with nonlinear nodes and couplings

Controlled synchronization of complex dynamical networks wit...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Tao Liu Georgi M. Dimirovski Jun Zhao Key Laboratory of Integrated Automation of Process Industry Ministry of Education College of Information Science & Engineering Northeastern University Shenyang Liaoning China FEIT College of Electrical Engineering & Information Technologies Ss Cyril and Methodius University Skopje Macedonia Computer Engineering Department Dogus University Istanbul Turkey Australian National University Canberra ACT Australia

Synchronization problem for a class of complex networks consisting of N nonlinear dynamical nodes that are nonlinearly and diffusively coupled is solved in here. The global synchronization of such networks is investigated via Lyapunov stability theory. Under assumptions that measurements full state vectors of each node are available and coupling coefficients are known, a family of decentralized nonlinear feedback controllers are designed to globally synchronize the network system. When coupling coefficients are unavailable, an adaptive mechanism is introduced to synthesize a family of decentralized adaptive controllers which guarantee the global synchronization. An illustrative example with Lorenz node systems along with the respective computer simulation results is given to demonstrate the effectiveness of the proposed solution to controlled synchronization.

关键词： Couplings Complex networks Control systems Nonlinear control systems Adaptive control Lyapunov method Programmable control Cellular neural networks Communication networks Communication system control

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Performance and robustness analysis of a fuzzy-immune flow controller in ATM networks with time-varying multiple time-delays

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控制理论与应用（英文版） 2008年第3期6卷 253-258页

作者： Tao REN Zhenhua GAO Weiming KONG Yuanwei JING Muyi YANG Georgi M. DIMIROVSKI Key Laboratory of Process Industry Automation of MOE and Liaoning Province Northeastern University Shenyang Liaoning 110004 China School of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China Faculty of Engineering Department of Computer Engineering Dogus University Istanbul TR-347222 Republic of Turkey

For the Asynchronous Transfer Mode （ATM） networks with time-varying multiple time-delays, a more realistic model for the available bit rate （ABR） traffic class with explicit rate feedback is introduced. A fuzzy-immune controller is designed, which can adjust the rates of ABR on-line, overcome the bad effect caused by the saturation nonlinearity and satisfy the weighted fairness. Also, the sufficient condition that guarantees the stability of the closed-loop system with a fuzzy-immune controller is presented in theory for the first time. The algorithm exhibits good performance, and most importantly, has a solid theoretical foundation and can be implemented in practice easily. Simulation results show that the control system is rapid, adaptive, robust, and meanwhile, the quality of service （QoS） is guaranteed.

关键词： ATM networks ABR traffic Time-delay Fuzzy-immune controller Robust stabilization

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An adaptive control method for a class of uncertain nonlinear systems with ferromagnetic hysteresis nonlinearity

An adaptive control method for a class of uncertain nonlinea...

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27th Chinese Control Conference, CCC

作者： Song, Zheng Zhang, Huaguang Liu, Derong School of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China Key Laboratory of Process Industry Automation Ministry of Education Northeastern University Shenyang Liaoning 110004 China Department of Electrical and Computer Engineering University of Illinois at Chicago Chicago IL 60607 United States

ISBN: (纸本)9787900719706

This paper deals with the tracking problem of a class of uncertain nonlinear systems with ferromagnetic hysteresis nonlinearity, in which the adaptive backstepping control method is presented. The ferromagnetic hysteresis model is approximated using a linear input and a bounded nonlinear disturbance of which the bound is unknown. The designed controller guarantees that the output of the system tracks a desired signal and the tracking error converges to a small bound. The stability of the closed loop system is proved under the Lyapunov stability theory. Simulation example is given to illustrate the effectiveness of the scheme.

关键词： Backstepping

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Adaptive Synchronization for a Class of Complex Delayed Dynamical Networks

Adaptive Synchronization for a Class of Complex Delayed Dyna...

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2008 American Control Conference (ACC), vol.12

作者： Wei-Song Zhong Georgi M. Dimirovski Jun Zhao Key Laboratory Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang China Faculty of Electrical Engineering Information Technologies Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Dogus University Acibadem Istanbul Turkey Department of Information Engineering Australian National University Canberra ACT Australia

This paper introduces a complex dynamical network with time-varying coupling delays and investigates its locally and globally synchronization. Based on the Lyapunov-Krasovskii functional method, some decentralized adaptive synchronization criteria are derived. The coupling terms are bounded by high-order polynomials, which are applicable to a large class of complex dynamical networks. The effectiveness of the proposed synchronization scheme are illustrated by a numerical example.

关键词： Complex networks Polynomials Network topology Oscillators Cellular neural networks Programmable control Adaptive control Australia Council Laboratories automation

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Output feedback control of linear systems with input and output quantization

Output feedback control of linear systems with input and out...

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IEEE Conference on Decision and Control

作者： Daniel Coutinho Minyue Fu Carlos E. de Souza Group of Automation and Control Systems Faculty of Engineering Pontifícia Universidade Católica do Rio Grande do Sul Porto Alegre Brazil School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Systems and Control Laboratory Nacional de Computação Científica Petropolis Rio de Janeiro Brazil

ISBN: (纸本)9781424431236

A considerable amount of research has been done on the use of logarithmic quantizers for networked feedback control systems. However, most results are developed for the case of a single quantizer (either measurement or control signal quantization). In this paper, we investigate the case of simultaneous input and output quantization for SISO linear output feedback systems. Firstly, we show that the problem of quadratic stabilization via quantized feedback can be addressed with no conservativeness by means of the sector bound approach. Secondly, we provide a bound on the maximal admissible sector bound via a scaled H ¿ optimization problem.

关键词： Output feedback Linear feedback control systems Control systems Linear systems Quantization Communication system control Feedback control Communication channels Digital control Bandwidth

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An initial rotor position estimation method for switched reluctance motor without using machine parameter

An initial rotor position estimation method for switched rel...

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International Conference on electrical Machines and Systems, ICEMS 2007

作者： Jitkreeyarn, P. Kachapornkul, S. Somsiri, P. Tungpimolrut, K. Akira, Chiba Tadashi, Fukao Industrial Control and Automation Laboratory Section National Electronics and Computer Technology Center Department of Electrical Engineering Faculty of Science and Technology Tokyo University of Science

ISBN: (纸本)8986510081

In this paper a method to estimate the initial rotor position of the switched reluctance motor (SRM) at the stand still condition is proposed. The proposed method can be implemented by the simple microcontroller based system, and it is not necessary to know the magnetization curves. The impulse gate drive signal is applied and the winding current is detected and its approximate value is used for calculating the rotor position. The compensation method to reduce the estimation error thorough one cycle is also mentioned. The proposed method is implemented with the 6-stator-pole and 4-rotor-pole, 1.5 kW 3-phase switched reluctance motor.

关键词： Error compensation

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