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Wireless communication for control of manipulation systems

Archives of control Sciences 2012年第1期22卷 29-41页

作者： Belda, Květoslav Rychnovský, Václav Píša, Pavel Department of Adaptive Systems Institute of Information Theory and Automation Academy Sciences of the Czech Republic Public non-university research institution Pod Vodárenskou věží 4 182 08 Prague 8 Czech Republic Control Engineering Department Faculty of Electrical Engineering Czech Technical University in Prague Karlovo nám. 13 121 35 Prague 2 Czech Republic

The paper deals with a novel application of the wireless data communication for a continual control of the distributed manipulation systems. The solution is intended for industrial robotic plants. A considered way of the wireless communication is based on ZigBee protocol. The protocol is tested for a real time bidirectional data communication within a manipulation system. The system consists of several moving manipulation units, several stationary auxiliary units and one control computer. The computer provides the cooperation of all units in the system in relation to the user requirements. The system is controlled by a simple feedback multi-level control realized in MATLAB - Simulink environment. The paper is focused on the realization of the boards of power electronics, transmitters, optical positional sensors, optical gates and their networking in accordance with ZigBee protocol definition. The behavior of the ZigBee is illustrated by several records from real experiments. Copyright © Silesian University of Technology, 2012.

关键词： Zigbee

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Predictive control of convex polyhedron LPV systems with Markov jumping parameters

Predictive control of convex polyhedron LPV systems with Mar...

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Chinese control and Decision Conference, CCDC

作者： Yanyan Yin Fei Liu Peng Shi Hamid Reza Karimi Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi 214122 China Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Engineering Faculty of Engineering and Science University of Agder N-4898 Grimstad Norway

The problem of receding horizon predictive control of stochastic linear parameter varying systems is discussed. First, constant coefficient matrices are obtained at each vertex in the interior of linear parameter varying system, and then, by considering semi-definite programming constraints, weight coefficients between each vertex are calculated, and the equal coefficients matrices for the time variable system are obtained. Second, in the given receding horizon, for each mode sequence of the stochastic convex polyhedron linear parameter varying systems, the optimal control input sequences are designed in order to make the states into a terminal invariant set. Outside of the receding horizon, stability of the system is guaranteed by searching a state feedback control law. Finally, receding horizon predictive controller is designed in terms of linear matrix inequality for such system. Simulation example shows the validity of this method.

关键词： Markov processes Predictive control Equations Educational institutions Programming Symmetric matrices

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Evaluations of Different Simultaneous Localization and Mapping (SLAM) Algorithms

Evaluations of Different Simultaneous Localization and Mappi...

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Annual Conference on IEEE Industrial Electronics Society

作者： Gurkan Tuna Kayhan Gulez V. Cagri Gungor T. Veli Mumcu Trakya University Department of Computer Programming Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Bahcesehir University Faculty of Engineering Department of Computer Engineering

ISBN: (纸本)9781467324199

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features.

关键词： Simultaneous localization and mapping Navigation Visualization Power measurement Estimation MONOS devices

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Bounded Synchronization of Switched Dynamical Networks with Non-identical Nodes

Bounded Synchronization of Switched Dynamical Networks with ...

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2012 International Conference on Modelling,Identification and control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Liming Du Fengying Wang Feng Qiao State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityMinist Faculty of Information & Control Engineering Shenyang Jianzhu UniversityShenyang 110168China Faculty of Information & Control Engineering Shenyang Jianzhu UniversityShenyang 110168China

ISBN: (纸本)9781467315241

This paper investigates the synchronization problem of a complex dynamical network with non-identical nodes and switching *** an equilibrium for each node nor a synchronization manifold is assumed to *** select average state trajectory as the target of synchronization and establish the error dynamical *** single Lyapunov function method and the bounded synchronization theory, the switching law design method presented which guarantee the bounded synchronization of switched dynamical networks with non-identical *** results verify the validity of the results.

关键词： Complex dynamical networks Switching topology Synchronization Non-identical noses

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Gain-Scheduled H-infinity Observer Design for Nonlinear Stochastic Systems with Time-Delay and Actuator Saturation

Gain-Scheduled H-infinity Observer Design for Nonlinear Stoc...

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American control Conference

作者： Yanyan Yin Peng Shi Fei Liu Hamid Reza Karimi Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi Jiangsu 214122 P. R. China Department of Computing and Mathematical Sciences University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Engineering Faculty of Engineering and Science University of Agder N-4898 Grimstad Norway

ISBN: (纸本)9781457710957

In this paper, we propose a method for designing continuous gain-scheduled robust H_∞ observer on a class of extended stochastic nonlinear systems subject to time delay and actuator saturation. Initially, gradient linearization procedure is applied to describe such extended nonlinear systems into several model-based linear systems. Next, a robust linear H_∞ observer is designed to such linear stochastic models. Subsequently, a convex hull set is investigated and sufficient condition is derived in terms of feedback observer to determine whether a given initial condition belongs to an ellipsoid invariant set. Finally, continuous gain-scheduled approach is employed to design continuous nonlinear observers on the entire extended nonlinear jump system. A simulation example is given to illustrate the effectiveness of developed techniques.

关键词： Nonlinear stochastic system time delay Observers actuators system clock INITIAL CONDITIONS Nonlinear systems

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Determining biochemical reaction network structures for kinetic polynomial models with uncertain coefficients

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AIP Conference Proceedings 2012年第1期1479卷 2427-2430页

作者： Gábor Szederkényi Z. A. Tuza Katalin M. Hangos Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences. Kende u. 13-17 H-1111 Budapest Hungary and Faculty of Information Technology Pázm Hungary Faculty of Information Technology Pázmány Péter Catholic University Práter u. 50/a H-1083 Budapest Hungary Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences. Kende u. 13-17 H-1111 Budapest Hungary and Dept. of Electrical Engineering and Informatio Hungary

A numerical method is proposed in this paper for the computation of dense and sparse reaction network structures for kinetic polynomial models with uncertain parameters represented as intervals. The problem is traced ...

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Performance evaluation of a PMSG-based variable speed wind generation system using maximum Power Point Tracking

Performance evaluation of a PMSG-based variable speed wind g...

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IEEE Canada Electric Power Conference, EPEC

作者： S. Rahmani Ab. Hamadi A. Ndtoungou K. Al-Haddad H. Y. Kanaan Canada Research Chair on Electrical Energy Conversion and Power Electronics École de Technologie Supérieure Montreal QUE Canada Research Group in Signal Image and Intelligent Control for Industrial Systems (SICISI) ESSTT University of Tunis Tunisia Department of Electrical Engineering École de Technologie Supérieure Montreal QUE Canada Department of Electrical and Mechanical Engineering Faculty of Engineering École Supérieure dIngénieurs of Beirut Saint-Joseph University Beirut Lebanon

This paper proposes a grid-connected Permanent Magnet Synchronous Generator (PMSG) driven by the wind turbine with harmonics, reactive power and unbalances compensation capability. The proposed wind energy conversion system consists of a PMSG coupled to a diode-bridge rectifier, a DC-to-DC converter and a three-phase four-wire inverter. The diode-bridge rectifier is used as an AC-DC converter. The DC-DC converter is used to achieve maximum Power Point Tracking (MPPT) for the wind turbine. The grid-side converter is controlled to supply extracted power from wind energy to the grid and to the loads as well as to compensate the harmonics, the reactive power and unbalances, so that the supply currents will be sinusoidal, balanced, and in phase with the supply voltages. A nonlinear control technique is proposed for the inverter. The effectiveness of the proposed variable speed wind energy conversion system is proved by simulation.

关键词： Inverters Wind turbines Batteries Wind energy Mathematical model Voltage control Equations

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control of energy systems as distributed parameter systems with software support by virtual software environments

Control of energy systems as distributed parameter systems w...

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IEEE Conference on Decision and control

作者： Gabriel Hulkó Boris Rohal-Ilkiv Pavol Noga Slavomír Lipár Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering (IAMAI-FME-STU) and Center for Control of Distributed Parameter Systems Slovak University of Technology in Bratislava Nám Bratislava Slovakia FME-STU Nám. IAMAI Bratislava Slovakia FME-STU Nám IAMAI Bratislava Slovakia

ISBN: (纸本)9781467320658

Thanks to development of information technology, the so-called virtual software environments offer wide possibilities for the estimation of time-space dynamical characteristics of energy systems, including modeling, control and design of distributed parameter systems. Based on these advances, we present a novel approach to control energy systems as lumped-input and distributed-parameter-output systems. An adaptive-predictive controller is deployed to control temperature fields to ensure optimal conditions for the desulphurization process in a coal-burning fluidized bed furnace, demonstrating the potential of the proposed methodology.

关键词： Aerospace electronics Temperature control Software Process control Fuels Distributed parameter systems

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Validation heat transfer model by experimental measurement

Validation heat transfer model by experimental measurement

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International Carpathian control Conference

作者： Gerlich, Vladimir Department of Automation and Control Engineering Tomas Bata University in Zlin Faculty of Applied Informatics Zlin Czech Republic

ISBN: (纸本)9781612843599

The main idea of this project is to simulate the thermal construction responses in dependence on changing boundary conditions. In order to predict environmental temperature precisely a model of one room has been developed and implemented in COMSOL Multiphysics. A finite element model was developed in 3D coordinates in order to achieve illustration of an air and an energy movement and to simulate the transient process in the walls in [7]. Notwithstanding, this model was not accurate enough for application in building conditions. Main goal of this paper is in updating current model to get results with sufficient accuracy. Temperature course of the model is analyzed and compared to the experimentally measured temperature data. © 2011 IEEE.

关键词： Multiphysics

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Composition of united multiple diseases evolution topological model

Composition of united multiple diseases evolution topologica...

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9th International Symposium on Intelligent Systems and Informatics, SISY 2011

作者： Karpičs, I. Markovičs, Z. Markoviča, I. Institute of Computer Control Automation and Computer Engineering Faculty of Computer Science and Information Technology Riga Technical University Riga Latvia

ISBN: (纸本)9781457719745

Mathematical models are constructed and used as a methodology of various functioning systems structure investigation and performance analysis. The main goal of mathematical model usage is to perform wholesome diagnostics and correct work resumption of investigated system. In the article topological modeling method has been investigated by giving fundamental basics and application spheres by examples. Authors propose model construction method with an example from medicine by creating multiple diseases (arterial hypertension, atherosclerosis and diabetes mellitus) evolution topological model with formal aspects. Developed modeling method and united diseases model can be used to prognosticate evolution of diseases, perform inspection of used therapies and provide information for optimal therapy complex selection. © 2011 IEEE.

关键词： Topology

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