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International Multi-Conference on Computing in the Global Information Technology, ICCGI

作者： Dragan Matić Filip Kulić Manuel Pineda-Sanchez Joan Pons-Llinares Department for Automation and System Control Faculty of Technical Science Novi Sad Serbia Department of Electrical Engineering Universidad Politécnica de Valencia Valencia Spain

This paper deals with eccentricity fault detection in a induction motor via artificial neural networks. Discriminative features are extracted from magnitude-frequency plot of line current spectra at characteristic frequencies. Based on this data, training and test sets for used artificial neural networks are made. Feedforward and radial basis function neural networks are used for tasks of rotor condition classification. Well trained artificial neural networks are capable to successfully classify rotor condition at medium and full shaft load for choosen features. Simple structure and implementation made them suitably for practical usage.

关键词： Induction motors Rotors Artificial neural networks Stators Training Helium Harmonic analysis

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Robust PI controller design for a laboratory time delay process

Robust PI controller design for a laboratory time delay proc...

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Mediterranean Conference on control and automation (MED)

作者： Katarína Vaneková Monika Bakošová Radek Matušů Roman Prokop Jana Zavacká Faculty of Chemical and Food Technology Slovak University of Technology Bratislava Slovakia Department of Automation and Control Engineering Tomas Bata University in Zlín Zlin Czech Republic

The paper presents an approach to robust PI controller design for systems with interval parametric uncertainty and time delay. It is supposed that the controlled system is described by a transfer function with parameters lying in certain intervals and with a time delay term. The transfer function of the controlled system is modified by approximation of the time delay term by its Pade expansion. The area of all PI controller parameters k p , k i , that are able to assure the robust stability of the feedback closed loop, is found by the method, which is based on plotting the stability boundary locus in the (k p , k i )-plane. Then the pole-placement method is used to specify those controller parameters from the robust stability area, which assure quality of the control performance prescribed by a choice of closed loop poles or relative damping or natural undamped frequency of the control response. The contribution presents theoretical results confirmed by practical experiments in laboratory conditions. Robust PI controllers are found using designed approach for control of an electronic equipment with varying time delay. Designed robust PI controllers are realized using the PLC SIMATIC S7-300.

关键词： Delay effects control systems Process control Robustness Transfer functions Robust stability Polynomials

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Artificial neural networks broken rotor bars induction motor fault detection

Artificial neural networks broken rotor bars induction motor...

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Seminar on Neural Network Applications in Electrical engineering

作者： Dragan Matić Filip Kulić Vincente Climente-Alarcón Ruben Puche-Panadero Faculty of Technical Science Department for Automation and System Control Trg Dositeja Obradovica 6 NoviSad Serbia Faculty of Technical Science cDepartment for Automation and System Control Trg Dositeja Obradovica 6 Novi Sad Serbia Department of Electrical Engineering Comino de Vera Polytechnic University of Valencia Valencia Spain

Paper deals with application of online rotor broken bar fault detection via artificial neural networks. Fault can be detected by monitoring abnormalities of the spectrum amplitudes at certain frequencies in the motor current spectrum. These discriminative features are used for training of feed-forward backpropagation artificial neural network. Trained network is capable to successfully classify induction motor rotor condition. Results are presented in tables and figures.

关键词： Rotors Induction motors Artificial neural networks Bars Amplitude modulation Fault detection Classification algorithms

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Research on the control station system for a shape-shifting search and rescue robot

Research on the control station system for a shape-shifting ...

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IEEE International Conference on Robotics and Biomimetics

作者： Minghui Wang Nan Wang Chengdong Wu Bin Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Information and Control Engineering Faculty Shenyang JianZhu University Shenyang China College of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781424493197

In conformity with the request for search and rescue application, the design criterions of human-robot interaction are proposed. Based on the human-robot interaction, the control station system for the shape-shifting search and rescue robot is designed. The system mainly has four features, which are completely perceptive information, flexible control, friendly interface and strong interaction. The experiments demonstrate that the control station system for search and rescue robots can control motion and exchange the multi-channel information in the complex simulated after-earthquake environment. Thus, feasibility and validity of the control station system have been proved in the fields of search and rescue.

关键词： control systems Robot sensing systems Hardware Monitoring Software systems Real time systems

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Low-complexity polynomial approximation of explicit MPC via linear programming

Low-complexity polynomial approximation of explicit MPC via ...

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American control Conference (ACC)

作者： Michal Kvasnica Johan Löfberg Martin Herceg L'uboš C̆irka Miroslav Fikar Automation and Mathematics Slovak University of Technology in Bratislava Slovakia Institute of Information Engineering Automation and Mathematics Faculty of Chemical and Food Technology Slovak University of Technology Slovakia Automatic Control Laboratory Linköpings universitet Linköpings Sweden

This paper addresses the issue of the practical implementation of Model Predictive controllers (MPC) to processes with short sampling times. Given an explicit solution to an MPC problem, the main idea is to approximate the optimal control law defined over state space regions by a single polynomial of pre-specified degree which, when applied as a state-feedback, guarantees closed-loop stability, constraint satisfaction, and a bounded performance decay. It is shown how to search for such a polynomial by solving a single linear program.

关键词： Polynomials Linear programming Sampling methods Optimal control Stability Table lookup Automatic control Feedback State-space methods Chemical technology

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Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer

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IFAC Proceedings Volumes 2010年第14期43卷 1011-1016页

作者： Milan Anderle Sergej Čelikovský Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic Tel: 00420-26605-2018

This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. Both of them are based on the Acrobot's model partial exact feedback linearization of order 3. The developed algorithm is then applied to the position feedback tracking of the walking-like trajectory of the Acrobot during a swing phase of a single step. Besides the theoretical analysis, the approach is demonstrated via numerical simulations.

关键词： Reduced observer underactuated mechanical systems walking robots

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SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD VIA POWER AND RETURN MAP ANALYSES

SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING...

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The Third International Conference on Dynamics, Vibration and control

作者： Sergej Celikovsky Volodymyr Lynnyk Institute of Information Theory and Automation Academy of Sciences of the Czech RepublicP.O.Box 18182 08 Prague 8Czech Republic Department of Control Engineering Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic

＜正＞During the last two decades,many chaotic communication schemes based on chaotic dynamics has been *** well-known features of the chaotic systems like strong dependence on the initial data,topological transitivity,wide spread spectrum of its signal,etc..directly suggest the idea to use suitable chaos generators to build a new generation of secure encryption *** use of the continuous time chaotic systems for encryption of digital data and both its practical aspects and security analysis have been studied much less *** to prevalently used chaotic *** of the possible exceptions is the so-called chaos shift keying（CSK）method,which uses time segments of chaotic signals corresponding to two different chaotic systems to encrypt a single ***,the CSK was introduced（under different name）for analogue implementation of the Lorenz system and its synchronized ***,the length of the time segment was not such an *** using computer digital implementation,such a method is becoming almost ridiculous due to huge amount of data to encrypt a single *** excessive length of the pieces of signals corresponding to"0"and"1"also enables various statistically based attacks,*** correlation analysis. *** classical CSK method leads to weak and slow *** first attempt to overcome the above drawbacks,was the so-called anti-synchronization chaos shift keying（ACSK）method proposed in,"Anti-synchronization"basically means *** then detecting the correct bit via synchronizing one of two unsynchronized slaves,the wrong bit is determined via de-synchronizing one of the perfectly synchronized *** was proposed the improvement of the receiver of the original ACSK scheme based on the error derivative *** *** to anti-synchronization detection of the wrong bit based on the second error derivative evaluation,the above characteristic has been further reduced up

关键词： Nonlinear system chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication return map power analysis

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SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD VIA POWER AND RETURN MAP ANALYSES

SECURITY ANALISYS OF ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING...

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The Third International Conference on Dynamics,Vibration and control(第三届国际动力学、运动与控制学术会议)

作者： Sergej (C)elikovsk(y) Volodymyr Lynnyk Department of Control Engineering Faculty of Electrical EngineeringCzech Technical University in PragueCzech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech RepublicP.O.Box 18182 08 Prague 8Czech Republic

During the last two decades, many chaotic communication schemes based on chaotic dynamics has been *** well-known features of the chaotic systems like strong dependence on the initial *** transitivity, wide spread spectrum of its signal, etc., directly suggest the idea to use suitable chaos generators to build a new generation of secure encryption ***, the use of the continuous time chaotic systems for encryption of digital data and both its practical aspects and security analysis have been studied much less cf.[1,12,13] due to prevalently used chaotic masking[3,14].

关键词： Nonlinear system chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication return map power analysis

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Nested backward compensation of unmatched effects of unknown inputs based on HOSM identification

Nested backward compensation of unmatched effects of unknown...

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International Workshop on Variable Structure Systems, VSS

作者： Alejandra Ferreira Elisabetta Punta Department of Control Engineering Faculty Universidad Nacional Auténoma de México Mexico Mexico National Research Council of Italy Institute of Intelligent Systems for Automation ISSIA-CNR Genoa Italy

The paper considers the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and perturbation estimation. It is introduced a controller with a compensation strategy based on the identified perturbation values. When the system satisfies quite restrictive assumptions, the method ensures exact regulation of the unmatched states. In order to deal with the general case it is proposed a nested backward strategy to design the sliding surface, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded.

关键词： Sliding mode control Uncertainty control systems Robustness Nonlinear control systems Observers State estimation Design methodology Robust control Variable structure systems

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A novel approach to the Model Reference Adaptive control of MIMO systems

A novel approach to the Model Reference Adaptive Control of ...

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IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： J.K. Tar I.J. Rudas J.F. Bitó K.R. Kozłowski C. Pozna John von Neumann Faculty of Informatics buda University Budapest Hungary Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland Design and Robotics Department University Transilvania of Brasov Brasov Romania

The “Model Reference Adaptive control (MRAC)” is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the “reference model” that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2 nd (“direct”) method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of “Robust Fixed Point Transformations (RFPT)” in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of “deformation” of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can “fob” the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a “cart - beam - hamper” system is considered. The conclusions of the paper are illustrated by simulation results.

关键词： Adaptive control MIMO Lyapunov method Motion control Programmable control Intelligent robots Systems engineering and theory control systems control system synthesis Asymptotic stability

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