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H∞ consensus of nonlinear multi-agent systems based on T-S fuzzy models

H∞ consensus of nonlinear multi-agent systems based on T-S ...

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Chinese control Conference (CCC)

作者： Zhao Yan Karimi Hamid Reza Li Bing Huijun Gao Shenzhen Graduate School Harbin Institute of Technology Shenzhen China Department of Engineering Faculty of Engineering and Science University of Agder Grimstad Norway Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang China

In general, due to some limitations of nonlinear control methods, it is difficult to analyze control performance for nonlinear multi-agent network. The T-S fuzzy model-based approach is often introduced to help solve the performance analysis in nonlinear systems, but the problem of nonlinear follower agents approaching a time-varying leader is difficult to be formulated by using the general T-S fuzzy modeling method. In this paper, a novel T-S fuzzy modeling method is proposed, and the error dynamics between the states of agents and the leader signal, evolving according to an isolated unforced nonlinear agent model, is described by a set of T-S fuzzy models. Based on the model, leader-following consensus algorithm is conveniently designed so that under external disturbances, all the follower agents achieve consensus with the leader guaranteeing a prescribed disturbance attenuation level in H ∞ sense. Finally, simulations with chaotic dynamic systems and sinusoidal functions are presented, and by applying the obtained results to the initial nonlinear systems, the effectiveness of the obtained results is illustrated.

关键词： Multiagent systems Nonlinear systems Mathematical model Couplings Protocols Lead Attenuation

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Experimental verification of constrained iterative learning control using successive projection

Experimental verification of constrained iterative learning ...

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UKACC International Conference on control (control)

作者： Bing Chu Zhonglun Cai David H Owens Eric Rogers Chris T Freeman Paul L Lewin Electronics and Computer Science University of Southampton Southampton UK Faculty of Engineering and the Environment University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Italian Institute of Technology Genoa Italy

In many practical applications, constraints are often present on, for example, the magnitudes of the control inputs. Recently, based on a novel successive projection framework, two constrained iterative learning control (ILC) algorithms were developed with different convergence properties and computational requirements. This paper investigates the effectiveness of these two methods experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained demonstrate the effectiveness of the algorithms in solving one form of the general constrained ILC problem.

关键词： Convergence Robots Algorithm design and analysis Prediction algorithms Trajectory Optimization

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Carbon nanocapsules as an effective sensing platform for fluorescence-enhanced nucleic acid detection

Carbon nanocapsules as an effective sensing platform for flu...

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作者： Chang, Guohui Hu, Jianming Lu, Wenbo Qin, Xiaoyun Asiri, Abdullah M. Al-Youbi, Abdulrahman O. Sun, Xuping Chemical Synthesis and Pollution Control Key Laboratory of Sichuan Province School of Chemistry and Chemical Industry China West Normal University Nanchong 637002 Sichuan China Optical Engineering Key Laboratory of Chongqing College of Physics and Electronic Engineering Chongqing Normal University Chongqing 400047 China Chemistry Department Faculty of Science King Abdulaziz University Jeddah 21589 Saudi Arabia Center of Excellence for Advanced Materials Research King Abdulaziz University Jeddah 21589 Saudi Arabia

In this communication, we demonstrate the proof of concept that carbon nanocapsules (CNCs) can be used as an effective fluorescent sensing platform for nucleic acid detection with selectivity down to single-base mismatch. The detection is accomplished by two steps: (1) CNC adsorbs and quenches the fluorescence of the dye-labeled single-stranded DNA (ssDNA) probe;(2) in the presence of the target, a hybridization event occurs, which produces a double-stranded DNA (dsDNA) that detaches from the CNC surface, leading to recovery of the dye fluorescence. Copyright © 2012 American Scientific Publishers. All rights reserved.

关键词： Fluorescence

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On Dynamic Models of Human Emotion

On Dynamic Models of Human Emotion

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Iranian Conference on Electrical engineering

作者： S. S. Tabatabaei M. J. Yazdanpanah M. S. Tavazoei A. Karimian Advanced Control Systems Laboratory Electrical Engineering Department Faculty of Engineering University of Tehran Electrical Engineering Department Sharif University of Technology

ISBN: (纸本)9781467311496

This paper contains analysis and simulation of recent dynamic models, describing human emotion. The pharmacological discussions lead to a new model of drug taking, which also have a better performance for description of psychological and psychiatric phenomena. Studying the effects of the order of fractional model, obtains an advantage of the fractional order model over the integer order one.

关键词： Emotion Fractional differential equation Pharmacology

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Unconstrained Measurement System for Scratching by Limb and Estimation of Scratching Area

Unconstrained Measurement System for Scratching by Limb and ...

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International Conference on Intelligent Computational systems(ICICS’2012);International Conference on Mechanical,Automotive and Materials engineering(ICMAME’2012);International Conference on Electronics,Biomedical engineering and its Applications(ICEBEA’2012);International Conference on Ecological,Environmental and Biological sciences(ICEEBS’2012);International Conference on Business,Economics,Management and Behavioral sciences (ICBEMBS’2012);International Conference on Applied Mathematics and Pharmaceutical sciences(ICAMPS’2012)

作者： Toshihiro.Shino Yosuke.Kurihara Syoko.Nukaya Kajiro.Watanabe Hiroshi.Tanaka the Graduate School of Hosei University the Dept. of Computer and Information Science Faculty of Science and Technology Seikei University the Division of Advanced Therapeutical Sciences Tokyo Medical and Dental University the System Control Engineering Department Faculty of Engineering Hosei University the University Center for Information Medicine Tokyo Medical and Dental University

This paper describes an unconstrained measurement system for scratching motion. We have proposed an unconstrained bed monitoring system by piezoceramic sensors that could detect heartbeat respiration and body movement. The system could measure the bed vibrations due to the motion of the person on the bed. In this paper, we apply this unconstrained bed sensing method to the system for detecting scratching motion. The proposed sensors are placed under the bed feet. When the subject is lying on the bed, the output signals from the sensors are proportional to the magnitude of the vibration due to the body movement of the subject. Hence, it is possible to detect the subject's scratching motion from the output signals. Furthermore, also with output signals from the three ceramic sensors, the proposed system can detect the direction of the body movement, which enables us to estimate the scratched area. We evaluated three scratching motions using the proposed system in the validity experiment as follows: Case 1 is the subject's scratching the right cheek with right hand;Case 2 is the subject's scratching the back after turning over, and;Case 3 is the subject's scratching the shin with another foot. As the results of the experiment, we identified the scratching signals that enable the determination when the scratching occurred. Furthermore, the difference among the amplitudes of the output signals enabled us to estimate where the subject scratched.

关键词： body movement, itchy, piezoceramics, scratching unconstrained bed monitoring.

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Predictive control of networked systems with communication delays

Predictive control of networked systems with communication d...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Peng Shi Rongni Yang Michael Basin Hamid Reza Karimi School of Engineering and Science Victoria University Melbourne Australia School of Electrical and Electronic Engineering University of Adelaide Adelaide Australia Faculty of Advanced Technology University of Glamorgan Pontypridd UK School of Control Science and Engineering Shandong University Jinan China Department of Physical and Mathematical Sciences Autonomous University of Nuevo Leon San Nicolas de los Garza Nuevo Leon Mexico Faculty of Engineering and Science University of Agder Grimstad Norway

This paper studies the problem of predictive output feedback control for networked control systems with random communication delays. A networked predictive control scheme is employed to compensate for random communication delays, which mainly consists of the control prediction generator and network delay compensator. Furthermore, a new strategy of designing the time-varying predictive controller with mixed random delays for networked systems is proposed. Then the system can be formulated as a Markovian jump system. New techniques are presented to deal with the distributed delay in the discrete-time domain. Based on analysis of closed-loop networked predictive control systems, the designed predictive time-varying output feedback controller can achieve the desired control performance and also guarantee system stability. Simulation examples demonstrate the compensation for random communication delays and data loss in networked systems using the proposed predictive controller design strategy.

关键词： Delay Predictive control Linear matrix inequalities Symmetric matrices Educational institutions Output feedback

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Design and Implementation of nonlinear neural network controller based on simulator model in Damavand Tokamak

Design and Implementation of nonlinear neural network contro...

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第24届中国控制与决策会议

作者： H. Tolouei A. Kouhi H. Rasouli C. Rasouli Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical Engineering Control department K.N. Toosi University of TechnologyTehran Iran Plasma Physics and nuclear fusion institute Institute of nuclear science and technology (AEOI)Tehran Iran.

In this study, nonlinear neural network controller will be developed to control plasma radial motion in Damavand Tokamak. It is essential to have a good model in order to design a proper controller for plasma radial motion. To achieve this goal, actuator circuits are simulated and in consequence based on simulator model and simulated actuator circuits nonlinear neural network controller will be designed in Damavand Tokamak. Comparison between neural network controller output and PD controller output shows the efficiency of proposed approach.

关键词： Tokamak, Actuator circuits, nonlinear neural network controller, Gradient descent algorithm, Momentum algorithm.

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REGION-BASED ACTIVE SURFACE MODELLING AND ALPHA MATTING FOR UNSUPERVISED TUMOUR SEGMENTATION IN PET

REGION-BASED ACTIVE SURFACE MODELLING AND ALPHA MATTING FOR ...

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IEEE International Conference on Image Processing

作者： Ziming Zeng Jue Wang Tony Shepherd Reyer Zwiggelaar Computer Science Department Aberystwyth University UK Information and Control Engineering Faculty Shenyang Jianzhu University Liaoning China Adobe Systems Seattle USA Turku PET Center and Department of Oncology and Radiotherapy Turku University Hospital Finland

This paper presents a combination of existing advanced methods to solve the partial volume segmentation problem. It uses region-based active surface modelling in a hierarchical scheme to eliminate segmentation errors, followed by an alpha matting step to further refine the segmentation. This method can have an interest in several applications in medical imaging. We have validated our method on real PET images of head-and-neck cancer patients as well as custom designed phantom PET images. Experiments show that our method can generate more accurate segmentation than existing approaches.

关键词： Image segmentation Positron emission tomography Tumors Imaging phantoms Solid modeling Cancer

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An Improvement on a Teleoperation System of Robot Arm with Visual Servo Mechanism by Target Selection

An Improvement on a Teleoperation System of Robot Arm with V...

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Society of Instrument and control Engineers Annual Conference

作者： Yoshitaka Matsuda Kenta Tsukamoto Takeo Matsumoto Satoru Goto Takenao Sugi Naruto Egashira Department of Advanced Technology Fusion Graduate School of Science and Engineering Saga University Department of Control and Information Systems Engineering Kurume National College of Technology

ISBN: (纸本)9781467322591

This research is concerned with an improvement on a teleoperation system of robot arm with visual servo mechanism by target selection. The teleoperation system considered in this research is mainly divided into operational side and working side. In the operational side, the command to realize the rough motion of the working robot arm in the working side is generated manually by using not only a robot arm but also a joystick. Web cameras are introduced for the human operator to grasp the circumstance around the working robot arm. The generated command in the operational side is transmitted into the working side through the Internet. The visual servo mechanism is also considered to realize the accurate motion of the working robot arm by a USB camera. In the vision system, the position of a target object is specified to generate the command for the accurate motion by template matching technique with an image obtained from the mouse dragging during operation. Experimental results are shown to confirm the effectiveness of the teleoperation system.

关键词： Teleoperation Robot arm Visual servo control Template matching Target selection The Internet

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Comparison of Interaction Forces of Robot Arm on Force-free control and Impedance control by Model Based Simulations

Comparison of Interaction Forces of Robot Arm on Force-free ...

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Society of Instrument and control Engineers Annual Conference

作者： Achala Pallegedara Yoshitaka Matsuda Naruto Egashira Takenao Sugi Satoru Goto Department of Science and Technology Graduate School of Science and Engineering Saga University Department of Advanced Technology Fusion Graduate School of Science and Engineering Saga University Department of Control and Information Systems Engineering Kurume National College of Technology

ISBN: (纸本)9781467322591

This paper presents the comparison of Force-Free control (FFC) against a Impedance control (IC) method in Cartesian space. The study of interaction forces between a robot arm and the environment is carried out. Main objective of this investigation is to find how to regulate and tune force-free control for safe and feasible operation. And how proposed force-free control compliances against an external force given from the environment, and compares the behavior with general impedance control method. A concise description of analyzing procedure is given for modeling and simulation of a robot arm and also how it interacts with environment under force-free and impedance controls schemes. The modeling and comparison are made by adopting Matlab/Simulink environment. Furthermore, the intention is also focused to make use of actual industrial robots whose factory fitted dynamical control loops are not accessible.

关键词： Force-free control (FFC) Impedance control (IC) Matlab/Simulink Interaction forces Environment modeling

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