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International Conference on control and automation (ICCA)

作者： Yanhong Liu Chunwen Li Yuzhen Wang Jianyong Li School of Electrical Engineering University of Zhengzhou Zhengzhou China Department of Automation Tsinghua University China School of Control Science and Engineering Shandong University China School of Computer and Communication Engineering Zhengzhou Institute of Light Industry China

Using the Hamiltonian function method, we investigate the excitation control of power systems presented by nonlinear differential algebraic equations. First, a novel Hamiltonian realization structure for nonlinear differential algebraic systems is applied to the power system. Then we propose a decentralized nonlinear excitation control scheme and analyze the stability of the closed loop system. This strategy takes advantage of the intrinsic properties including especially the internal power balance of the differential algebraic power system model. Simulation illustrates the effectiveness of the control strategy.

关键词： Nonlinear control systems control systems Power system control Power systems Power system stability Power system analysis computing Power system modeling Power system simulation Differential algebraic equations control system analysis

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Robust quadratic optimal control of uncertain TS-fuzzy-model-based dynamic systems

Robust quadratic optimal control of uncertain TS-fuzzy-model...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Wen-Hsien Ho Jinn-Tsong Tsai Tung-Kuan Liu Jyh-Horng Chou Department of Medical Information Management Kaohsiung Medical University Taiwan Department of Computer Science National Ping Tung University of Education Taiwan Department of Mechanical and Automation Engineering National Kaohsiung First University of Science and Technology Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

This paper considers the design problem of the robust quadratic-optimal parallel-distributed-compensation (PDC) controllers for the Takagi-Sugeno (TS) fuzzy-model- based control systems with both elemental parametric uncertainties and norm-bounded approximation error. An integrative method, which complementarily fuses the robust stabilizability condition, the orthogonal-functions approach (OFA) and the hybrid Taguchi-genetic algorithm (HTGA), is presented in this paper to design the robust quadratic-optimal PDC controllers, in which the robust stabilizability condition is proposed in terms of linear matrix inequalities (LMIs).

关键词： Robust control Optimal control Nonlinear control systems control systems Uncertainty Approximation error Fuzzy control Fuzzy systems Algorithm design and analysis Nonlinear dynamical systems

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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A REAL TIME SOLUTION TO control DISASSEMBLY PROCESSES

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IFAC Proceedings Volumes 2007年第18期40卷 789-794页

作者： L. Duta J.M. Henrioud I. Caciula Computer Science Department Valahia State University 18-24 UniriiAv. Targoviste ROMANIA Fax: +40 (0) 245 21 76 83 E-mail: duta@valahia.ro Automation Laboratory Institute of Production Engineering 25 Alain Savary Besangon FRANCE E-mail: henrioud@ens2m.fr Control Engineering Student Valahia State University 18-24 UniriiAv. Targoviste ROMANIA E-mail: viorel2004_ro@***

Disassembly of manufactured products induces both disassembly costs and revenues from the parts saved by the process. At the planning stage a good trade-off has to be found between the costs of disassembly and the final profit. At the control stage it is important to assure an optimal balance of the line as well as the complete disassembly processing during the rest of the working time. A real time control method based on modeling of disassembly by the precedence graph and on a stochastic algorithm is presented in this article.

关键词： production control real time systems decision making stochastic programming

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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The Tinyphoon's control concept

The Tinyphoon's control concept

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2006 IEEE International Conference on Mechatronics, ICM

作者： Novak, Gregor Roesenert, Charlotte Bader, Markus Deutsch, Tobias Jakubek, Stefan Krywult, Stefan Seyr, Martin Institute of Computer Technology Vienna University of Technology Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic Vienna University of Technology Vienna Austria

ISBN: (纸本)0780397134

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entails new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75x75x150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of real-time communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control. © 2006 IEEE.

关键词： control theory

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Bayesian decision-theoretic causation analysis for gas explosion

Bayesian decision-theoretic causation analysis for gas explo...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Cai, Linqin Sun, Yining Mei, Tao Zuchang, Ma Department of Automation Chinese Academy of Sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424404665

Frequent mine gas incident in china fully shows there must be many undiscovered essential factors in all previous gas incident investigations. Exploring a new analysis approach is vital to prevent and control mine gas emergency. A Bayesian decision-theoretic causation analysis method was introduced to study the mine gas incident. A typical gas explosion case was explained. The interaction law of human, machine, environment, and management factors causing mine gas incident was discussed. The evolution process of the connotative factors from the uncertain state to the certain state was discovered, and the relationships between the external factors and the internal factors were revealed. © 2006 IEEE.

关键词： Decision trees

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Modeling and analyzing multi-agent task plans for intelligent virtual training system using petri nets

Modeling and analyzing multi-agent task plans for intelligen...

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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Linqin, Cai Tao, Mei Yining, Sun Lei, Sun Zuchang, Ma Department of Automation University of Science and Technology of China Chinese Academy of Sciences Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424403324

Integrated virtual reality with Intelligent Tutoring System, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans are reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, Hierarchy Colored Petri Nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model. ©2006 IEEE.

关键词： Intelligent systems

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Trajectory planning of space robot system for target berthing and reorientation after capturing

Trajectory planning of space robot system for target berthin...

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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Wenfu, Xu Bin, Liang Wenyi, Qiang Panfeng, Huang Yangsheng, Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China College of Astronautics Northwestern Polytechnical University Xi'An China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)1424403324

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, Genetic Algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation. © 2006 IEEE.

关键词： Mobile robots

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