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World Congress on Intelligent control and automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML automation

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Dissipativity-based Distributed Nonlinear Predictive control for Cascaded Systems

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IFAC Proceedings Volumes 2012年第15期45卷 439-444页

作者： P. Varutti B. Kern R. Findeisen P.Varutti B.Kern and R.Findeisen are with the Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Otto-von-Guericke University Magdeburg 39016 Magdeburg Germany

Developing centralized controllers for large-scale systems, e.g. complex chemical processes, electrical power networks, is an important, yet challenging problem. Typically, it would be of advantage if one could divide the problem into smaller parts (or subproblems), and to opt for a decentralized or distributed alternative. On the other hand, due to physical interconnections between subsystems, it is often complicated to find such a solution. Additionally, performance loss or even instability of the overall system can arise if the decentralization is not done properly. It is, therefore, fundamental to develop suitable distributed/decentralized techniques in order to avoid these issues. In this paper, we propose a decentralized dissipativity-based nonlinear model predictive control strategy for cascades of physically interconnected systems, e.g cascades of hydroelectric power plants, multi-cell batteries. Under mild assumptions, we prove that the control method guarantees overall stability by independently enforcing stability of the local subsystems. This allows for efficient decentralized solutions. Furthermore, the local controllers only exchange limited information and no model of the neighbor systems is required, facilitating decoupled local controller design. Two interconnected water tanks are used to demonstrate the effectiveness of our approach.

关键词： distributed control nonlinear predictive control dissipativity-based control continuous time systems

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Data acquisition and processing of the onboard sensor system of a quadrotor unmanned aerial vehicle

Data acquisition and processing of the onboard sensor system...

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World Congress on Intelligent control and automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning System Data acquisition process control Attitude control Servers automation

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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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Emission model structures for an implementation on engine control units

Emission model structures for an implementation on engine co...

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作者： Sequenz, Heiko Isermann, Rolf Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University Darmstadt Germany

ISBN: (纸本)9783902661937

The number of model-based approaches in modern engine control units (ECUs) increases permanently with the increase of engine complexity. Therefore the efficient storage and the fast computation of these models is a challenging task. Due to their fast computation properties most ECUs utilize 2-dimensional grid map structures. Higher dimensional relations need then to be mapped with nested structures of several 2-dimensional grid maps. The determination of suited structures is a time-consuming task and the number of utilized 2-dimensional grid maps may be large for higher dimensional relations. Therefore in the following a grid map structure, a LOLIMOT structure, a Kernel method and an adaptive polynomial approach are compared with respect to model accuracy, computation time and required memory. Conclusions about the implementation on state of the art ECUs are given. As model output the NOx emissions of a DTH Z19 Opel CR-Diesel engine with VGT-turbocharger and exhaust gas recirculation are regarded. Model structures are presented for a global model approach comprising the engine operation point as input, and for a global-local approach predicting the output by weighting local models. © 2011 IFAC.

关键词： Exhaust gas recirculation

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Model based optimisation of a step in acceleration for a CR-Diesel engine

Model based optimisation of a step in acceleration for a CR-...

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作者： Sequenz, Heiko Mrosek, Matthias Zydek, Simon Isermann, Rolf Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University Darmstadt Germany

ISBN: (纸本)9783902661937

Due to more and more stringent emission regulations the optimisation of transient engine operation becomes necessary for future Diesel engine developments. Exemplary for the transient operation a step in acceleration pedal is investigated and optimised with respect to the engine emissions. This gives insights about the emission formation at transient driving and a benchmark for the design of open and closed-loop controls. A model structure to simulate the engine emissions and the engine torque is presented. It consists of a dynamical mean value air path model and a stationary combustion model. Thus the relevant outputs NOx, soot and torque are simulated with respect to the engine actuators. For optimisation the calibrated emission values for steady state are regarded. The actuators of the air path and the crank angle of the main injection are optimised such that the emissions follow a desired trajectory. The results are compared to a non-optimised step in acceleration and to a nonlinear closed loop control of the air path. © 2011 IFAC.

关键词： Diesel engines

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system

Fault-tolerant control of an electro-hydraulic servo axes wi...

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作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661937

This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used at the testbed is based on fuzzy-logic. In order to tolerate a faulty hydraulic proportional valve, a duplex-valve-system built up with standard proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axes and decides on the reconfiguration of the control-loop. An Internal Model control (IMC)-tracking control structure for bumpless transfer between controllers is presented. Experimental results show the industrial applicability of the approach. © 2011 IFAC.

关键词： Fault detection

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Adaptive generalized predictive decoupling control for a class of MIMO nonlinear systems based on unmodeled dynamic compensation

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2012年第2期29卷 157-166页

作者： Zhang, Ya-Jun Chai, Tian-You Wang, Hong Niu, Hong The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang Liaoning 110004 China Research Center of Automation Northeastern University Shenyang Liaoning 110004 China The Control Systems Centre School of Electrical and Electronic Engineering University of Manchester M60 1QD United Kingdom Institute of System Science Northeastern University Shenyang Liaoning 110004 China

For a class of uncertain multi-input-multi-output (MIMO) discrete-time nonlinear systems with strong coupling and unstable zero-dynamics, an adaptive generalized predictive decoupling switching control method based on unmodeled dynamic compensation is proposed. It is only required that the higher order nonlinear terms of the system to satisfy a linear growth condition, rather than the global boundedness condition widely used. The analysis of stability and convergence of the adaptive control method are performed. Moreover, in designing the nonlinear generalized predictive decoupling controller, we combine the adaptive-network-based fuzzy inference system (ANFIS) training with the "one-toone mapping" technique to adaptively estimate the unmodeled dynamics, so that the universal approximation property of ANFIS can be guaranteed. Finally, simulation results demonstrate the superiority of the proposed method and validate the theoretical analysis.

关键词： Nonlinear systems

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Model Based Optimisation of a Step in Acceleration for a CR-Diesel Engine

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IFAC Proceedings Volumes 2011年第1期44卷 13016-13021页

作者： Heiko Sequenz Matthias Mrosek Simon Zydek Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University Darmstadt Germany

Abstract Due to more and more stringent emission regulations the optimisation of transient engine operation becomes necessary for future Diesel engine developments. Exemplary for the transient operation a step in acceleration pedal is investigated and optimised with respect to the engine emissions. This gives insights about the emission formation at transient driving and a benchmark for the design of open and closed-loop controls. A model structure to simulate the engine emissions and the engine torque is presented. It consists of a dynamical mean value air path model and a stationary combustion model. Thus the relevant outputs NO x , soot and torque are simulated with respect to the engine actuators. For optimisation the calibrated emission values for steady state are regarded. The actuators of the air path and the crank angle of the main injection are optimised such that the emissions follow a desired trajectory. The results are compared to a non-optimised step in acceleration and to a nonlinear closed loop control of the air path.

关键词： Emission Models Air Path Models Optimisation

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