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IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications

作者： Vladimir Filaretov Alexey Zhirabok Alexander Zuev Institute of Automation and Process Control Vladivostok

The problem of fault isolation and fault estimation in electric servoactuator of manipulation robots to achieve fault accommodation is considered. A bank of diagnostic observers is used to provide the fault isolation and fault estimation processes. So-called logic-dynamic approach is suggested to solve this problem. The advantage of this approach is that it allows considering the systems with non-smooth nonlinearities by linear methods. The disadvantage consists in possible increase of the observer dimension.

关键词： Observers Equations Mathematical model Robots Vectors Shafts

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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A New Pricing Scheme for controlling Energy Storage Devices in Smart Grid

A New Pricing Scheme for Controlling Energy Storage Devices ...

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American control Conference

作者： Jingwei Zhu Michael Z. Q. Chen Zhiqiang Zuo Baozhu Du Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign Champaign IL 61820 USA. Department of Mechanical Engineering The University of Hong Kong Hong Kong and HKU Shenzhen Institute of Research and Innovation Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 P.R.China. School of Automation Nanjing University of Science and Technology Nanjing P.R.China.

ISBN: (纸本)9781479932757

Improvement of the overall efficiency of energy infrastructure is one of the main anticipated benefits of the deployment of smart grid technology. Advancement in energy storage technology and two-way communication in the electric network are indispensable components to achieve such a vision, while efficient pricing schemes and appropriate storage management are also essential. In this paper, we propose a novel pricing scheme which permits one to indirectly control the energy storage devices in the grid to achieve a more desirable aggregate demand profile that meets a particular target of the grid operator such as energy generation cost minimization and carbon emission reduction. Such a pricing scheme can potentially be applied to control the behavior of energy storage devices installed for integration of intermittent renewable energy sources that have permission to grid connection and will have broader applications as an increasing number of novel and low-cost energy storage technologies emerge.

关键词： Pricing Scheme controlling Energy Storage Devices Smart Grid Smart grids Energy storage devices Pricing Renewable energy renewable energy sources bidirection communication Store management

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control Lyapunov function based feedback design for quasi-polynomial systems

Control Lyapunov function based feedback design for quasi-po...

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9th IFAC Symposium on Nonlinear control Systems, NOLCOS 2013

作者： Magyar, Attila Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute HAS Budapest Hungary

ISBN: (纸本)9783902823472

The aim of this work is to present an entropy-like Lyapunov function based dynamic feedback design technique for quasi-polynomial and Lotka-Volterra systems. It is shown, that the dynamic feedback design problem is equivalent to the feasibility of a bilinear matrix inequality. The problem is also formulated as a control Lyapunov function based feedback design when the Lyapunov function parameters are given, the solution of this problem can be obtained by solving a linear matrix inequality. The developed method is illustrated on a simple numerical example. © IFAC.

关键词： Design

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Fault isolation and estimation in electric servoactuator of manipulation robots

Fault isolation and estimation in electric servoactuator of ...

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2013 IEEE 7th International Conference on Intelligent Data Acquisition and Advanced Computing Systems, IDAACS 2013

作者： Filaretov, Vladimir Zhirabok, Alexey Zuev, Alexander Institute of Automation and Process Control Radio str. 5 Vladivostok Russia Vladivostok Far Eastern Federal University Sukhanova str. 8 Vladivostok Russia

ISBN: (纸本)9781479914265

关键词： Robots

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Tactile proximity sensors for robotic applications

Tactile proximity sensors for robotic applications

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IEEE International Conference on Industrial Technology

作者： Dirk Goger Hosam Alagi Heinz Worn Institute for Process Control Automation and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781467345675

In this paper tactile proximity sensors for close human-robot interactions based on a previously developed sensor are introduced. Using the same sensing technology, we developed large area tactile proximity sensors as a robot skin and small sensors which we have integrated in an anthropomorphic robot hand. Tactile sensing in the area of robotics for close human-interaction is still a challenging task. In the most cases tactile sensors need to be supported by other sensor modalities to perceive the robots environment before contacts occur. To overcome this issue we developed tactile proximity sensors for robot surfaces and for robot grippers. Both sensors, their behaviour and a model of the tactile sensor will be discussed in this paper.

关键词： Proximity sensors Touch tactile sensors robotic gripper Sensors Robot robotics

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Setpoints Compensation in Industrial processes via Multirate Output Feedback control

Setpoints Compensation in Industrial Processes via Multirate...

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9th Asian control Conference (ASCC)

作者： Yin, Shen Liu, Fangzhou Gao, Huijun Qiu, Jianbin Chai, Tianyou Fan, Jialu Karimi, Hamid Reza Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150080 China State Key Laboratory for Synthetical Automation of Process Industries Northeastern University Shenyang 110004 China Department of Engineering University of Agder Grimstad N-4898 Norway

ISBN: (纸本)9781467357692;9781467357678

This paper investigates the setpoints compensation for a class of complex industrial processes. Plants at the device layer are controlled by the local regulation controllers, and a multirate output feedback control approach for setpoint compensation is proposed such that the subsystems can reach the dynamically changed setpoints and the given economic objective can also be tracked via certain economic performance index (EPI). First, a sampled-data multivariable direct output feedback proportional integral (PI) controller is designed to regulate the performance of the subsystems. Second, the outputs and control inputs of the plants at the device layer are sampled at operation layer sampling time to form an EPI. Thus the multirate problem is solved by a lifting method. Third, static setpoints are generated by real time optimization (RTO) and the dynamic setpoints are calculated by the compensator according to the error between the EPI and objective at each operation layer step. Finally, a rougher flotation process model is employed to demonstrate the effectiveness of the proposed method.

关键词： PI control compensation complex networks control system synthesis feedback multivariable control systems optimisation process control sampled data systems

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Decentralized stabilization of complex systems with delayed

Decentralized stabilization of complex systems with delayed

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13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, LSS 2013

作者： Bakule, Lubomir De La Sen, Manuel Papk, Martin Rehak, Branislav Institute of Information Theory and Automation Academy of Sciences of the Czech Republic 182 08 Prague 8 Czech Republic Research Institute for Process Control Department of Electricity and Electronics Faculty of Sciences University of the Basque Country 48 080 Bilbao Spain

The paper studies the problem of decentralized state feedback control design for a class of continuous-time complex systems. These systems are composed of identical nominal subsystems, symmetric nominal interconnections, and nonlinear perturbations. We consider local time-varying delayed feedback at each channel. Single delay as well as multiple delay cases are considered. By exploiting the special structure of the systems, sufficient conditions are derived for the gain matrix selection performed on the design system of reduced dimension under linear matrix inequality approach constraints. It is shown that the robust delay-dependent stability of the global multiple delay closed-loop system is guaranteed when implementing the gain matrix into the global decentralized controller. Moreover, sufficient conditions are derived for the tolerance of local control channel failures in such a global closed-loop system. The fault tolerance can be effectively tested on systems of reduced dimensions. © IFAC.

关键词： Decentralized control

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Technological possibilities of Si: H thin film deposition with embedded cubic Mg2Si nanoparticles

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Physica Status Solidi (C) Current Topics in Solid State Physics 2013年第12期10卷 1712-1716页

作者： Galkin, Nikolay G. Galkin, Konstantin N. Chernev, Igor M. Fajgar, Radek Stuchlikova, The Ha Remes, Zdenek Stuchlik, Jiri Institute of Automation and Control Processes of FEB RAS 5 Radio Street 690041 Vladivostok Russia Institute of Chemical Process Fundamentals of the ASCR v. v. i. Rozvojová 135 165 02 Praha 6 Czech Republic Institute of Physics of the ASCR v. v. i. Cukrovarnická 10/112 162 00 Praha 6 Czech Republic

In this paper we introduce three technological ways how to increase an absorption coefficient of hydrogenated silicon/Si:H/ thin films and diode structures on the base of Si:H. The first one is reactive deposition epitaxy (RDE), which permit to form silicide nanoparticles of different elements /Fe, Cr, Ca, Mg/ with semiconducting properties and convenient band gap. Two more simple techniques have been also tested for the creation of magnesium silicide nanoparticles (Mg2Si-NPs): a reactive laser ablation (RLA) and the combination of Mg vacuum evaporation and Plasma-Enhanced Chemical Vapour Deposition (PECVD). The formation of Mg2Si-NPs, its structures and the changes of optical absorption for samples grown by three methods have been proved by the Raman and optical spectroscopies. © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

关键词： Nanoparticles

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Modeling for Penicillin Fermentation process Based on Weighted LS-SVM and Pensim

Modeling for Penicillin Fermentation Process Based on Weight...

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2013年中国智能自动化学术会议

作者： Weili Xiong Xiao Wang Qian Zhang Baoguo Xu Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education) Automation Institute of Jiangnan University

In order to solve the problem when monitoring and controlling penicillin fermentation processes,So an intelligent modeling method based on Quantum Particle Swarm Optimization(QPSO) algorithm and Weighted Least Squares Support Vector Machines(WLS-SVM) is presented,which can overcome the noise of sample data,the high *** the method in penicillin fermentation processes and compared with the Pensim simulation platform data,it obviously found that the WLS-SVM is superior to the unweighted LS-SVM modeling method that has a better estimation accuracy and robustness.

关键词： Weighted SVM Quantum particle swarm algorithm Penicillin Modeling

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