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IEEE Conference on Decision and control

作者： Baocang Ding Hexu Sun Peng Yang Hehua Tang Bing Wang Institute of Automation Hebei University of Technology Tianjin China School of Electricity and Automation Hebei University of Technology Tianjin China College of Electricity and Automation Hebei University of Technology Tianjin China Department of information science and Control Engineering Shandong University Weihai Shandong China

ISBN: (纸本)0780386825

A new method for the infinite horizon quadratic regulation of constrained linear time varying systems is addressed. The key idea is to achieve a cost value arbitrarily close (but not equal) to the theoretically minimum one. In a neighborhood of the origin, the controller is formulated as a min-max LQR based on polytopic inclusion of the dynamics in this neighborhood. Outside this neighborhood, the control moves are obtained by solving a constrained finite horizon optimization problem and an unconstrained Riccati iteration formula. The proposed solver has low computational burden and preserves the feasibility of the original problem iff the min-max LQR exists as a feasible solution. A simulation example validates its stability.

关键词： Infinite horizon Riccati equations Time varying systems Costs automation Constraint optimization Sun Computational modeling Stability Time measurement

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Mobile agent gain scheduler control in inter-continental intelligent space

Mobile agent gain scheduler control in inter-continental int...

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SICE Annual Conference

作者： R. Vanijjirattikhan P.T. Szemes M.-Y. Chow H. Hashimoto Advanced Diagnosis Automation and Control Lab Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Institute of Industrial Science University of Tokyo Tokyo Japan

ISBN: (纸本)4907764227

Intelligent space (iSpace) is a space (room, corridor, or street), which has distributed sensory intelligence and it is equipped with mobile agents. In this paper new concept of the iSpace to connect distant places, over packet switched network is introduced. Experimental iSpace of Hashimoto Lab, University of Tokyo, Japan and Advanced Diagnosis automation and control Lab, North Carolina State University, USA is connected to form an inter-continental intelligent space. Conventionally, in order to control an application over a data network, a specified control of teleoperation algorithm is usually required for controller design to compensate network delay effects. Therefore an existing controller has to be redesigned or replaced by a new controller system. This replacement process is usually costly, inconvenient, and time-consuming. In this paper, a novel methodology to enable existing controllers for networked control and teleoperation by middleware is introduced. Mobile agent located in Japan is controlled by tracking controller located in USA to show the effectiveness of the middleware methodology.

关键词： Mobile agents Intelligent agent Intelligent control Automatic control Intelligent sensors control systems Middleware Packet switching automation Algorithm design and analysis

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Output Regulation Problem with Nonhyperbolic Zero Dynamics: FEMLAB-Based Approach

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IFAC Proceedings Volumes 2004年第21期37卷 651-656页

作者： Sergej Čelikovský Branislav Rehák Institute of Information Theory and Automation Academy of Sciences of the Czech Republic. P.O. Box 18 182 08 Prague Czech Republic. Czech Technical University Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Praha 6 Czech Republic.

The output regulation problem for the nonlinear systems with non-hyperbolic zero dynamics is considered. The usual approach uses the solution of the so-called regulator equation being rather non-standard first order PDE combined with an algebraic equation. Its solvability as well as the corresponding numerical methods, remains to be an open question, especially in case of non-minimum phase systems having non-hyperbolic zero dynamics. Here, an approach based on FEMLAB software is presented. A key idea here is to avoid the usual reducing the overall regulator equation to pure PDE equation corresponding to a possibly unstable zero dynamics, but replace algebraic equation by a certain penalty functional for solvable PDE system. Such an approach appears as the promising one. An illustrative example of two cart with an inverted pendulum system is presented as well.

关键词： Nonlinear control systems output regulation partial differential equations

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Optimizing Supervision and control for Industrial Furnaces: Predictive control Based Design

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IFAC Proceedings Volumes 2004年第19期37卷 17-28页

作者： Georgi M. Dimirovski A. Talha Dinibütün Miomir K. Vukobratovic J. Zhao SS Cyril and Methodius University Faculty of Electrical Engineering MK-1000 Skopje Republic of Macedonia Dogus University Computer Engineering Department Faculty of Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey Institute “Mihailo Pupin” Centre of Robotics and Flexible Automation 11000 Belgrade Serbia and Montenegro Northeastern University School of Information Science and Engineering Institute of Control Theory Shenyang Liaoning 110004 P.R. of China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons.

关键词： Complex time-delay processes generalized predictive control integrated control and supervision optimization set-point control

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Internet-based obstacle avoidance of mobile robot using a force-reflection

Internet-based obstacle avoidance of mobile robot using a fo...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： TaeSeok Jin JangMyung Lee H. Hashimoto Intelligent Control System Laboratory IIS University of Tokyo Tokyo Japan Department of Electronics Engineering Pusan National University Busan South Korea Institute of Industrial Science University of Tokyo Tokyo Japan

The possibility of operating in remote environments by means of teleoperated systems has always been considered of relevant interest in robotics. For this reason, in this paper, the relationship between a slave robot and the uncertain remote environment is proposed as the impedance to generate the virtual force to feed back Io the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master, which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a teleoperated mobile robot significantly.

关键词： Internet Mobile robots Robot vision systems Cameras Impedance Feeds Communication system control Mobile communication Bandwidth Watches

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Optimizing simultaneously over the numerator and denominator polynomials in the Youla-Kucera parametrization

Optimizing simultaneously over the numerator and denominator...

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IEEE Conference on Decision and control

作者： D. Henrion V. Kucera A. Molina-Cristobal LAAS CNRS Toulouse France Institute of Information Theory and Automation Academy of Sciences of Czech Republic Prague Czech Republic Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Traditionally, when approaching controller design with the Youla-Kucera parametrization of all stabilizing controllers, the denominator of the rational parameter is fixed to a given stable polynomial, and optimization is carried out over the numerator polynomial. In this work, we revisit this design technique, allowing to optimize simultaneously over the numerator and denominator polynomials. Stability of the denominator polynomial, as well as fixed-order controller design with H/sub /spl infin// performance are ensured via the notion of a central polynomial and LMI conditions for polynomial positivity.

关键词： Polynomials Design optimization Stability control systems Transfer functions Centralized control Information theory automation MIMO Linear matrix inequalities

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Activation detection in multi-subject studies of fMRI using GLRT

Activation detection in multi-subject studies of fMRI using ...

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： S.M. Shams G.A. Hossein-Zadeh H. Soltanian-Zadeh Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Institute for Studies in Theoretical Physics and Mathematics University of Tehran School of Cognitive Sciences Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Institute for Studies in Theoretical Physics and Mathematics and Medical Image Analysis Laboratory Henry Ford Health System University of Tehran School of Cognitive Sciences Iran

A new method based on generalized likelihood ratio test (GLRT) for activation detection in multi-subject studies of functional MRI (fMRI) is proposed. In this method, we test the correlation between the fMRI time series of different subjects and the bases of a signal subspace which increases the flexibility of method in detecting different shapes of hemodynamic response. The proposed multivariate method can be applied to group studies where the conventional cross-correlation method cannot be used due to its univariate property. This method is applied to both experimental and simulated fMRI data and the results are compared to those of general linear model (GLM). We show that the proposed method detects more significant activated regions in analyzing experimental data and more true voxels in simulated data

关键词： Testing Hemodynamics Brain modeling Process control Intelligent control Physics computing Mathematics Time series analysis Magnetic resonance imaging Data analysis

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Multiple models adaptive decoupling controller applied to the wind tunnel system

Multiple models adaptive decoupling controller applied to th...

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World Congress on Intelligent control and automation (WCICA)

作者： Xin Wang Zhongjie Wang Shaoyuan Li Tianyou Chai Institute of Automation Shanghai Jiaotong University Shanghai P. R. China Department of Control Science and Engineering Tongji University Shanghai P. R. China Research Center of Automation Northeastern University Shenyang Liaoning P. R. China

ISBN: (纸本)0780382730

In this paper, a multivariable multiple models direct adaptive decoupling controller is presented to improve the transient response when the parameters of the system change abruptly. The controller is composed of multiple fixed controller models and two adaptive controller models. The fixed controller models are derived from the corresponding fixed system models directly and guaranteed to cover the controller parameter set, without partitioning the controller parameter set again. The adaptive controller models adopt the direct adaptive algorithm to reduce the design calculation. By the choice of the weighting polynomial matrix, it not only decouples the system dynamically, but also places the poles of the closed-loop system arbitrarily. The global convergence is obtained. The significance of the proposed method is that it is applicable to a MIMO system to reduce the effect of the interactions on the transient response greatly. Finally, several simulation examples in a wind tunnel experiment are given to show both effectiveness and practicality of the proposed method.

关键词： Programmable control Adaptive control Automatic control Transient response control systems automation Aerodynamics Three-term control Wind forecasting Size control

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Challenge of human factor influence for car safety

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Neural Network World 2004年第1期14卷 37-47页

作者： Novák, Mirko Votruba, Zdenëk Jt. Laboratory of System Reliability Faculty of Transportation Sciences Czech Technical University Prague Institute of Computer Science Acad. of Sci. of the Czech Republic Prague Department of Control Engineering Faculty of Transportation Sciences Czech Technical University Prague

The challenge of human factor influence for analyzing the reliability and safety of car transportation is discussed. An analysis of the density and the kind of use among the drivers in different regions and seasons of the year is made. The possibilities to detect the driver falling into a relaxant, somnolent or micro-sleep stage by the use of suitable combination of secondary factors are investigated. The operation of the driver in the moving car is an example of very complicated interaction between several very heterogeneous systems.

关键词： Motor transportation

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AN EFFICIENT MULTI-PURPOSE OPTIMIZATION METHOD FOR QOS ROUTING USING GENETIC ALGORITHM

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Journal of Interconnection Networks 2004年第4期5卷 409-428页

作者： AKIO KOYAMA LEONARD BAROLLI GENCI CAPI BERNADY O. APDUHAN JUNPEI ARAI ARJAN DURRESI Department of Informatics Yamagata University 4-3-16 Jonan Yonezawa Yamagata 992-8510 Japan Department of Information and Communication Engineering Fukuoka Institute of Technology (FIT) 3-30-1 Wajiro-Higashi Higashi-ku Fukuoka 811- 0295 Japan Department of System Management Fukuoka Institute of Technology (FIT) 3-30-1 Wajiro-Higashi Higashi-ku Fukuoka 811-0295 Japan Department of Intelligent Informatics Kyushu Sangyo University 2-3-1 Matsukadai Higashi-ku Fukuoka 813-8503 Japan Department of Information and Control Engineering Yamagata College of Industry and Technology 1-2-2 Matsuei Yamagata 990-2473 Japan Department of Computer Science Louisiana State University Baton Rouge LA 70803 USA

In order to support multimedia communication, it is necessary to develop routing algorithms that make decisions based on multiple Quality of Service (QoS) parameters. This is because new services such as video on demand and remote meeting systems have multiple QoS requirements. However, the problem of QoS routing is difficult because finding a feasible route with two independent path constraints is NP-complete problem. Also, QoS routing algorithms for broadband networks must be adaptive, flexible, and intelligent for efficient network management. In this paper, we propose a multi-purpose optimization method for QoS routing based on Genetic Algorithm (GA). The simulation results show that the proposed method has a good performance and therefore is a promising method for QoS routing.

关键词： Broadband Networks Genetic Algorithm QoS Routing Multi-purpose Optimization

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