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第三十四届中国控制会议

作者： Juan Deng Wenjun Song Zhixin Liu John S.Baras Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS Division of Optimization and Systems Theory KTH Royal Institute of Technology Electrical Engineering Department and the Institute for Systems Research University of Maryland College Park

ISBN: (纸本)9781467374439

Coordination control of multiple rigid bodies attracts much attention of researchers due to its wide applications. This paper presents the pose synchronization problem of the moving rigid bodies whose dynamics is described by the group SE(3).The case of bidirectional neighbor graphs with switching interconnection topologies is considered. We design a distributed control law based on relative rotation matrices and relative positions between the neighboring rigid bodies, and show that the SE(3)reaches pose synchronization if and only if the neighbor graphs are infinitely jointly connected, which relaxes the theoretical results in the existing literature.

关键词： SE(3),pose synchronization,coordination control,infinitely joint connectivity

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Sensors for Sub-ppm gas detection based on carbon nanotubes

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Journal of Advanced Microscopy Research 2015年第2期10卷 142-145页

作者： Xu, Ke Qi, Yuanwei Gao, Zhijun Liang, Wenfeng Wang, Xin Gong, Wei Sun, Dong Kan, Di Liu, Xiyang Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang China School of Mechanical Engineering Shenyang Jianzhu University Shenyang China Civil Engineering Institute Shenyang Jianzhu University Shenyang China Ideological and Potitical Theory Course Teaching Department Shenyang Jianzhu University Shenyang China

Single-walled carbon nanotube (SWCNT) was investigated as resistive gas sensors for nitrogen dioxide (NO2) detection. Sensor films were spinning-coated on sapphire substrates. The equilibrium position, charge transfer, adsorption energy, and electronic band structures were obtained for different kinds of SWCNTs. Most molecules were adsorbed weakly by SWCNTs and could be either charge donor or acceptor to the carbon nanotubes. An efficient method for NO2 gas detection in SWCNT ordered using dielectrophoresis (DEP) technology after dispersion in sodium dodecyl sulfate (SDS) surfactant solution. Atom force microscopy (AFM) and scanning electron microscopy (SEM) images revealed that SWCNTs were assembled between the microelectrodes. SWCNTs were affected by the electrophoretic force which was carried out by the related theoretical analysis in a nonuniform electric field. SWCNT field effect transistors (SWCNT-FETs) geometry was obtained. The electrical performance of NO2 gas sensor with SWCNT-FETs structure was tested before and after NO2 was introduced at room temperature. Experimental results showed that the efficient assembly of SWCNTs were obtained when the applied alternating current voltage was a frequency of 2 MHz and an amplitude of 10 V. SWCNT-based gas sensor had high sensitivity to NO2, and the electrical conductance of NO2 gas sensor reduced two times. SWCNTs surface gas molecules were washed out by means of ultraviolet ray irradiation for 10 min. NO2 gas sensor can be reproduced. The gas detection mechanisms along with the optimal gas sensing parameters were also discussed. Copyright © 2015 American Scientific Publishers.

关键词： Electrophoresis

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Identification and energy efficient control for a building: Getting inspired by MPC

Identification and energy efficient control for a building: ...

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American control Conference (ACC)

作者： Eva Žáčeková Matej Pčolka Jaroslav Tabačk Jičí Těžký Rush Robinett Sergej Čelikovský Michael Šebek Department of Control Engineering Czech Technical University in Prague Czech Republic Department of Mechanical Engineering—Engineering Mechanics Michigan Technological University Michigan United States Institute of Information Theory and Automation Czech Academy of Sciences Praha 8 Czech Republic

This paper deals with identification of a building model based on real-life data and subsequent temperature controller design. For the identification, advanced identification technique - namely MPC Relevant Identification method - is used. This approach has the capability of providing models with better prediction performance compared to the commonly used methods. Regarding the controller part, several alternatives are proposed. First, both linear and nonlinear MPC controlling the zone temperature are designed. Although highly attractive due to promising energetic savings and thermal comfort satisfaction, MPCs demand high computational power. To overcome this issue and preserve the attractive properties of the MPC, two MPC-learned feedback controllers are proposed, one learned from LMPC and the other learned from NMPC. While remaining computationally low-cost, they improve the performance of the classical controllers towards the high-performance MPC standards. The results exploiting data from real operation of an office equipped with air handling unit situated in Lakeshore building, Michigan Tech, are presented and discussed.

关键词： Buildings Predictive models Heating Temperature measurement Data models Temperature sensors

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Speed of evolution on graphs

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Physical Review E 2015年第6期92卷 062124-062124页

作者： Xiukai Sui Bin Wu Long Wang Center for Systems and Control College of Engineering Peking University Beijing 100871 China School of Science Beijing University of Posts and Communications Beijing 100876 China Department of Evolutionary Theory Max Planck Institute for Evolutionary Biology August-Thienemann-Strasse 2 24306 Plön Germany

The likelihood that a mutant fixates in the wild population, i.e., fixation probability, has been intensively studied in evolutionary game theory, where individuals' fitness is frequency dependent. However, it is of limited interest when it takes long to take over. Thus the speed of evolution becomes an important issue. In general, it is still unclear how fixation times are affected by the population structure, although the fixation times have already been addressed in the well-mixed populations. Here we theoretically address this issue by pair approximation and diffusion approximation on regular graphs. It is shown (i) that under neutral selection, both unconditional and conditional fixation time are shortened by increasing the number of neighbors; (ii) that under weak selection, for the simplified prisoner's dilemma game, if benefit-to-cost ratio exceeds the degree of the graph, then the unconditional fixation time of a single cooperator is slower than that in the neutral case; and (iii) that under weak selection, for the conditional fixation time, limited neighbor size dilutes the counterintuitive stochastic slowdown which was found in well-mixed populations. Interestingly, we find that all of our results can be interpreted as that in the well-mixed population with a transformed payoff matrix. This interpretation is also valid for both death-birth and birth-death processes on graphs. This interpretation bridges the fixation time in the structured population and that in the well-mixed population. Thus it opens the avenue to investigate the challenging fixation time in structured populations by the known results in well-mixed populations.

关键词： Game theory Regular graphs Graph theory Stochastic processes Diffusion

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Quantized nonlinear model predictive control for a building

Quantized nonlinear model predictive control for a building

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IEEE Conference on control Technology and Applications (CCTA)

作者： Matej Pčolka Eva Žáčeková Rush Robinett Sergej Čelikovsky Michael Šebek Department of Control Engineering Faculty of Electrical Engineering of Czech Technical University in Prague Czech Republic Department of Mechanical Engineering—Engineering Mechanics Michigan Technological University Houghton Michigan United States Czech Academy of Sciences Institute of Information Theory and Automation Czech Republic

In this paper, the task of quantized nonlinear predictive control is addressed. In such case, values of some inputs can be from a continuous interval while for the others, it is required that the optimized values belong to a countable set of discrete values. Instead of very straightforward a posteriori quantization, an alternative algorithm is developed incorporating the quantization aspects directly into the optimization routine. The newly proposed quaNPC algorithm is tested on an example of building temperature control. The results for a broad range of number of quantization steps show that (unlike the naive a posteriori quantization) the quaNPC is able to maintain the control performance close to the performance of the original continuous-valued nonlinear predictive controller and at the same time it significantly decreases the undesirable oscillations of the discrete-valued input.

关键词： Quantization (signal) Optimization Temperature measurement Buildings Temperature control Oscillators Temperature sensors

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Collision detection and reaction for a multi-elastic-link robot arm 19

Collision detection and reaction for a multi-elastic-link ro...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Malzahn, Jörn Bertram, Torsten Institute of Control Theory and Systems Engineering Technische Universität Dortmund Dortmund44227 Germany

ISBN: (纸本)9783902823625

In contrast to the common understanding of robot link elasticity as a detrimental effect the paper presents a novel approach to beneficially exploit the intrinsic link compliance for the detection and reaction to unpredicted collisions between the robot and its environment. The paper employs an inner loop controller to rapidly attenuate structural oscillations. Next, a linear relationship between the actuator joint torques as well as the damped link surface strains is derived to accurately model the residual dynamics. The model is identified for an experimental multi-elastic link robot arm under the influence of gravity. Experimental results are provided using a generalized momentum based technique for the detection and reaction to collisions with fragile objects placed on a force sensor as well as interactions with a human. © IFAC.

关键词： Robotic arms

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Learning to catch moving objects with reduced impulse exchange 19

Learning to catch moving objects with reduced impulse exchan...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Phung, A.S. Malzahn, J. Hoffmann, F. Bertram, T. Institute of Control Theory and System Engineering Technische Universität Dortmund Dortmund44221 Germany

ISBN: (纸本)9783902823625

The paper presents a learning from demonstration approach to the catching of moving objects with a robot manipulator. The work explicitly reduces the impulse exchange by minimizing the relative velocity during the contact phase by learning relative relation between the object and the catcher instead of learning separate forward model of the object and trajectory generator for the robot. This contributes to the damage prevention on both, the object and the robot. The demonstrated catching movements are modelled by a Gaussian mixture model (GMM), which describes the probability distribution over the demonstrated data set. Gaussian mixture regression (GMR) is employed for motion prediction. A timing controller is designed to trade-off the catch location and the catching time. The learning scheme comprises the relative position and velocity profile between the object and the catcher. The approach allows to generate the movement of the catcher with guaranteed position and velocity convergence to the reference inferred from the position and velocity of the object. Experimental results with a five degree of freedom arm and a Photonic-Mixing-Device (PMD) camera for object detection validate the approach. © IFAC.

关键词： Object detection

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Robust Fault Detection Filter Design for Linear Uncertain Systems with Unknown Inputs

Robust Fault Detection Filter Design for Linear Uncertain Sy...

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American control Conference

作者： Yang Liu Fen Wu Xiaojun Ban Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 P. R. China Department of Mechanical and Aerospace Engineering North Carolina State University Raleigh NC 27695 USA

ISBN: (纸本)9781479917730

In this paper, a robust fault detection filter design method for uncertain systems in linear fractional transformation (LFT) formulation with unknown inputs is proposed. The basic idea is to convert the complicated H_-/H_∞ problem to an easier H_∞ model following problem. Moreover, two major improvements have been made in this research. First, the uncertain systems in LFT formulation are studied. This class of uncertain models is capable of approximating complex nonlinear dynamics. Second, a more general form of filter is employed to achieve a better fault detection and disturbance rejection performance. It involves the widely used observer-based filter as a special case. With structured uncertainties, it has been shown the robust fault detection filter design can be solved by a convex optimization condition in terms of linear matrix inequalities (LMIs). An illustrative design example is used to demonstrate the effectiveness and better performance of the proposed approach.

关键词： Fault detection filter uncertain systems linear uncertain system Filters Disturbance rejection Defect detection Unknown

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Design of static output feedback sliding mode control for fractional order uncertain linear systems

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Journal of Computational Information Systems 2014年第13期10卷 5599-5608页

作者： Deng, Liwei Song, Shenmin Wang, Jing Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Biomedical Engineering Xinhua College Sun Yat-Sen University Guangzhou China

This paper presents the problem of designing a sliding mode controller via static output feedback for a class of fractional order time-varying mismatched uncertain systems, in which all states are unavailable and estimated states are not required. On the basis of auxiliary system, a sliding mode control law with output feedback characteristics is researched by studying the structure decomposition of fractional order systems. Based on fractional order Lyapunov stability theorem, a switching surface is designed by using linear matrix inequality (LMI) method. Then we further consider a synthesis control law such that the motion of the closed loop system satisfies the reaching condition. Moreover, numerical simulations are performed to confirm the effectiveness and feasibility of the proposed control scheme. © 2014 by Binary Information Press

关键词： Linear matrix inequalities

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Distributed filter design for cooperative ho-type estimation

Distributed filter design for cooperative ho-type estimation

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IEEE Conference on control Technology and Applications (CCTA)

作者： Jingbo Wu Li Li Valery Ugrinovskii Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia School of Information Technology and Electrical Engineering Australian Defence Force Academy Canberra Australia

In this paper, we consider the distributed robust filtering problem, where estimator design is based on a set of coupled linear matrix inequalities (LMIs). We separate the problem and show that the method of multipliers can be applied to obtain a solution efficiently and in a decentralized fashion, i.e. all local estimators can compute their filter gains locally, with communications restricted to their neighbors.

关键词： Optimization Estimation Algorithm design and analysis Symmetric matrices Convergence Topology Australia

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