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IEEE Conference on Decision and control

作者： Matej Pčolka Sergej Čelikovský Department of Control Engineering (DCE) Faculty of Electrical Engineering (FEE) Czech Technical University in Prague Praha Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Praha Czech Republic

Unlike prevailing contemporary approach considering the influx feed flow as the only crucial input influencing the final product concentration in bioprocess cultivation, the current paper considers other (non-nutritional) inputs as well. Among them, the volume withdrawal is an important option. Two types of control strategies employing this second input are considered here, each of them using it in a different way. First, the so-called quasi-double-input strategies exploit the broth withdrawal to follow a pre-determined volume profile. Second, the true-double-input strategies consider the second input as a completely independent optimization variable. Main analysis tool here is the gradient optimization numerical algorithm and its adaptations. All resulting strategies are summarized and formulated in the context of optimization, those introduced earlier (i.e., the quasi-double-input) are unified into a common general strategy. Practical complication (inadmissible volume decrease) related to withdrawal introduction is successfully addressed and the summary results show indisputable improvement gained by the non-nutrient input introduction.

关键词： Optimization Feeds Mathematical model Biomass Substrates Production Equations

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New frequency domain based stability tests for 2D linear systems

New frequency domain based stability tests for 2D linear sys...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Wojciech Paszke Eric Rogers Paolo Rapisarda Krzysztof Gałkowski Anton Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Information and Media Engineering Communication Theory University of Wuppertal Wuppertal Germany

This paper develops a new set of stability conditions for asymptotic stability of two-dimensional linear systems described by Roesser and Fornasini-Marchesini state-space models through extensive use of the Kalman-Yakubovich-Popov lemma. The resulting tests are formulated in terms of a convex optimization problem over linear matrix inequality constraints. Testing the resulting conditions only requires computations on matrices with constant entries with consequent computational load advantages when compared with alternatives, especially when direct extension to stabilizing control law design is required. Illustrative numerical examples are also given.

关键词： Linear systems Stability analysis Asymptotic stability Numerical stability Polynomials Vectors State-space methods

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Feed-forward friction observer (FFFO) for high-dynamic motion control

Feed-forward friction observer (FFFO) for high-dynamic motio...

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Mediterranean Conference on control & Automation

作者： Michael Ruderman Torsten Bertram Institute of Control Theory and Systems Engineering Technische Universit?t Dortmund 44221-Dortmund Germany

ISBN: (纸本)9781467325301

The dynamic friction in motion systems is mostly not directly measurable and has to be observed for an efficient compensation. A novel feed-forward friction observer (FFFO) is proposed based on the two-state dynamic friction model with elasto-plasticity abbreviated by 2SEP friction model. Being involved in the underlying closed control loop the FFFO uses the control error to adjust the friction dynamics which is computed in feed-forwarding based on the reference velocity. The friction compensation is evaluated on the actuated motion system with multiple coupled frictional surfaces. The proposed FFFO approach proves to be superior in comparison to the common friction observer which uses the output velocity value.

关键词： Feed-forward friction observer (FFFO) high-dynamic motion control

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Experimentally verified Iterative Learning control based on repetitive process stability theory

Experimentally verified Iterative Learning Control based on ...

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American control Conference (ACC)

作者： Pawel Dabkowski Krzysztof Galkowski Eric Rogers Zhonglun Cai Chris T. Freeman Paul L. Lewin Zdenek Hurak Anton Kummert Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Praque Czech Republic Institute of Physiscs Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Torun Poland University of Wuppertal Germany Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Engineering Czech Technical University Czech Republic Faculty of Electrical Information and Media Engineering Communication Theory University of Wuppertal Germany

This paper gives new results on the design and experimental evaluation of an Iterative Learning control (ILC) law in a repetitive process setting. The experimental results given are from a gantry robot facility that has been extensively used in the benchmarking of linear model based ILC designs. An example is also given to demonstrate that this new design offers much superior performance in comparison to some previous designs based on the Roesser model for 2D linear systems.

关键词： Robots State-space methods Asymptotic stability Educational institutions Vectors Stability criteria

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PARALLEL SIMULTANEOUS STABILIZATION OF A SET OF PORT-controlLED HAMILTONIAN SYSTEMS SUBJECT TO ACTUATOR SATURATION

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Journal of Systems Science & Complexity 2011年第1期24卷 120-139页

作者： Airong WEI Yuzhen WANG Xiaoming HU School of Control Science and Engineering Shandong University Jinan 250061 ChinaOptimization and Systems Theory Royal Institute of Technology SE-10044 Stockholm Sweden School of Control Science and Engineering Shandong University Jinan 250061 China Optimization and Systems Theory Royal Institute of Technology SE-100 44 Stockholm Sweden ACCESS Linnaeus Center Royal Institute of Technology SE-100 44 Stockholm Sweden

This paper investigates parallel simultaneous stabilization （PSS） of a set of multi-input nonlinear Port-controlled Hamiltonian （PCH） systems subject to actuator saturation （AS）, and proposes a number of results on the design of PSS controllers for the PCH systems with AS. Firstly, the case of two PCH systems with AS is studied. Exploring the special property of the saturation nonlinearity and the structural properties of dissipative Hamiltonian system, the two systems are combined to generate an augmented PCH system, with which some results on the control design are then obtained. When there are external disturbances in the two systems, a robust PSS controller is designed for the systems. Secondly, the case of more than two PCH systems with AS is investigated, and several new results are proposed for the PSS problem. Finally, two illustrative examples are presented to show that the stabilization controllers obtained in this paper work very well.

关键词： Actuator saturation PCH system robust parallel simultaneous stabilization

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Tool Centered Learning from Demonstration for Robotic Arms with Visual Feedback

Tool Centered Learning from Demonstration for Robotic Arms w...

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IEEE International Conference on Robotics and Biomimetics

作者： A. S. Phung J. Malzahn F. Hoffmann T. Bertram The authors are with the Institute of Control Theory and Systems Engineering Technische Universit?t Dortmund D-44221 Dortmund Germany.

ISBN: (纸本)9781467321259

Visual feedback allows controlling the relative pose between the camera and an object of unknown pose. This paper presents an approach to reproduce and generalize a movement from demonstrations based on visual feedback from an eye-in-hand camera mounted to the end effector. The main advantage of the approach is that no robot is required during the demonstration phase which is tool rather than robot centered. The teacher merely demonstrates the movement either with the camera alone or the camera attached to the tool that is required for the task. This method simplifies the demonstration in comparison to kinesthetic teaching that requires a compliant arm for motion recording. The accuracy and precision of the demonstration is enhanced as the teacher does not have to overcome the inertial and frictional forces of the arm while handling the end-effector in conjunction with the tool. The movement pattern in terms of translation and rotation of the camera with respect to the goal pose is described by dynamic movement primitives (DMP). Learning from demonstration is applied to straight point-to-point and more complex trajectories. The reproduced trajectories reveal a high precision independent from the object pose and the approach is confirmed by an experiment with a five degree-of-freedom (DOF) robot.

关键词： Learning from demonstration programming by demonstration visual servoing

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Discrete-Time l ∞ and l2 Norm Vanishment and Low Gain Feedback with Their Applications in Constrained control

Discrete-Time l ∞ and l2 Norm Vanishment and Low Gain Feedb...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Bin Zhou Zhao-Yan Li Zongli Lin Center for Control Theory and Guidance Technology Harbin Institute of Technology P.O. Box 416 Har Department of Mathematics Harbin Institute of Technology Harbin 150001 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box

The existing low gain feedback, which is a parameterized family of stabilizing state feedback gains whose magnitudes approach zero as the parameter decreases to zero, has been designed in very specific ways. In this paper, by recognizing the l∞ and l2 slow peaking phenomenon that exists in discrete-time systems under low gain feedback, more general notions of l∞ and l2 norm vanishment are considered so as to provide a full characterization of the nonexistence of slow peaking phenomenon in some measured signals. Low gain feedback that does not lead to l∞ and l2 slow peaking in the control input are respectively referred to as l∞ and l2 low gain feedback. Based on the notions of l∞ and l2 vanishment, not only can the existing low gain feedback been recognized as an l∞ low gain feedback, but also a new design approach referred to as the l2 low gain feedback approach is developed for discrete-time linear systems. Parallel to the effectiveness of l∞ low gain feedback in magnitude constrained control, the l2 low gain feedback is instrumental in the control of discrete-time systems with control energy constraints. The notions of l∞ and l2-vanishment also result in a systematic approach to the design of l∞ and l2 low gain feedback by providing a family of solutions including those resulting from the existing design methods.

关键词： Slow peaking phenomenon l∞ and l2 norm vanishment l∞ and l2 low gain feedback constrained control.

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Repetitive process based iterative learning control for a two motors system

Repetitive process based iterative learning control for a tw...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Lukasz Hladowski Krzysztof Galkowski Eric Rogers Lan Zhou Yong He Anton Kummert Institute of Control and Computation Engineering University of Zielona Gora Poland Electronics and Computer Science University of Southampton Southampton UK School of Information and Electrical Engineering Hunan University of Science and Technology Xiangtan China School of Information Science and Engineering Central South University Changsha China Electrical Information and Media Engineering Communication Theory University of Wuppertal Germany

This paper uses a 2D systems setting, based on the control theory for repetitive processes, to design an iterative learning control law with particular emphasis on the commonly encountered problem of maintaining a specified rotational speed of shaft where disturbances introduce irregularities in the speed achieved. The two motors system is a model for this problem and is used as the basis for a simulation study of the performance of the final design.

关键词： Stability analysis Asymptotic stability State-space methods Convergence Vectors DC motors Process control

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A Modified PSO Method Based on Cultural Algorithm and Quantum Computing

A Modified PSO Method Based on Cultural Algorithm and Quantu...

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International Conference on Computational Intelligence and Security

作者： Xiao-Zhi Gao Ying Wu Xiaolei Wang Xianlin Huang Kai Zenger Xiaofeng Wang College of Information Engineering Shanghai Maritime University Shanghai P. R. China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Department of Automation and Systems Technology Aalto University School of Electrical Engineering Aalto Finland

A novel Cultural Quantum-behaved Particle Swarm Optimization algorithm (CQPSO) is proposed in this paper to improve the performance of the Quantum-behaved PSO (QPSO). The cultural framework is embedded in our QPSO, and the knowledge stored in the belief space can guide the evolution of the QPSO. A total of 15 high-dimensional and multi-modal functions as well as an optimal pressure vessel design problem are employed to investigate the proposed algorithm. Numerical simulations results demonstrate that the CQPSO can indeed outperform the QPSO.

关键词： Cultural differences Particle swarm optimization Sociology Statistics Optimization Educational institutions Algorithm design and analysis

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Design of a New Multifunctional Wheelchair-bed

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Chinese Journal of Biomedical engineering(English Edition) 2012年第4期21卷 165-170页

作者： LI Feng ZHANG Chun-qiu LIU Hai-ying GAO Li-lan YE Jin-duo XIN Dong Institute of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Industry Systems Department of Mechanics College of Mechanical Science and Engineering Nanling Campus Jilin University

Currently, the aging of the population has become the world＇s social problem. With the increase of aging population and lots of disability, paralysis makes nursing care more difficult. Because of many elderly cannot get timely care, the phenomenon that the elderly have chronic diseases has become more and more serious. It is important to research and develop a new product which can help the elderly and the disabled for improving the quality of their life. This paper suggests a new type of mnltifunctional self-caring wheelchair-bed, which is combined with a wheelchair and a bed. The bed can realize the free conversion among user sitting, leg lifting and lying down, and also can implement the function of turning on sides. Particularly, the wheelchair can be easily separated from the bed and combined, so that patients and the elderly can move freely using it, and even it can be transformed into a standing type to satisfy the patient＇s standing demand, and to a certain extent, carry out the purpose of rehabilitation.

关键词： wheelchair-bed multifunctional rehabilitation design nursing care

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