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Recursive estimation of Hammerstein system nonlinearity by Haar wavelets

IFAC Proceedings Volumes 2010年第14期43卷 439-444页

作者： Przemysław łliwiński Zygmunt Hasiewicz Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wybrzeże Wyspiańskiego 27 50-370 Wrocław Poland

In the note two recursive algorithms recovering the nonlinearity in Hammerstein systems are proposed. The algorithms are based on Haar wavelet orthogonal series kernels and are of the simple generic standard form: where κ k ( x ) is an algorithm-dependent weighting factor. Convergence of both algorithms is examined for continuous and discontinuous nonlinearities and the convergence rates are established. Stability of the algorithms is also shown. Their performances for small numbers of measurements are numerically compared.

关键词： Hammerstein system non-parametric identification Haar orthogonal expansion regression estimation convergence on-line algorithm BIBO stability

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Establishing the NP-hardness of maximally permissive RAS-based approaches to multi-vehicle system safety

Establishing the NP-hardness of maximally permissive RAS-bas...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Elzbieta Roszkowska Spyros Reveliotis Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland School of Industrial & Systems Engineering Georgia Institute of Technology USA

ISBN: (纸本)9781424450381;9781424450404

The safety problem in multi-vehicle systems seeks to establish collision-free and live vehicle motion, and it is a prominent problem for many configurations of these environments. Past work studying this problem in the context of free-range vehicular systems through abstractions based on Resource Allocation System (RAS) theory, has implicitly assumed that its resolution through maximally permissive supervision is NP-hard, and therefore, it has typically pursued suboptimal (i.e., more restrictive) solutions. The work presented in this paper offers formal proof to this implicit assumption, closing the apparent gap in the existing literature.

关键词： Resource management Vehicle safety Motion control System recovery Space vehicles control systems robotics and automation USA Councils Mobile agents Distributed computing

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Preface

Communications and Control Engineering

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Communications and control Engineering 2011年第9780857292551期 vii-xi页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore

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Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface

Switched-structure of linear MIMO controllers for positionin...

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

作者： Stanisław Bańka Michał Brasel Paweł Dworak Krzysztof J. Latawiec Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland Institute of Control and Computer Engineering Opole University of Technology Opole Poland

In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.

关键词： Marine vehicles control systems Mathematical model Drilling Observers MIMO Vectors

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Bell-shaped potential functions for multi-agent formation control in cluttered environment

Bell-shaped potential functions for multi-agent formation co...

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Mediterranean Conference on control and Automation (MED)

作者： Kristian Hengster-Movrić Stjepan Bogdan Ivica Draganjac Automation & Robotics Research Institute University of Texas Arlington USA Automatin&Robotics Research Institute University of Texas at Arilington USA Dept. of Control and Computer Engineering University of Zagreb CROATIA Croatia

In this paper we analyze stability properties of multi-agent control system in a cluttered environment with an artificial potential based on bell-shaped functions. In our approach attractive and repulsive forces created by potential gradient have the same form which allows definition of target formation that is parameter invariant. Due to the fact that agents are identical, the proposed structure of formation potential is invariant to the interchange of agents configurations, hence, target in which particular agent would eventually end up, depends only on formation initial condition and environment structure (obstacles). We show that position of unwanted stable equilibria can be controlled by parameters that define elementary potential functions. This fact has been used for synthesis of an adaptation algorithm, such that arrival of agents at required formation is guarantied. Simulation results, presented at the end of the paper, confirm correctness of the proposed control scheme.

关键词： Navigation Stability analysis Force Lead Trajectory Geometry

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Parallelizing of digital signal processing with using GPU

Parallelizing of digital signal processing with using GPU

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Wojciech Bożejko Andrzej Dobrucki Maciej Walczyński Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Institute of Telecommunications Teleinformatics and Acoustics Wroclaw University of Technology Wroclaw Poland

In this paper we show the process of a class of algorithms parallelization which are used in digital signal processing. We present this approach on the instance of the popular LMS algorithm which is used in noise reduction, echo cancelation problems and digital signal processing in general. We propose an approach which uses a GPGPU technology. Parallel approach allows us decomposing the problem into a number of smaller ones, which can be computed faster. Obtained results, especially increase of speed and efficiency, show that the parallel method implemented on GPU is much more effective than other existing procedures and it can be used in the real-time systems.

关键词： Graphics processing unit Random access memory

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The new golf neighborhood for the exible job shop problem

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Procedia computer Science 2010年第1期1卷 289-296页

作者： Wojciech Bożejko Mariusz Uchroński Mieczysław Wodecki Institute of Computer Engineering Control and Robotics Wrocław University of Technology Janiszewskiego 11-17 50-372 Wrocław Poland Institute of Computer Science University of Wrocław Joliot-Curie 15 50-383 Wrocław Poland

job shop problem. A main idea of the proposed neighborhood is to execute a ‘long shot’ of an operation from the current operation’s machine to another machine of the same type, and then to the make a small move by using a local optimization algorithm without changing operationsto-machines assignment. We call this method ‘the golf neighborhood’. Computational experiments executed on the benchmark instances from the literature show the efficiency of this solution.

关键词： 90B36 90C35 Scheduling Flexible job shop Metaheuristics

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Combining optimistic and pessimistic DVS scheduling: An adaptive scheme and analysis 10

Combining optimistic and pessimistic DVS scheduling: An adap...

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IEEE International Conference on computer-Aided Design

作者： Simon Perathoner Kai Lampka Nikolay Stoimenov Lothar Thiele Jian-Jia Chen Computer Engineering and Networks Laboratory (TIK) Swiss Federal Institute of Technology Zurich Switzerland Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781424481927

Performance boosting of modern computing systems is constrained by the chip/circuit power dissipation. Dynamic voltage scaling (DVS) has been applied for reducing the energy consumption by dynamically changing the supply voltage. One can optimistically apply greedy online DVS scheduling algorithms by considering only the events that have arrived in the system. However, this might require a speed that is beyond a system's capability. Alternatively, one can pessimistically use a conservative speed to ensure timing guarantees, which might consume an excessive amount of energy as events might be processed faster than necessary. This paper presents an adaptive scheme that combines these two strategies for the scheduling of arbitrary event streams. The proposed adaptive DVS scheduler chooses the execution speed dynamically as long as it is below a certain threshold. Once the speed exceeds this threshold, the proposed scheduler operates at a constant (pessimistic) speed for guaranteeing the feasibility. The computation of the threshold speed is, however, not straight-forward. For deriving it, we make use of a framework based on timed model checking because the scheduler is strongly state-dependent. The resulting analysis framework allows to obtain the threshold speed for the proposed adaptive DVS scheduling algorithm such that both timing and speed constraints are guaranteed to be met and at the same time an energy-efficient execution is ensured.

关键词： Voltage control Optimized production technology Energy consumption Timing Adaptation model Scheduling algorithm Adaptive scheduling

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Energy-Efficient Static Priority and Speed Assignment for Real-Time Tasks with Non-deterministic Release Times

Energy-Efficient Static Priority and Speed Assignment for Re...

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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： Simon Perathoner Lothar Thiele Jian-Jia Chen Computer Engineering and Networks Laboratory (TIK) Swiss Federal Institute of Technology Zurich Switzerland Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

Dynamic Voltage Scaling (DVS) has been widely used for decreasing the dynamic power dissipation of processors. For real-time systems, DVS techniques have been developed that permit to meet the timing constraints of multiple real-time tasks and at the same time reduce the overall dynamic energy consumption. Known methods for static priority DVS scheduling are, however, either restricted to simple periodic/sporadic task release patterns or presume full a priori knowledge of task release times. Moreover, none of the present approaches considers the optimization of task priorities for reducing the energy consumption. In this paper we explore how to determine the static priorities and individual execution speeds (supply voltages) of multiple tasks with non-deterministic release times bounded by arrival curves such that the energy consumption is reduced and the real-time constraints are met. The result are different heuristics for the design of DVS-based real-time systems with static priorities. We show that the proposed methodology leads to energy-efficient system designs and demonstrate the applicability of the approach by means of experiments.

关键词： Voltage control Energy consumption Real time systems Processor scheduling Program processors Jitter Algorithm design and analysis

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Disturbance and friction compensations in hard disk drives using neural networks

Disturbance and friction compensations in hard disk drives u...

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作者： Lai, Chow Yin Lewis, Frank L. Venkataramanan, Venkatakrishnan Ren, Xuemei Ge, Shuzhi Sam Liew, Thomas NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 117456 Singapore Automation and Robotics Research Institute University of Texas at Arlington Fort Worth TX United States Data Storage Institute A STAR Singapore 117608 Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

In this paper, we show that by using two adaptive neural networks (NNs), each of which is tailored for a specific task, the tracking performance of the hard-disk-drive (HDD) actuator can be significantly improved. The first NN utilizes accelerometer signal to detect external vibrations and compensates for its effect on HDD position via feedforward action. The second NN is designed to compensate for pivot friction. The appealing advantage of the NN compensators is that the design does not involve any information on the plant, sensor, disturbance dynamics, and friction model. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Experimental results show that the tracking performance of the HDDs can be improved significantly with the use of the NN compensators as compared to the case without compensation. © 2009 IEEE.

关键词： Tribology

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