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Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

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Adaptive neural output feedback control for stochastic nonlinear systems with unknown control directions

Adaptive neural output feedback control for stochastic nonli...

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第三十二届中国控制会议

作者： Yu Zhaoxu Li Shugang Key Laboratory of Advanced Control and Optimization for Chemical Process of Ministry of Education East China University of Science and Technology Department of Industrial Engineering and Logistics Shanghai Jiao Tong University

ISBN: (纸本)9781479900305

This paper focuses on the problem of adaptive output feedback stabilization for a class of stochastic nonlinear system with unknown control *** using a linear state transformation,the unknown control coefficients are lumped together, such that the original system is transformed to a new system for which control design becomes *** employing the inputdriven observer,a novel adaptive neural network(NN) output-feedback controller which only contains one adaptive parameter is developed for such systems by using backstepping technique and NNs' *** proposed control design guarantees that all the signals in the closed-loop systems are 4-moment semi-globally uniformly ultimately bounded.

关键词： stochastic systems output-feedback neural network(NN) Nussbaum function backstepping

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PWM Digital control of Aeration in Wastewater Treatment process

PWM Digital Control of Aeration in Wastewater Treatment Proc...

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第25届中国控制与决策会议

作者： Wei Ding Linbo Xie Zhihai Wu Key Laboratory of Advanced Process Control for Light Industry （Ministry of Education） Jiangnan University

ISBN: (纸本)9781467355339

A pulse-width-modulation （PWM） digital controller design method in aeration control, which can reduce the energy costs of the control procedure, is proposed for wastewater treatment process based on the ASM1 model. First, an optimal linearization technique is applied to the aeration nonlinear system for finding a local optimal linear model, which has the same dynamics of the original nonlinear system at the operating point of interest. Then, a discrete-time optimal control law in pulse-amplitude-modulated （PAM） form is designed using LQR method. The PWM digital control law is then converted, using the digital redesign technique, from the corresponding PAM control law for the purpose of engineering realization. Last, simulation results demonstrate the effectiveness of the proposed method and the whole energy consumption is also computed. It has been shown that compared with the conventional multi-set point on/off control and on/off control method, the proposed method can save more energy than other approaches.

关键词： Wastewater treatment process PAM PWM Aeration control

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The generalized projection algorithm for time-varying systems

The generalized projection algorithm for time-varying system...

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第三十二届中国控制会议

作者： DING Feng Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education) Jiangnan University

ISBN: (纸本)9781479900305

In this paper,the projection identification algorithm is extended and the generalized projection algorithm is presented. The analysis indicates that the generalized projection algorithm can track the time-varying parameters and has the same properties as the forgetting factor least squares algorithms but has less computational *** way of choosing the data window length is stated so as to obtain the minimum upper bound of the parameter estimation errors.

关键词： Parameter estimation projection identification algorithm time-varying system convergence analysis

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Temperature-dependent efficiency droop behaviors of GaN-based green light-emitting diodes

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Chinese Physics B 2013年第4期22卷 500-503页

作者：江蓉陆海陈敦军任芳芳闫大为张荣郑有炓 Jiangsu Provincial Key Laboratory of Advanced Photonic and Electronic Materials and School of Electronic Science and Engineering Nanjing University Key Laboratory of Advanced Process Control of the Light Industry (Ministry of Education) Department of Electronic Engineering Jiangnan University

The efficiency droop behaviors of GaN-based green light-emitting diodes （LEDs） are studied as a function of temperature from 300 K to 480 K. The overall quantum efficiency of the green LEDs is found to degrade as temperature increases, which is mainly caused by activation of new non-radiative recombination centers within the LED active layer. Meanwhile, the external quantum efficiency of the green LEDs starts to decrease at low injection current level （1 A/cm2 ） with a temperature-insensitive peak-efficiency-current. In contrast, the peak-efficiency-current of a control GaN-based blue LED shows continuous up-shift at higher temperatures. Around the onset point of efficiency droop, the electroluminescence spectra of the green LEDs also exhibit a monotonic blue-shift of peak energy and a reduction of full width at half maximum as injection current increases. Carrier delocalization is believed to play an important role in causing the efficiency droop in GaN-based green LEDs.

关键词： GaN green light-emitting diode efficiency droop electroluminescence

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Containment control for the Cooperative Output Regulation of Linear Multi-Agent Systems

Containment Control for the Cooperative Output Regulation of...

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第三十二届中国控制会议

作者： SHEN Yanchao YAN Huaicheng ZHANG Hao SHI Hongbo Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education School of Information Science and Engineering East China University of Science and Technology

ISBN: (纸本)9781479900305

In this paper, the containment control problem is studied for the cooperative output regulation of linear multi-agent systems(MASs). The output regulation problem initiated from single-leader-follower region is extended to the multi-leaders-follower region. The purpose of this paper is to design a containment control algorithm such that all the followers can move into the convex hull formed by the leaders. A sufficient and necessary condition in term of a linear matrix inequality (LMI) is derived for the existence of a containment controller protocol that guarantees the followers are capable to follow the trail of leader and the output error will converge to zero with the time elapsing. Then, a controller design procedure is given to construct the feedback gain matrix and select the proper gain matrix for achieving final consensus of the MASs. Compared with the existing algorithms, the proposed one requires less information and calculation of the velocities measurement of the agents. Finally, a numerical example is illustrated to show the usefulness of the designed containment controller.

关键词： Containment control, Linear system, Multi-agent systems, Output regulation

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Network design for distributed consensus estimation over heterogeneous sensor networks

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IFAC Proceedings Volumes 2014年第3期47卷 5550-5555页

作者： Wen Yang Ling Shi Ye Yuan Xiaofan Wang Hongbo Shi Key Laboratory of Advanced Control and Optimization for Chemical Processes (East China University of Science and Technology) Ministry of Education Shanghai 200237 Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong P. R. China Department of Engineering University of Cambridge UK Department of Automation Shanghai Jiaotong University Shanghai 200240

This paper considers distributed estimation over heterogeneous sensor networks. We propose a distributed estimation strategy based on PageRank algorithm, where the link weight depends on the edge estimation covariances. We prove that the proposed estimator obtains better estimates than one typical estimator under identical initial conditions. Motivated by the advantage of the sensors with high accuracy locating at important positions, we propose an optimal sensor deployment strategy to arrange locations for sensors in a given physical network. Numerical examples are provided to demonstrate the effectiveness of the proposed estimator, showing a better performance under the optimal sensor deployment.

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Stabilization of LTI Systems via State Feedback over Digital Block-Fading Channels

Stabilization of LTI Systems via State Feedback over Digital...

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第三十二届中国控制会议

作者： XIAO Nan XIE Lihua NIU Yugang Key Laboratory of Advanced Control and Optimization for Chemical Process East China University of Science and Technology Ministry of Education EXQUISITUS Centre for E-City School of Electrical and Electronic Engineering Nangyang Technological University

ISBN: (纸本)9781479900305

This paper studies the state feedback stabilization of LTI plants over wireless block-fading channels. The packet-loss rate of each channel depends on power level and packet length used for transmission as well as channel power gain. Different from the case of fixed packet-loss rate, the packet-loss rate considered in this paper is random and time-varying as the channel power gain is so for wireless communication. When power level and packet length are assumed to be time-invariant for every transmission at each channel, necessary and sufficient conditions for mean square stabilizability via state feedback are given in terms of the unstable poles of the plant. The performance defined as the asymptotic mean square norm of the system state is also discussed for the scalar case.

关键词： Block-Fading Channels, Digital Communication, Packet Losses, Stabilization, State Feedback

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Fast consensus of directed network via optimal pinning control

Fast consensus of directed network via optimal pinning contr...

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第三十二届中国控制会议

作者： YANG Wen WANG Ying WANG Xiaofan Key Laboratory of Advanced Control and Optimization for Chemical Processes(East China University of Science and Technology) Ministry of Education Department of Automation Shanghai Jiaotong University

ISBN: (纸本)9781479900305

In this paper,we consider fast and desired consensus of directed network via pinning ***,we provide a sufficient condition for the stability of desired consensus ***,we investigate the problem of selecting optimal pinned nodes for driving fastest consensus,which is formulated as an Mixed-Integer Semidefinite ***,we illustrate all the results by simulating on some typical directed networks.

关键词： Node selection Fast consensus Convex optimization

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Synchronization of Kuramoto Oscillators with Non-identical Natural Frequencies: a Quantum Dynamical Decoupling Approach

Synchronization of Kuramoto Oscillators with Non-identical N...

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IEEE Annual Conference on Decision and control

作者： Zhifei Zhang Alain Sarlette Zhihao Ling SYSTeMS research group Faculty of Engineering and Architecture Ghent University Technologiepark Zwijnaarde 914 9052 Zwijnaarde(Ghent) Belgium Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology No.130 Meilong Road Shanghai 200237 China

ISBN: (纸本)9781467360890

This paper proposes a method to counter the drift associated to unknown non-identical natural frequencies in the Kuramoto model of coupled oscillators. Inspired by the quantum dynamical decoupling technique, it builds on a time-varying variant of the dynamics to effectively bring the oscillator phases closer to the same value. This allows effective synchronization despite arbitrarily large differences in natural frequencies. For two agents admitting instantaneous position exchanges, we exactly compute how the relative phase converges to a stable periodic fixed point. The latter tends to zero when the dynamics switches at a faster rate. With continuous state evolutions, using a related dynamic controller instead of instantaneous jumps, we show with a Lyapunov function that exact phase synchronization is obtained. We generalize the method to multiple oscillators with instantaneous state exchanges, that can be implemented by cycling through a predefined or random sequence of exchanges. Simulation results illustrate the effectiveness of the algorithms.

关键词： Natural frequencies Oscillators DECOUPLING phase synchronization coupled oscillators dynamics quanta

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