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A reference model based adaptive fuzzy controller for nonlinear dynamic systems

A reference model based adaptive fuzzy controller for nonlin...

引用

6th International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2009

作者： Li, Li Sun, Fuchun College of Computer and Information Engineering Tianjin Normal University Tianjin 300387 China Dept. of Computer Science and Technology State Key Lab. of Intelligent Technology and Systems Tsinghua University Beijing 100084 China

ISBN: (纸本)9780769537351

In this paper, we first present some dynamic TS fuzzy subsystems to approximate a nonlinear system. To make the subsystems asymptotically stable, the reference model with the same fuzzy sets of the system rule is established. A feedback controller is designed based on an exact approximation model. The control gain can be solved by LMI approach. Since in practical plant, there are parameters uncertainty and external disturbance in approximation models, we propose a new controller with an adaptive fuzzy control term to compensate the uncertainty and alleviate the disturbance. Lyapunov constitute techniques can prove the stability of the closed loop systems. The simulations results illustrate the effectiveness of this approach. © 2009 IEEE.

关键词： Closed loop systems

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Voluntary gait speed adaptation for robot-assisted treadmill training

Voluntary gait speed adaptation for robot-assisted treadmill...

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2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

作者： Koenig, Alexander Binder, Carmen Zitzewttz, Joachim V. Omlin, Ximena Bolliger, Marc Riener, Robert Sensory Motor Systems Lab. ETH Zurich Switzerland Institute of Robotics and Intelligent Systems Department of Mechanical Engineering and Process Engineering ETH Zurich Switzerland Spinal Cord Injury Center University Hospital Balgrist University of Zurich TAN E 4 Tannenstrasse 1 8092 Zurich Switzerland

ISBN: (纸本)9781424437894

Robot-assisted gait training currently lacks the possibility of the robot to automatically adapt to the patient's needs and demands (so called "bio-cooperative control strategies"). It is desired to give the patient voluntary control over training parameters such as gait speed or joint trajectories. We implemented a control algorithm for the driven gait orthosis Lokomat that allows severely disabled stroke patients a limited and safe allowance of influence on their gait speed. To exercise gait symmetry, our algorithm can be configured such that only activity in the paretic leg will cause changes in treadmill speed. The algorithm was successfully tested with eight healthy subjects and six stroke patients. ©2009 IEEE.

关键词： Robots

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Multi-step prediction error approach for MPC performance monitoring

Multi-step prediction error approach for MPC performance mon...

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作者： Zhao, Yu Chu, Jian Su, Hongye Huang, Biao State Key Lab. of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou China Department of Chemical and Materials Engineering University of Alberta Edmonton AB T6G 2G6 Canada

ISBN: (纸本)9783902661548

Performance monitoring of model predictive control systems (MPC) has received a great interest from both academia and industry. In recent years some novel approaches for multivariate control performance monitoring have been developed without the requirement of process models or interactor matrices. Among them the prediction error approach has been shown to be a promising one, but it is k-step prediction based and may not be fully comparable with the MPC objective that is multi-step prediction based. This paper develops a multi-step prediction error approach for performance monitoring of model predictive control systems, and demonstrates its application in an industrial MPC performance monitoring and diagnosis problem.

关键词： Model predictive control

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Combinational method for focal brain activation detection using MEG signal

Combinational method for focal brain activation detection us...

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Medical Imaging 2009: Biomedical Applications in Molecular, Structural, and Functional Imaging

作者： Rajabioun, Mehdi Babajani-Feremi, Abbas Soltanian-Zadeh, Hamid Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran 14395-515 Iran Image Analysis Lab. Radiology Department Henry Ford Hospital Detroit MI 48202 United States

ISBN: (纸本)9780819475138

Magnetoencephalography (MEG) is a neuroimaging technique for brain activation detection. This technique does not provide a unique solution due to ill-posedness of its inverse solution. Several methods are proposed to improve the MEG inverse solution. Minimum Norm (MN) is a simple method whose solution is distributed and biased toward the superficial sources. In addition, its solution is sensitive to the noise. Several methods are proposed to improve performance of the MN method. In this paper, we propose a method whose solution is less sensitive to the noise and spatially unbiased toward the superficial sources. control of focal solution properties is achieved by specifying a parameter in the proposed method. Performance of the proposed method is compared to others using simulation studies consisting of single and multiple dipole sources as well as an extended source model. Proposed method has superior performance compared to non-iterative methods. Its performance is similar to the iterative methods but its computational load is lower. © 2009 SPIE.

关键词： Inverse problems

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Model-Free Indirect Adaptive Decoupling control for Nonlinear Discrete-Time MIMO systems

Model-Free Indirect Adaptive Decoupling Control for Nonlinea...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Weihong Wang Zhongsheng Hou Shangtai Jin Advanced Control Systems Lab. School of Electronics and Information EngineeringBeijing Jiaotong University

In this paper,an indirect adaptive decoupling controller with feedforward compensation is presented for nonlinear multivariable discrete-time dynamical *** design is model-free,based directly on some new dynamical linearization method and the resulting so called pseudo Jacobi matrix which derived on-line from the input and output information of the *** feedforward decoupling strategy is employed to achieve static decoupling and then to obtain the improved performance and stability *** analysis and simulation results show that the model-free indirect adaptive decoupling control system is stable and convergent.

关键词： Jacobi Model-Free Indirect Adaptive Decoupling control for Nonlinear Discrete-Time MIMO systems

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Compiler/hardware assisted application code and data security in embedded systems

Compiler/hardware assisted application code and data securit...

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28th Digital Avionics systems Conference: Modernization of Avionics and ATM-Perspectives from the Air and Ground, DASC 2009

作者： Bu, Chunguang Wang, Xiang Zhang, Chi Liu, Jizhong Wang, Xiaodong Qi, Chuntang Gao, Xiaoying Li, Baosen School of Electronic and Information Engineering Beihang University Beijing 100191 China National Key Lab. of Sci. and Tech. on Aerospace Intelligent Control Beijing 100854 China Luoyang Optoelectro Technology Development Center Luoyang 471009 China

ISBN: (纸本)9781424440788

Embedded systems have stepped deeper into Integrated Avionics systems, and security is becoming an important concern. Most embedded systems present a number of software vulnerabilities, such as buffer overflows. Furthermore, the rapid growth and pervasive use of embedded systems makes it easier for a sophisticated attacker to gain physical access to launch physical attacks on insecure off-chip main memory. This paper presents a novel compiler/ hardware assisted application code and data protection architecture (CHCDP) to monitor the execution of application. The compiler extracts the control flow and static data integrity validation information using hashing and cyclical redundancy check (CRC) integrity algorithms at compile time. The dynamic data integrity validation is generated in the process of application execution. Likewise, the function return address and frame point are also protected at runtime. The designed hardware observes its dynamic execution trace and checks whether the trace conforms to the permissible behavior. And it will trigger appropriate response mechanisms if finding a mismatch. An OR1200 processor is assigned to build a System on a Programmable Chip (SOPC) that implements the architectural design. The experimental analysis shows that the proposed techniques can eliminate a wide range of common software and physical attacks with low performance penalties and minimal overheads. ©2009 IEEE.

关键词： Embedded systems

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Compact models of motor primitive variations for predictable reaching and obstacle avoidance

Compact models of motor primitive variations for predictable...

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9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

作者： Stulp, Freek Oztop, Erhan Pastor, Peter Beetz, Michael Schaaz, Stefan Computational Learning and Motor Control Lab. University of Southern California Los Angeles CA United States Kyoto Japan Computational Neuroscience Laboratories Advanced Telecommunications Research Institute International Kyoto Japan Intelligent Autonomous Systems Group Technische Universitdt Munchen Munich Germany

ISBN: (纸本)9781424445882

In most activities of daily living, related tasks are encountered over and over again. This regularity allows humans and robots to reuse existing solutions for known recurring tasks. We expect that reusing a set of standard solutions to solve similar tasks will facilitate the design and on-line adaptation of the control systems of robots operating in human environments. In this paper, we derive a set of standard solutions for reaching behavior from human motion data. We also derive stereotypical reaching trajectories for variations of the task, in which obstacles are present. These stereotypical trajectories are then compactly represented with Dynamic Movement Primitives. On the humanoid robot Sarcos CB, this approach leads to reproducible, predictable, and human-like reaching motions. ©2009 IEEE.

关键词： Anthropomorphic robots

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Development of a Mixed-Signal PFC control IC with Fast Dynamic Response

Development of a Mixed-Signal PFC Control IC with Fast Dynam...

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2009 IEEE 6th International Power Electronics and Motion control Conference-ECCE Asia

作者： Ming-Hau Chan Yu-Tzung Lin Ying-Yu Tzou Electronic Systems ＆ Chips Lab. Department of Electrical and Control Engineering National Chiao Tung Univ.

This paper presents a mixed-signal power-factor-correction （PFC） control IC for the single-phase critical-conduction-mode （CRM） boost AC/DC converters. The peak current mode control is used and realized by using the analog circuit technique. The outer voltage loop control adopts digital control technique to implement. This paper analyzes effect of the hysteresis band of the comparator in current loop is implemented by analog circuit. In digital voltage loop, this paper proposes usage of a digital notch filter to achieve fast dynamic response under large step load variations while maintaining a low total-harmonic-distortion （THD） and a high power factor （PF）. The proposed mixed-signal PFC control scheme has been verified by using computer simulation via PSIM and Simplis to validate feasibility.

关键词： Power-factor-correction （PFC） critical-conduction-mode （CRM） mixed-signal control analog comparator fast dynamic response digital notch filter.

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Digital control of Boost PFC AC/DC Converters with Low THD and Fast Dynamic Response

Digital Control of Boost PFC AC/DC Converters with Low THD a...

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2009 IEEE 6th International Power Electronics and Motion control Conference-ECCE Asia

作者： Yu-Tzung Lin Ying-Yu Tzou Electronic Systems ＆ Chips Lab. Department of Electrical and Control Engineering National Chiao Tung Univ.

This paper presents a digital control scheme for boost power-factor-correction （PFC） AC/DC converters to achieve both low total-harmonic-distortion （THD） and fast dynamic response under large load variations. Compared with conventional control methods, the proposed digital control scheme can achieve a lower THD by sensing the input line voltage for feed-forward compensation in current loop to eliminate disturbance coming from the input line voltage, this paper also proposes the off-time duty ratio control to reduce the input current distortion. A synchronous sampling technique based on the double-line frequency can improve the dynamic response of the output voltage. The proposed control scheme has been verified by using simulation software PSIM and realized by using a DSP TMS3202812 in applications to a 1400 W prototype of boost PFC AC/DC converter. Experimental results are given to illustrate the feasibility of the proposed control scheme.

关键词： power-factor-correction （PFC） total-harmonic-distortion （THD） fast dynamic response digital control off-time duty ratio AC/DC converter.

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Minimal exposure path algorithms for directional sensor networks

Minimal exposure path algorithms for directional sensor netw...

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2009 IEEE Global Telecommunications Conference, GLOBECOM 2009

作者： Liu, Liang Zhang, Xi Ma, Huadong Networking and Information Systems Laboratory Department of Electrical and Computer Engineering Texas A and M University College Station TX 77843 United States Beijing Key Lab. of Intelligent Telecomm. Software and Multimedia Beijing University of Posts and Telecomm. Beijing 100876 China

ISBN: (纸本)9781424441488

As a fundamental problem of wireless sensor networks, the minimal exposure path problem corresponding to the sensor network's worst-case coverage plays an important role in the applications for detecting intrusions. However, most existing works about minimal exposure path are based on omnidirectional sensors. In contrast, this paper studies the minimal exposure path problem for directional sensor networks. We first develop a directional sensing model: directional sensitivity model. Then, we formulate the minimal exposure path problem by using two sensing intensity functions: all-sensor intensity function and maximum-sensor intensity function, and generate two weighted grids to convert the minimal exposure path problem into two discrete geometric problems. Based on the above weighted grids, we also develop two approximation algorithms to find the minimal exposure path for the directional sensitive model. We conduct extensive simulations to validate and evaluate our proposed models and algorithms.

关键词： Wireless sensor networks

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