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Stabilization of Nonlinear systems using Weak-control-Lyapunov Functions

IFAC Proceedings Volumes 2008年第2期41卷 6190-6195页

作者： Gou Nishida Takayuki Tsuzuki Hisakazu Nakamura Yuh Yamashita RIKEN(The Institute of Physical and Chemical Research) Bio-Mimetic Control Research Center Environment Adaptive Robotic Systems Lab. 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya Aichi 463-0003 Japan Department of Electronic and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University 1060 Nishikawatsu-cho Matsue-shi Shimane 690-8504 Japan Nara Institute of Science and Technology Systems and Control Lab. Graduate School of Information Science Takayama 8916-5 Ikoma Nara 630-0192 Japan Hokkaido University Graduate School of Information Science and Technology Division of Systems Science and Informatics Kita 13 Nishi 8 Kita-ku Sapporo 060-8628 Japan

This paper proposes a recursive method of constructing weak-control-Lyapunov functions for nonlinear systems. Lyapunov function is one of effective tools to study stability and stabilization in nonlinear system control design. However, a general way of finding Lyapunov functions has not been known yet. Our method is introduced by an explicit topological-geometric assumption for a state space manifold, called a Morse-Smale. The assumption indicates that there exists a sequence of inclusions of the manifold and its singular structures, called a weak-Lyapunov filtration. From this structure, we can construct a finite number of iterations to define weak-control-Lyapunov functions. As a result, the existence of the weak-control-Lyapunov functions can be specified by the investigation of property of manifolds.

关键词： Nonlinear systems Iterative modeling and control design

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Image Processing and Roughness Analysis as a Tool for Quantification of Physiological Well-Being in plants: Results for Sunagoke Moss

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IFAC Proceedings Volumes 2008年第2期41卷 641-646页

作者： S. Ondimu H Murase Bio-instrumentation Control and Systems (BICS) Engineering Lab. School of Life and environmental Sciences Osaka Prefecture University 1-1 Gakuen-cho Sakai City Osaka. Japan. Zip: 599-8531. Corresponding author: Stephen Ondimu:- phone: 81-72-254-9429 fax: 81-72-254-9918

The general appearance of a plant is the most obvious indicator of its physiological well-being. This study was premised on the assumption that image roughness values can be used to quantify wellbeing in plants. We hypothesize that the highest level of well-being in the plant corresponds to a given minimum level of its surface roughness. Beyond this point the roughness increases. A set of 511 images of Sunagoke moss (Rhacomitrium canescens) samples at water states of, 5.0gg −1 , 4gg −1 , 3gg −1 , 2.0gg −1 , 1.0gg −1 and 0gg −1 were analyzed for roughness parameters. Water state here was defined as the amount of water availab.e for the plant at the beginning of a given day in grams per gram of its dry weight. The results demonstrated that different water states have a strong effect on the surface roughness in Sunagoke moss. It was found that the higher the surface roughness of a plant the lower the level of its well-being and viceversa. The highest level of well-being was found to be at 2gg −1 water state for the Sunagoke moss used in this study. We concluded that roughness analysis can be used to quantify well-being in plants. Based on the results of this study, we propose a speaking organism system concept which allows plants to self-regulate their own bio-production environment based on roughness parameters fused with other image analysis results.

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intelligent systems applied to optimize building’s environments performance

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IFIP Advances in Information and Communication Technology 2008年 276卷 237-244页

作者： Sierra, E. Hossian, A. Rodríguez, D. García-Martínez, M. Britos, P. García-Martínez, R. Engineering School Comahue University Argentina Engineering School Comahue University Intelligent Systems Lab. FI-UBA Argentina Software and Knowledge Eng Center. Buenos Aires Institute of Technology Argentina School of Architecture University of Buenos Aires Argentina Software and Knowledge Eng. Center Buenos Aires Institute of Technology Argentina Software and Knowledge Engineering Center Buenos Aires Institute of Technology Argentina

ISBN: (纸本)9780387096940

By understanding a building as a dynamic entity capable of adapting itself not only to changing environmental conditions but also to occupant’s living habits, high standards of comfort and user satisfaction can be achieved. An intelligent system architecture integrating neural networks, expert systems and negotiating agents technologies is designed to optimize intelligent building’s performance. Results are promising and encourage further research in the field of AI applications in building automation systems. © 2008, IFIP International Federation for Information Processing. All rights reserved.

关键词： intelligent buildings

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Impedance fault location algorithm for UHV long transmission lines with single-line-to-ground faults

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Dianli Xitong Zidonghua/Automation of Electric Power systems 2008年第14期32卷 25-29页

作者： Wang, Bin Dong, Xinzhou Bo, Zhiqian Klimek, Andrew State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Department of Electrical Engineering Tsinghua University Beijing 100084 China AREVA T and D Automation Co. Stafford ST17 4LX United Kingdom

Ultra-high-voltage (UHV) transmission lines (over 750 kV) normally have larger shunt capacitance and longer transmission radius, which impose limitations of direct application of traditional impedance algorithm. A novel impedance fault location algorithm is proposed for UHV transmission lines with single-line-to-ground faults due to higher voltage level than 750 kV. It is based on the precondition that the negative sequence current phase at meter location can precisely describe the phase information of negative current in fault path or fault voltage. The algorithm is immune to the influence of shunt capacitance with distributed parameters modeling for transmission line, and is not disturbed by fault resistance with fault location calculation at zero-crossing point of voltage at fault point. Theoretical analysis and simulation prove that the proposed method can guarantee good fault location accuracy, and fulfill the requirements in the field.

关键词： Electric lines

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Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite

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IFAC Proceedings Volumes 2008年第2期41卷 2300-2305页

作者： Gou Nishida Kentaro Takagi Bernhard Maschke Zhi-wei Luo RIKEN(The Institute of Physical and Chemical Research) Bio-Mimetic Control Research Center Environment Adaptive Robotic Systems Lab. 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya Aichi 463-0003 Japan Dept. of Mechanical Science and Engineering Graduate School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 JAPAN Université Claude Bernard Lyon-1 CPE Lyon - Bâtiment 308 G UCB Lyon 1 - UFR Génie Electrique et des Procédés - CNRS UMR 5007 Laboratoire d'Automatique et de Génie des Procédés 43 bd du 11 Novembre 1918 F-69622 Villeurbanne cedex France Department of Computer and Systems Engineering Kobe University 1-1 Rokkodai Nada-ku Kobe Hyogo 657-8501 JAPAN / RIKEN BMC

This paper shows that one of soft actuators, Ionic Polymer-Metal Composite (IPMC) can be modeled in terms of distributed port-Hamiltonian systems with multi-scale. The physical structure of IPMC consists of three parts. The first part is an electric double layer at the interface between the polymer and the metal electrodes. The frequency response of the polymer-metal interface shows a fractal degree of gain slope. Then we adopt a black-box circuit model to this part and give considerations for distributed impedance parameters. The second part is an electrostress diffusion coupling model with bending and relaxation dynamics. This part is represented by an electro-osmosis, which is a water transport by an electric field, and a streaming potential, which is an electric field created by a water transport. We discuss the relationship of stress and bending moment induced by swelling. The third part is a mechanical system modeled as a flexible beam with large deformations. The representation has the capability extracting the control structure based on passivity from distributed parameter systems possessing a complex behavior.

关键词： Modeling Design methodologies

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Fuzzy quadtree based path planner and trajectory smoother for a low cost Unmanned Aerial Vehicle

Fuzzy quadtree based path planner and trajectory smoother fo...

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3rd Indian International Conference on Artificial Intelligence, IICAI 2007

作者： Halder, Abhishek Ghosh, Sayan Sinha, Manoranjan Intelligent Systems Lab. Department of Aerospace Engineering Indian Institute of Technology Kharagpur West Bengal 721302 India

ISBN: (纸本)9780972741224

This paper presents an effective path planning algorithm for presents an effective path planning algorithm for Unmanned Aerial Vehicle (UAV) navigation based on fuzzy quadtrees. This formulation allows the user to specify the desired level of details in the planner depending on the mission complexity. A comparative study is done to investigate the advantage of the proposed fuzzy quadtree path planner over conventional quadtree path planner. It has been shown that fuzzy quadtree path planner offers a significant reduction in storage space and computation time, which are critical for low cost UAV applications. In addition to that, the optimal path predicted by the fuzzy quadtree planner was smoothened by a proposed trajectory smoother, taking vehicle's kinematic constraint into account. The user inputs the two dimensional map of obstacles to get an optimal path predicted by the fuzzy planner and then a feasible trajectory is obtained, taking UAV turn rate kinematics in consideration. Copyright © 2007 IICAI.

关键词： Trajectories

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Challenges in implementation of human-automation interaction models

Challenges in implementation of human-automation interaction...

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2007 Mediterranean Conference on control and Automation, MED

作者： Fereidunian, Alireza Lucas, Caro Lesani, Hamid Lehtonen, Matti Nordman, Mikael Center of Excellence for Control and Intelligent Processing School of ECE University of Tehran Iran IPM Iran Power Systems and High Voltage Engineering Lab. Helsinki University of Technology Finland

ISBN: (纸本)142441282X

This paper presents the practical experience gained in the process of implementing the human-centered automation design methodology to an electric power utility management automation function, along with the analytical discussions on the implementation challenges. This report of implementation challenges and the discussions made on the methods devised to conquer those challenges lead to an alternative approach to the original approach to the well-known human-centered automation design model in the literature. ©2007 IEEE.

关键词： Human computer interaction

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A real-time obstacle detection and reactive path planning system for autonomous small-scale helicopters

A real-time obstacle detection and reactive path planning sy...

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AIAA Guidance, Navigation, and control Conference 2007

作者： Redding, Joshua Amin, Jayesh N. Bošković, Jovan D. Kang, Yeonsik Hedrick, Karl Howlett, Jason Poll, Scott Scientific Systems Company Inc. University of California Berkeley U.S. Army Research Development and Engineering Command NASA Ames Research Center AIAA Intelligent and Autonomous Control Systems Group Vehicle Dynamics Lab. Aeroflightdynamics Directorate Intelligent Systems Division

ISBN: (纸本)1563479044

This paper presents the design of a comprehensive Multi-layer Architecture for Trajectory Replanning and intelligent execution (MATRIX) system and its evaluation through high-fidelity simulations of the R-50 helicopter in the Real-time Interactive Prototype Technology Integration/Development Environment (RIPTIDE). The main feature of the MATRIX system is that it assures effective real-time obstacle detection & avoidance in a cluttered environment. Specifically, this paper discusses the (i) Design of the MATRIX System;(ii) Design, implementation & testing of individual modules;(iii) Integration & implementation under RIPTIDE;and (iv) Study of the features and limitations of the proposed architecture and algorithms. The MATRIX system consists of several subsystems including: Path Planner based on Rapidly-exploring Random Trees (RRT), shortest path algorithm for pruning of redundant waypoints, a safety corridor for preventing collisions with obstacles, 4D trajectory generator, nonlinear adaptive outer-loop controller, representation of obstacles using Quadtrees, and obstacle detection using a scanning laser and Interacting Multiple Model Kalman Filters (IMM-KF). These subsystems were developed and integrated within RIPTIDE, and extensive testing was carried out using R-50 helicopter dynamics. It was found that the MATRIX system rapidly generates new paths and trajectories to avoid unknown obstacles, is highly robust, and achieves excellent overall performance.

关键词： Helicopters

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An application of Rantzer's Dual Lyapunov Theorem to decentralized navigation

An application of Rantzer's Dual Lyapunov Theorem to decentr...

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2007 Mediterranean Conference on control and Automation, MED

作者： Dimarogonas, Dimos V. Kyriakopoulos, Kostas J. Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens 9 Heroon Polytechniou Street Zografou 15780 Greece

ISBN: (纸本)142441282X

We provide a connection between Rantzer's dual Lyapunov Theorem that appeared in [18] with Decentralized Navigation Functions (DNFs). It is shown that when the agents' control law does not contain an element that forces them to cooperate with the rest of the team once they have reached their desired goal, global convergence cannot be guaranteed. A sufficient condition for this to happen is derived based on Rantzer's Theorem. In particular, it is shown that agents are driven towards their goals provided that collisions between the team members tend to occur whenever agents are found sufficiently far from their desired destinations. This is derived based on the properties of the critical points of the DNF's imposed by Rantzer's Theorem. The result can be used as a new approach to guaranteed local-minima free decentralized control approaches. ©2007 IEEE.

关键词： Decentralized control

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A genetic approach to anti-air missile control system design

A genetic approach to anti-air missile control system design

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作者： Mehrabian, Ali Reza Nayebpanah, Nastaran Advanced Dynamic and Control Systems Lab. School of Mechanical Engineering University of Tehran P.O.Box: 14875-347 Tehran Iran

ISBN: (纸本)9783902661241

Modern aircrafts and missiles with high manoeuvrability present an interesting challenge to autopilot design, which has activated new investigations in estimating the potential and applicability of recent theoretical control methods as well as how they can meet industrial demands. In this paper, a multi-objective approach for autopilot design is introduced. The design requirements are formulated using several integral criteria. A hybrid-genetic algorithm (GA) is employed to solve the nonlinear optimization problem. The obtained results are verified using nonlinear simulations in SIMULINK® which shows performance, stability and robustness of the designed flight controller. Copyright © 2007 IFAC.

关键词： Genetic algorithms

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