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STATE FEEDBACK STABILIZATION FOR A CLASS OF NONLINEAR TIME-DELAY SYSTEMS VIA DYNAMIC LINEAR CONTROLLERS

Journal of Systems Science & Complexity 2014年第3期27卷 453-462页

作者： CHAI Lin QIAN Chunjiang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Department of Electrical and Computer Engineering University of Texas at San AntonioSan AntonioTX 78249USA

The dynamic linear state feedback control problem is addressed for a class of nonlinear systems subject to ***,using the dynamic change of coordinates,the problem of global state feedback stabilization is solved for a class of time-delay systems under a type of nonhomogeneous growth *** the aid of an appropriate Lyapunov-Krasovskii functional and the adaptive strategy used in coordinates,the closed-loop system can be globally asymptotically stabilized by the dynamic linear state feedback *** growth condition in perturbations are more general than that in the existing *** correctness of the theoretical results are illustrated with an academic simulation example.

关键词： Dynamic linear controller global stabilization nonlinear time-delay systems state feed-back control.

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Evolutionary Approach to Coverage Testing of IEC 61499 Function Block Applications

Evolutionary Approach to Coverage Testing of IEC 61499 Funct...

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International Conference on Industrial Informatics

作者： Igor Buzhinsky Vladimir Ulyantsev Jari Veijalainen Valeriy Vyatkin Computer Technologies Laboratory ITMO University St. Petersburg Russia Department of Computer Science and Information Systems Mattilanniemi 2 University of Jyvaskyla FI-40014 University of Jyvaskyla Finland Department of Electrical Engineering and Automation Aalto University Finland

ISBN: (纸本)9781479966509

The paper addresses the problem of coverage testing of industrial automation software represented in the IEC 61499 standard, one of the recent standards for distributed control system design. Contrary to model-based testing (MBT), the paper focuses on implementation coverage, not model coverage. An approach based on evolutionary algorithms is presented which generates coverage test suites for both basic and composite IEC 61499 function blocks. It employs two third-party tools, FBDK and EvoSuite. The evaluation of the approach was performed on a set of control applications for two lab-scale demonstration plants. Results show that the approach is applicable and shows good performance at least on basic function blocks. The generated tests suites helped to discover several unreachable system parts, which pinpointed errors in the systems under test.

关键词： MBT Evolutionary Approach

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Distributed Control of Nonlinear Uncertain Systems:A Cyclic-small-gain Approach

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 46-53页

作者： Tengfei Liu Zhongping Jiang the State Key Laboratory of Synthetical Automation for Process Industries Northeastern University the Department of Electrical and Computer Engineering Polytechnic Institute of New York University

This paper presents a cyclic-small-gain approach to distributed control of nonlinear multi-agent systems for output agreement. Through a novel nonlinear control law design, the output agreement problem is transformed into a stabilization problem, and the closed-loop multi-agent system is transformed into a large-scale system composed of input-to-state stability(ISS) subsystems which are interconnected with each other through redefined outputs. By forcing the redefined outputs to go to arbitrarily small neighborhoods of the origin, practical consensus is achieved for the agents in the sense that their outputs ultimately converge to each other within an arbitrarily small region. A recently developed cyclic-small-gain result is adopted to assign appropriately the ISS gains to the transformed interconnected system. Moreover, if the system is disturbancefree, then consensus can be guaranteed. Interestingly, the closedloop multi-agent system is also robust to bounded time-delays and disturbances in information exchange.

关键词： Decentralized control Information exchange Multi-agent systems Robustness Uncertain systems Nonlinear systems

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Distributed Coverage Optimization for Deployment of Directional Sensor Networks

Distributed Coverage Optimization for Deployment of Directio...

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IEEE Annual Conference on Decision and Control

作者： Xuebo Zhang Xiang Chen Xiao Liang Yongchun Fang Institute of Robotics and Automatic Information System and also Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China Department of Electrical and Computer Engineering University of Windsor Ontario Canada N9B 3P4

ISBN: (纸本)9781479978878

We propose a new sensor-to-point 'coverage distance' to address the anisotropic sensing property of directional sensors. This new coverage distance is then employed to design a distributed coverage optimization algorithm for deployment of directional sensor networks. Different from existing approaches, the newly proposed coverage distance takes advantage of homeomorphism, which could reflect the relationship between the isotropic and the anisotropic spaces. Based on the interpretation of physical sensing models, a homeomorphism is first constructed so that the original anisotropic sensing space is mapped into an isotropic sensing space, in which the sensor-to-point 'coverage distance' can be defined through the Euclidean distance. Then, the coverage distance is used to generate an appropriate scene partition, called 'Directional Voronoi Partition' (DVP), which warrants the design and implementation of a distributed coverage optimization algorithm for deployment of directional sensor networks. The developed method is tested with an circular sector sensor. Simulation results are provided to verify the effectiveness of the proposed approach.

关键词： Robot sensing systems Optimization Euclidean distance Algorithm design and analysis Silicon

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An automatic screw tightening shaft based on enhanced variable gain PID control

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International Journal of Simulation: Systems, Science and Technology 2015年第5期16卷 14.1-14.9页

作者： Liu, Sibang Ge, Shuzhi Sam Qin, Gang Li, Min School of Automation Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China Center for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore119077 Singapore Centre for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China School of Computer Science and Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China

In this paper, a modular designed automatic screw tightening shaft system, which is based on enhanced variable gain PID control, is proposed. Designed for the autonomous screw tightening operation, the screw tightening shaft enjoys huge potential for industry application. The screw tightening shaft and the screw tightening process are both mathematically modeled as an uncertain feedback system because of the uncertain properties. And the control performance is verified by choosing proper controller parameters that the closed loop system is stable on the basis of the Routh stability criterion whereas the torque tracking error exponentially converges to a small residue. Furthermore, it can be seen from the simulation and experiment results on the screw tightening shaft system that the proposed autonomous system is valid and effective. © 2015, UK Simulation Society. All rights reserved.

关键词： Three term control systems

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Feedback Stabilization of MIMO Systems in the Presence of Stochastic Network Uncertainties and Delays

Feedback Stabilization of MIMO Systems in the Presence of St...

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第三十四届中国控制会议

作者： Tian Qi Jie Chen Weizhou Su Minyue Fu School of Automation Science and Engineering South China University of Technology Department of Electronic Engineering City University of Hong Kong School of Electrical and Computer Engineering University of Newcastle State Key Laboratory of Industrial Control Technology and Department of Control Science and Engineering Zhejiang University

ISBN: (纸本)9781467374439

The purpose of this paper is to study stabilization problem of linear time-invariant systems subject to stochastic multiplicative uncertainties and time delays. We consider a structured multiplicative perturbation which consists of static, zero-mean stochastic processes and we assess the stability of system based on mean-square criteria. The mean-square stabilization problem for multi-input multi-output systems generally requires solving an optimization problem involving the spectral radius of a certain closed loop transfer function matrix. This problem in general is non-convex and by and large unresolved, only approximate solutions are available based on numerical algorithms resembling to the D-K iteration for μ-synthesis. Our main contributions include the fundamental conditions, both necessary and sufficient, which insure that the multi-input multi-output minimum phase systems can be stabilized by output feedback in the mean-square sense. We provide a complete, computationally efficient solution in the form of a generalized eigenvalue problem readily solvable by means of linear matrix inequality optimization. For conceptual insights, limiting cases are analyzed in depth to characterize and quantify explicitly how the directions of unstable poles may affect the mean-square stabilizability of multi-input multi-output systems.

关键词： Mean square stability and stabilization,constant time-delay,stochastic multiplicative uncertainty

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Global Stabilization via Sampled-Data Output Feedback Control for a Class of Nonlinear Systems Subject to Time-Delays

Global Stabilization via Sampled-Data Output Feedback Contro...

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第三十四届中国控制会议

作者： Hongyan Chu Chunjiang Qian Jiquan Yang Shengyuan Xu Wenting Zha Department of Energy and Mechanical Engineering Nanjing Normal University Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing Normal University School of Automation Nanjing University of Science and Technology Department of Electrical & Computer Engineering The University of Texas at San Antonio Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University

ISBN: (纸本)9781467374439

This paper considers the problem of global output feedback stabilization via sampled-data control for a class of uncertain nonlinear systems subject to time delays. The system satisfies a lower-triangular linear growth condition with unknown growth rates. A new inductive method is first introduced to estimate the state growth in the presence of time delays and nonvarnishing nonlinearities. When only the output of the system is measurable, with the help of output domination approach, a sampled-data output feedback controller is constructed to solve the global stabilization problem. The proposed sampled-data controller is linear in structure and therefore can be easily implemented in practice.

关键词： Sampled-data,output feedback,time delay,domination approach

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Attitude tracking control of a quadrotor based on linear active disturbance rejective control

Attitude tracking control of a quadrotor based on linear act...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Jingdu Gao Yan Zhuang Jizhong Xiao Yiwen Zhao School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical Engineering The City College City University of New York New York USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

A quadrotor is a typical multiple-input multiple-output (MIMO), underactuated, strong coupled nonlinear system with parameter uncertainty and unmodeled disturbance. To track the desired attitude and height, a linear active disturbance rejection control (LADRC) approach is utilized for the quadrotor control. LADRC has the capacity of estimating and compensating the generalized disturbance, and reduce the system to a unit gain double integrator, which is easily implemented and robust to environment disturbances. A simplified dynamic model of quadrotor is established using Newton-Euler equations. The design of LADRC is verified through numerical simulation and compared with PID controller. Simulation results indicate the LADRC can be used to achieve good performance in tracking the desired attitude and height.

关键词： Mathematical model Control systems Observers Attitude control Aerodynamics Numerical models Propellers

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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