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Odor sources mapping with D-S inference in time variant airflow environments via a mobile robot 5

Odor sources mapping with D-S inference in time variant airf...

5th Annual IEEE International Conference on Cyber Technology in automation, control and Intelligent Systems, IEEE-CYBER 2015

作者： Li, Ji-Gong Zhou, Jie-Yong Biao, Sun Jia, Liu Li, Yang School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin China School of Electrical Engineering and Automation Tianjin University Tianjin China Tianjin Key Laboratory of Process Measurement and Control Tianjin China

ISBN: (纸本)9781479987290

This paper addresses the problem of localization of multiple odor sources using a mobile robot in a time-variant airflow environment, and provides a mapping method which uses the Dempster-Shafer (D-S) theory to reason the possible locations of several odor sources. In the proposed method, the robot carries out the D-S inference and iteratively updates a grid map in which each cell has two states (i.e., occupied by an odor source, and not occupied by odor source), using the successive measurements from a gas sensor and an anemometer when the robot is cruising in the given search area. Considering the fact that in outdoor environments air almost always flow and vary with time, estimated air-mass paths are used to construct the belief mass functions of the D-S inference. Here the air-mass path is defined as the trajectory most likely taken by an air mass encountered with the mobile robot in a time-varying airflow environment, and an air mass can contain odor molecules and bring them to the robot, or not contain odor molecule and just pass by the robot. Simulations are carried out and the results in a time-variant airflow environment show that the locations of the multiple odor sources can be mapped online with the proposed method. © 2015 IEEE.

关键词： Mobile robots

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Robust Decentralized control of Interconnected Nonlinear Systems Subject to Uncertainties and Disturbances via Generalized Extended State Observers 34

Robust Decentralized Control of Interconnected Nonlinear Sys...

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第三十四届中国控制会议

作者： ZHANG Chuanlin YANG ning HE Shuaipeng JIA Ruting Shanghai Engineering Research Center of Intelligent Management and Control for Power Process College of Automation EngineeringShanghai University of Electric Power Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Electrical and Computer Engineering Department California State University

ISBN: (纸本)9789881563897

This paper studies the problem of robust decentralized control for a class of large-scale interconnected systems subject to uncertainties and disturbances via a generalized active disturbance rejection control method. First, a novel extended state observer(ESO) is constructed separately for each subsystem with less dependence of the precise system information and structure. Second, an explicit formula of the decentralized active disturbance rejection control(DADRC) law is presented by utilizing the output feedback domination approach. It is shown that by a delicate analysis procedure, the closed-loop system can be rendered semi-globally asymptotically stable only using decentralized output feedback anti-disturbance controller. Numerical simulations show the efficiency of the proposed method.

关键词： output feedback control global stabilization disturbance rejection control extended state observer

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Data-driven PID controller Design for Continuous Stirred Tank Reactor 34

Data-driven PID Controller Design for Continuous Stirred Tan...

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第三十四届中国控制会议

作者： XU Dezhi LIU Fei ZHOU Hongcheng ZHANG Qiang Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Institute of Information JinLing Institute of Technology School of Electrical Engineering University of Jinan

ISBN: (纸本)9789881563897

Since most chemical processes exhibit severe nonlinear and time-varying behavior, the control of such processes is challenging. In this paper, we propose data-driven controller design method based on lazy learning for chemical processes. Using a lazy learning algorithm, a local valid linear model denoting the current state of system is automatically exacted for adjusting the PID controller parameters based on input/output data. This scheme can adjust the PID parameters in an online manner even if the system has nonlinear properties. The simulation results on the dynamic model of Continuous Stirred Tank Reactor(CSTR) are provided to demonstrate the effectiveness of the proposed new control techniques.

关键词： PID,Data-driven,Lazy learning,Continuous Stirred Tank Reactor(CSTR)

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Robust output feedback NMPC with guaranteed constraint satisfaction 8

Robust output feedback NMPC with guaranteed constraint satis...

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8th IFAC Symposium on Robust control Design, ROCOND 2015

作者： Subramanian, Sankaranarayanan Lucia, Sergio Paulen, Radoslav Engell, Sebastian Process Dynamics and Operations Group TU Dortmund Germany Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

Nonlinear Model Predictive control (NMPC) employs a plant model to compute a sequence of optimal control inputs for a finite horizon. As, in reality, there always exists a plant-model mismatch and not all states of the plant can be measured, the NMPC scheme must be robust to plant uncertainties and to estimation errors. Different robust NMPC strategies have been proposed to deal with these uncertainties. Among them, a multi-stage NMPC, which is based upon a scenario tree of future plant evolutions, is less conservative compared to worst-case open-loop approaches because the presence of feedback at future sampling instants is explicitly considered. In multi-stage output feedback NMPC, additional scenarios are created by sampling the innovations that are used to estimate the future states of the plant along the scenario tree. In this paper, we refine our previously published approach to include state estimation errors. Moreover we extend the scheme to guarantee robust constraint satisfaction by calculating reachable sets using Taylor models. The method is demonstrated for a nonlinear chemical process example. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control

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Iterative Learning control for Distributed Parameter Switched Systems 27

Iterative Learning Control for Distributed Parameter Switche...

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第27届中国控制与决策会议

作者： Zhang Jianxiang Dai Xisheng Tian Senping School of Electrical and Information Engineering Guangxi University of Science and Technology Intelligent Control Laboratory of Industrial Process Guangxi University of Science and Technology School of Automation Science and Engineer South China University of Technology

ISBN: (纸本)9781479970186

Iterative learning control technique is applied to a class of distributed parameters switched systems,using P-type learning control law to investigate the problem of target tracking *** condition of the P type iterative learning control law have been proposed in this paper,and the convergence analysis has been *** is assumed that the subsystem is operated during a finite time interval *** simulation results illustrate that the P-type iterative learning control algorithm for a class of distributed parameter switched system is effective.

关键词： iterative learning control,switched system,distributed parameter system,convergence analysis.

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Re. ``Discrete Representation of Non-dominated Sets in Multi-objective Linear Programming'' [European Journal of Operational Research 255 (2016) 687–698]

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European Journal of Operational Research 2017年第3期260卷 828-828页

作者： Lizhen Shao Matthias Ehrgott Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 10 0 083 China Department of Management Science Lancaster University Management School Bailrigg Lancaster LA1 4YX United Kingdom

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Analysis of thermal boundary layer of thermal effects on flow characteristics of small sonic nozzles

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Jixie Gongcheng Xuebao/Journal of Mechanical engineering 2015年第16期51卷 164-170页

作者： Wang, Chao Wang, Gang Ding, Hongbing School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Tianjin Key Laboratory of Process Measurement and Control Tianjin300072 China

The gas temperature will drop greatly when flowing through the nozzle. The heat exchange between the cold gas and the wall will produce a series of complex effects which are called "thermal effect". The small-diameter nozzles used in the field of small flow measurement will be influenced by the thermal effect seriously. The laws of temperature variation of sonic nozzles are analyzed by the thermal boundary layer theory with different inlet pressure, locations and throat diameters. According to the experimental data, the dynamic interaction between the wall temperature distribution and the thermal boundary layer thickness is analyzed theoretically. The changes of boundary layer thickness are studied in detail by the CFD method and a formula of discharge coefficient deviation is fitted. It is indicated that the discharge coefficient increases by 0.195% with the wall temperature decreasing by 15 K caused by the thinning of the boundary layer which is necessary to pay more attention. ©, 2015, Journal of Mechanical engineering. All right reserved.

关键词： Boundary layers

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Measurement of Phase Fraction in Oil-Water Two-Phase Flow Using Ultrasound Attenuation Method

Measurement of Phase Fraction in Oil-Water Two-Phase Flow Us...

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Chinese automation Congress

作者： Qian Su Chao Tan Feng Dong Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781467371902

Ultrasonic technology has potential application prospect in measurement of phase fraction in oil-water two-phase flow. An ultrasound attenuation method is discussed in the oil-water two-phase flow. Geometric simulation models of oil-water two-phase flow with different fractions are set up based on the finite element analysis method. Simulation results show that phase fraction and distribution jointly affect on the ultrasound attenuation coefficient. Test results give good agreement with the trend of the simulation results. The feasibility and effectiveness can be achieved to use the ultrasound attenuation testing method. This is a basic work for ultrasound attenuation method adopted to test the phase fraction of oil-water two-phase flow. A predicted model of phase fraction with different flow patterns can be effectively established combined with physically experimental data.

关键词： Ultrasonic sensor Oil-water two-phase flow Phase fraction Ultrasound attenuation Flow parameter

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A three-level batching strategy for the planning of steelmaking-continuous casting production 16

A three-level batching strategy for the planning of steelmak...

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16th IFAC Workshop on control Applications of Optimization, CAO 2015

作者： Sun, Liangliang Luan, Fangjun Ma, Tianmu Department of Information and Control Engineering Shenyang Jianzhu University Shenyang Liaoning Province110004 China Key Laboratory of Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang Liaoning Province110004 China

This paper focuses on the optimal planning of steelmaking-continuous casting production in real steelmaking plant. The tasks of steelmaking planning are to make the decisions as how to determine the relation between slabs and charges, the sequence of charges in casts and the casting width of slabs while considering the known information about the contract properties, the size properties and processing properties, etc. Effective planning can satisfy the capacity of downstream and continuously casting the steel molten. A three-level batching policy consisting of charge planning, tundish planning, cast planning is proposed in this paper. The different requirement of width in charge planning, tundish planning, cast planning are considered as the performance indicators and constraints equations respectively to formulate the problems. A hybrid optimal strategy combined with the iterated local search (ILS), variable neighborhood search (VNS), and the hybrid optimal strategy with ant colony optimization is adopted. Numerical experiments are done to verify the effectiveness of the three-level batching strategy by using practical data set collected from the steelmaking plant in Baosteel which is one of the most advanced iron and steel enterprises in China. Computational experiments demonstrate that the models and algorithms developed can make an optimal planning in a computationally efficient manner to improve the steel production. © 2015, IFAC Hosting by Elsevier Ltd.

关键词： Steelmaking

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Observer-Based Fault Tolerant Consensus of Linear Multi-Agent Systems

Observer-Based Fault Tolerant Consensus of Linear Multi-Agen...

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第27届中国控制与决策会议

作者： Zhiqiang Zuo Jun Zhang Yijing Wang Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479970186

This paper considers the consensus problem of linear multi-agent systems with actuator *** communication topology is undirected ***,an observer is designed to estimate each agent's states and *** on the general faulty agent model and the observer's states,we then propose fault tolerant control protocol and the corresponding conditions to achieve ***,numerical examples are given to illustrate the theoretical results.

关键词： Observer-based protocol Multi-agent systems Consensus Actuator fault

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