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Identification of Linear Parameter Varying Systems with Missing Output Data Using Generalized Expectation-Maximization Algorithm

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IFAC Proceedings Volumes 2014年第3期47卷 9364-9369页

作者： X. Yang W. Xiong B. Huang H. Gao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi Jiangsu 214122 China Department of Chemical and Materials Engineering University of Alberta Edmonton Alberta T6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University Jinzhou 121013 China and Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China

This paper is concerned with the identification problems of linear parameter varying (LPV) systems with randomly missing output data. Since one local linearized model cannot capture the global dynamics of the nonlinear industrial process, the multiple-model LPV model in which the global model is constructed by smoothly weighted combination of multiple local models is considered here. The problem of missing output variables data is commonly encountered in practice. In order to handle the multiple-model identification problems of LPV systems with incomplete data, the local model is taken to have a finite impulse response (FIR) model structure and the generalized expectation-maximization (EM) algorithm is adopted to estimate the unknown parameters of the global LPV model. To avoid the problems of ill-conditioned matrices and high sensitivity of parameters to noise, the prior information on the coefficients of each local FIR model is employed to construct the prior probability of unknown parameters. Then the maximum a posteriori (MAP) estimates of the global model parameters are derived via the generalized EM algorithm. The numerical example is presented to demonstrate the effectiveness of the proposed method.

关键词： Linear parameter varying systems Generalized EM algorithm Missing output data Maximum a posteriori estimates

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3D reconstruction of single rising bubble in water using digital image processing and characteristic matrix

3D reconstruction of single rising bubble in water using dig...

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作者： Bian, Yuchen Dong, Feng Zhang, Weida Wang, Hongyi Tan, Chao Zhang, Zhiqiang Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China School of Electrical Engineering and Automation Tianjin Polytechnic University Tianjin 300387 China

Reconstructing the shape of a bubble will lay a firm foundation for further description of the dynamic characteristics of bubbly flow, especially for a single rising bubble or separate bubbles whose interaction could be neglected. In this case, the rising bubble is usually simulated as an ellipsoid consisting of two semi-ellipsoids up and down. Thus the projected image of a bubble consists of two semi-ellipses. In this paper, a method for reconstructing the ellipsoid bubble model is described following digital image processing, using the Hough transform in 2D ellipse parameter extraction which could cover most of the bubble edge points in the image. Then a method based on characteristic symmetric matrix is described to detect 3D bubble ellipsoid model parameters from 2D ellipse parameters of projection planes. This method can be applied to bubbles rising with low-velocity in static flow field much in conformity with the projection theory and the shape variation of the rising bubble. This method does not need to solve nonlinear equation sets and provides an easy way to calculate the characteristic matrix of a space ellipsoid model for deformed bubble. For bubble application, two assumed conditions and a calibration factor are proposed to simplify calculation and detection. Errors of ellipsoid center and three axes are minor. Errors of the three rotation angles have no negative effect on further study on bubbly flow. © 2012 Chinese Society of Particuology and Institute of process engineering, Chinese Academy of Sciences.

关键词： Nonlinear equations

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Experimental on two sensors combination used in horizontal pipe gas-water two-phase flow

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AIP Conference Proceedings 2014年第1期1592卷

作者： Hao Wu Feng Dong Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

Gas-water two phase flow phenomenon widely exists in production and living and the measurement of it is meaningful. A new type of long-waist cone flow sensor has been designed to measure two-phase mass flow rate. Six rings structure of conductance probe is used to measure volume fraction and axial velocity. The calibration of them have been made. Two sensors have been combined in horizontal pipeline experiment to measure two-phase flow mass flow rate. Several model of gas-water two-phase flow has been discussed. The calculation errors of total mass flow rate measurement is less than 5% based on the revised homogeneous flow model.

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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A New Incremental Learning Method Based Support Vector Regression for System Modeling

A New Incremental Learning Method Based Support Vector Regre...

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第三十二届中国控制会议

作者： Wang Ling Wu LuLu School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process(Ministry of Education)

ISBN: (纸本)9781479900305

This paper proposes a new incremental learning method based on weighted constraints support vector regression, called ***,a modified nearest neighbor clustering method is used to partition the whole input space into several ***,according to the distance distinguish condition,all the samples in sub-cluster are identified to form the candidate support vector *** each new sample added,it was clustered to an individual candidate support vector subset where the cluster center is the closest to the new ***,in the WCSVR learning process,the object function is modified by introducing a weight for each new sample and the corresponding regularization *** experiment shows prominence of our proposed incremental method in comparison with the standard SVR.

关键词： incremental learning support vector regression weighted constraint kernel Mahalanobis distance

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Modeling and design of networked control systems based on reduced dimension observers

Modeling and design of networked control systems based on re...

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2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013

作者： Liu, Lei-Ming Tong, Chao-Nan School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Beijing China

ISBN: (纸本)9780769550114

The model of NCS (Networked control Systems) with reduced dimension observer is presented when the network-induced random time-varying delays are bounded and the upper bound of which is longer than one sampling period. Thus we established a discrete-time jump system model with Markov delay. Based on this, this paper gave also design method of stabilizing controllers by the optimization method. This paper generalizes previous results on delay-less reduced dimension observer systems. Theoretical analysis and simulation on a cart and inverted pendulum with random time delay show that feedback control Based on reduced dimension observer can make the system stable. © 2013 IEEE.

关键词： Networked control systems

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Group Synchronization of Complex Networks with Nonlinear Dynamics via Pinning control

Group Synchronization of Complex Networks with Nonlinear Dyn...

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第三十二届中国控制会议

作者： LIU Bo WEI Pengfei WANG Xiaoling FENG Hongke ZOU Jietao YU Junyan ZUO Zhiqiang College of Science North China University of Technology School of Mathematical Sciences University of Electronic Science and Technology of China Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479900305

This paper has proposed a new group synchronization protocol for nonlinear dynamical complex networks whose information interaction exists among different groups via pinning control *** constructing an effective Lyapunov function,we have proved that all nodes in each group can converge to its own synchronous state ***,some simulations are presented to illustrate our theoretical results.

关键词： Group Synchronization Pinning control Complex Networks.

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Field characteristic of two-phase flow measurement based on long waist cone and conductance sensor fusion

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.1期44卷 415-419页

作者： Ji, Pengcheng Tan, Chao Dong, Feng Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

According to the difficulties measuring two-phase flow process multi-parameter with single sensor, a gas-water of two-phase flow process parameters (flow rate and phase fraction) multi-sensor measuring system was presented, which combines a new long waist cone differential pressure sensor and conductance ring sensor. The computational fluid mechanics and multi-physics field coupling analysis were used to simulate the flow field and electric field of long waist cone conductance ring sensor in horizontal pipe (DN50 mm), which provided the accurate theoretical basis for the later study about coupling simulation of the electric field and fluid field.

关键词： Two phase flow

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Switching Tracking control for Planar Systems with Transient Performance Constraints

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自动化学报 2013年第6期39卷 919-925页

作者： SU Qing-Yu SUN Xi-Ming ZHAO Jun State Key .Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China School of Control Science and Engineering Dalian University ofTechnology Dalian 116024 China

这份报纸学习与被 overshoot 和安定时间决定的一些给定的短暂性能限制为平面系统的一个类追踪问题的输出。与产量限制(SSOFTOC ) 追踪的交换静态的产量反馈的问题第一次被建议并且解决。静态的输出反馈控制器和一条所谓的圆锥形的切换... 详细信息

这份报纸学习与被 overshoot 和安定时间决定的一些给定的短暂性能限制为平面系统的一个类追踪问题的输出。与产量限制(SSOFTOC ) 追踪的交换静态的产量反馈的问题第一次被建议并且解决。静态的输出反馈控制器和一条所谓的圆锥形的切换法律在没有违背短暂性能限制，靠近环的交换系统的输出能 asymptotically 在哪个下面追踪步信号下面被设计。而且，最佳的加权的短暂表演被解决一个非线性的编程问题获得。最后，到飞机扇涡轮引擎的一个数字例子和应用被给说明有效性和建议方法的适用性。

关键词：瞬态性能跟踪控制性能约束平面系统静态输出反馈输出反馈控制器非线性规划问题开关

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Setpoints Compensation in Industrial processes via Multirate Output Feedback control

Setpoints Compensation in Industrial Processes via Multirate...

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9th Asian control Conference (ASCC)

作者： Yin, Shen Liu, Fangzhou Gao, Huijun Qiu, Jianbin Chai, Tianyou Fan, Jialu Karimi, Hamid Reza Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150080 China State Key Laboratory for Synthetical Automation of Process Industries Northeastern University Shenyang 110004 China Department of Engineering University of Agder Grimstad N-4898 Norway

ISBN: (纸本)9781467357692;9781467357678

This paper investigates the setpoints compensation for a class of complex industrial processes. Plants at the device layer are controlled by the local regulation controllers, and a multirate output feedback control approach for setpoint compensation is proposed such that the subsystems can reach the dynamically changed setpoints and the given economic objective can also be tracked via certain economic performance index (EPI). First, a sampled-data multivariable direct output feedback proportional integral (PI) controller is designed to regulate the performance of the subsystems. Second, the outputs and control inputs of the plants at the device layer are sampled at operation layer sampling time to form an EPI. Thus the multirate problem is solved by a lifting method. Third, static setpoints are generated by real time optimization (RTO) and the dynamic setpoints are calculated by the compensator according to the error between the EPI and objective at each operation layer step. Finally, a rougher flotation process model is employed to demonstrate the effectiveness of the proposed method.

关键词： PI control compensation complex networks control system synthesis feedback multivariable control systems optimisation process control sampled data systems

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