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6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Junbo, Wang Bugong, Xu Qingyang, Wang Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

ISBN: (纸本)1424403324

CANopen is a fleldbus protocol based on the controller area network (CAN). This paper analyzes guaranteed cost control of a class of networked control systems accordant with the CANopen protocol. The timing of this system is analyzed. In terms of its characteristic, delay produced by the network is discussed. This system can be modeled as an uncertain discrete-time system. In terms of the network-induced delay and the system model, the delayed state feedback controller is designed. Guaranteed cost control of this system is also discussed. The condition to meet a certain cost function is proposed. © 2006 IEEE.

关键词： Intelligent control

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Optimal scheduling of the sensor network based on the CANopen protocol

Optimal scheduling of the sensor network based on the CANope...

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2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006

作者： Junbo, Wang Bugong, Xu Qingyang, Wang Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

ISBN: (纸本)1424404665

The CANopen protocol based on embedded control applications has been widely applied into networked control systems. The jitter problem of system variables induced by the network transmission becomes a primary aspect of the current research on networked control systems. To reduce the jitter of system variables, the genetic algorithm is introduced to optimize the synchronous message scheduling based on the CANopen transmission feature. The message scheduling is implemented using the application hardware. The response time of messages can be measured and tested using the CANalyzer. Based on the practical application, the optimal scheduling algorithm is validated. The result shows that the jitter problem in this network can be effectively reduced. ©2006 IEEE.

关键词： Sensor networks

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Regional stability for continuous large-scale interconnected linear system with delays

Regional stability for continuous large-scale interconnected...

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8th International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Peng, Da-Zhou Xu, Bugong Ma, Xin-Jun Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou Guangdong 510640 China

ISBN: (纸本)0780386531

The regional stability for large-scale interconnected linear system with delays is studied in this paper by analyzing the distribution of the roots of their transcendental characteristic equations and using LMI technology, and the corresponding stability criterion is obtained. Being different from common results, the stability condition not only ensures the system stable, but also gives a certain symmetric region in the lefthand side of the complex plane in which system's all characteristic roots lie. The result is presented in the form of Linear Matrix Inequalities(LMIs) problem so that it is easy to be calculated. A computation example is given to illustrate the proposed method. © 2004 IEEE.

关键词： Linear systems

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A stability criterion for linear uncertain systems with multiple delays

A stability criterion for linear uncertain systems with mult...

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8th International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Ma, Xin-Jun Xu, Bugong Wang, Qing-Yang Peng, Da-Zhou Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automatic Science and Engineering South China University of Technology Guangzhou Guangdong 510640 China

ISBN: (纸本)0780386531

In this paper, a delay-independent sufficient condition for stability of linear uncertain systems with multiple delays is established. A new stability criterion is obtained based on the related theory of spectral radius and modulus matrix by the frequency domain method. The results are presented based on the assumption that system matrix A is a Hurwitz one and there is no requirement of a negative matrix measure. In comparison with the results in the literature, it is showed that the proposed method is less conservative. © 2004 IEEE.

关键词： Linear systems

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real-time mobile robot teleoperation via internet based on predictive control

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中国高等学校学术文摘·机械工程 2008年第3期3卷 299-306页

作者： Shihua WANG Bugong XU YunHui LIU Yeming ZHOU Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Naval Arms Command Academy of Guangzhou Guangzhou 510430 China Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Naval Arms Command Academy of Guangzhou Guangzhou 510430 China Department of Automation and Computer Aided Engineering The Chinese University of Hong Kong Shatin N.T. HK China

A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the mas-ter and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is per-formed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of tele-operation. The usefulness and effectiveness of the pro-posed method and system are proven by teleoperation experiments via the internet over a long distance.

关键词： teleoperation internet robots predictive con-trol delay algorithm

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Exponential Stability of Linear Systems with Multiple time-varying Delays

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自动化学报 2007年第12期33卷 1294-1299页

作者： XU Bu-Gong Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou 510640 P. R. China

为一般延迟的动态系统和二个初步的词根基于确定的新型的指数的稳定性定理，为有多重变化时间的延期的线性系统的不太保守的稳定性条件被使用 Lyapunov 的新稳定性分析途径建立函数。不同于在文学的一些结果，任何一个都不确定的结果取... 详细信息

为一般延迟的动态系统和二个初步的词根基于确定的新型的指数的稳定性定理，为有多重变化时间的延期的线性系统的不太保守的稳定性条件被使用 Lyapunov 的新稳定性分析途径建立函数。不同于在文学的一些结果，任何一个都不确定的结果取决于变化时间的延期的衍生物。因此，结果对有很快的变化时间的延期的盒子合适。一个例子被提供证明获得的稳定性条件比在文学基于标准 Razumikhin 类型条件直接获得的好。

关键词：线性系统指数稳定性稳定性定理动力系统时间变化迟滞

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Stability criteria for linear systems with multiple time-varying delays

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控制理论与应用（英文版） 2003年第1期1卷 65-69页

作者： Bugong XU(laboratory of real-time control through internet and fieldbuses, College of Automation Science and Engineering, South China University of Technology, Guangzhou Guangdong 510640, China) Laboratory of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

New delay-independent and delay-dependent stability criteria for linear systems with multiple time-varying delays are established by using the time-domain method. The results are derived based on a new-type stability theorem for general retarded dynamical systems and new analysis techniques developed in the author's previous work. Unlike some results in the literature, all of the established results do not depend on the derivative of time-varying delays. Therefore, they are suitable for the case with very fast time-varying delays. In addition, some remarks are also given to explain the obtained results and to point out the limitations of the previous results in the literature. Keywords Stability - Delay-independent criteria - Delay-dependent criteria - Linear time-delay systems - Multiple time-varying delays This work was supported by NSFC Key-Project (No. 60334010) and Guangdong Province Natural Science Foundation of China (No. 31406).

关键词： Stability Delay-independent criteria Delay-dependent criteria Linear time-delay systems Multiple time-varying delays

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Guaranteed Cost control Analysis of a Class of Networked control Systems

Guaranteed Cost Control Analysis of a Class of Networked Con...

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World Congress on Intelligent control and Automation (WCICA)

作者： Junbo Wang Bugong Xu Qingyang Wang The Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou China

CANopen is a fieldbus protocol based on the controller area network (CAN). This paper analyzes guaranteed cost control of a class of networked control systems accordant with the CANopen protocol. The timing of this system is analyzed. In terms of its characteristic, delay produced by the network is discussed. This system can be modeled as an uncertain discrete-time system. In terms of the network-induced delay and the system model, the delayed state feedback controller is designed. Guaranteed cost control of this system is also discussed. The condition to meet a certain cost function is proposed

关键词： Costs control systems control system analysis Networked control systems Communication system control Automatic control Protocols real time systems Timing Delay systems

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Applications of a New-Type Stability Theorem

Applications of a New-Type Stability Theorem

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World Congress on Intelligent control and Automation (WCICA)

作者： Bugong Xu The Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou China

Based on the author's previous work in the literature, a new-type stability theorem for general retarded dynamical systems is presented. After three preliminary lemmas are established, linear systems with multiple time-varying delays are considered to show the applications of the new-type stability theorem and the proposed new stability analysis technique. The delay-independent and delay-dependent stability criteria are established for the systems under consideration, respectively. Unlike some results in the literature, all of the established results do not depend on the derivatives of time-varying delays. Therefore, the established results are suitable for the cases with very fast time-varying and bounded delays

关键词： Stability analysis Linear systems time varying systems Stability criteria Lyapunov method Automatic control internet Automation Delay systems time domain analysis

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A new exponential stability criterion for polytopic systems

A new exponential stability criterion for polytopic systems

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6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Hou, Xiaoli Xu, Bugong Zhang, Huanshui Lab. of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China Univ. of Technology Guangzhou 510640 China Shenzhen Graduate School of HIT HIT Campus Shenzhen University Shenzhen Guangdong Province China

ISBN: (纸本)1424403324

Based on a new type exponential stability theorem, a new sufficient exponential stability criterion for polytopic systems is established in this note. For polytopic uncertainty, two algorithms for searching appropriate matrix are proposed. Two examples are considered to show that these approaches are better than other criteria under consideration. © 2006 IEEE.

关键词： Asymptotic stability

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