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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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Fractional Order Iterative Learning control for Fractional Order System with Unknown Initialization

Fractional Order Iterative Learning Control for Fractional O...

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American control Conference

作者： Yan Li YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan 250061 Shandong P.R. China School of Engineering University of California Merced 5200 North Lake Road Merced CA 95343 USA Department of Mechatronics Gwangju Institute of Science and Technology (GIST) 261 Cheomdan-gwagiro Bukgu Gwangju 500-712 Korea

ISBN: (纸本)9781479932757

This paper reveals a previously ignored problem for fractional order iterative learning control (FOILC) that the fractional order system may have different behaviors when it is initialized differently. To implement a novel scheme of FOILC for this so-called initialized fractional order system, a D~α-type control law is applied, and the convergence condition is derived by using the short memory principle and the system preconditioning, which guarantees the repeatability of initialized fractional order system. Given a permitted error bound, the minimum preconditioning time horizon is calculated from the short memory principle. The relationships of memory and convergent performance are highlighted to show the necessity of preconditioning. A fractional order capacitor model with constant history function is illustrated to support the above conclusions.

关键词： Instruction repertory fractional order

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Apical four-chamber echocardiography segmentation using Marker-controlled Watershed segmentation

Apical four-chamber echocardiography segmentation using Mark...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： Nonthaporn Nakphu Dyah Ekashanti Octorina Dewi Muhammad Qurhanul Rizqie Eko Supriyanto Ahmad 'Athif Mohd Faudzi Dolwin Ching Ching Kho Suhaini Kadiman Panrasee Rittipravat Department of Biomedical Engineering Mahidol University Salaya Nakorn Pathom Thailand Universiti Teknologi Malaysia Skudai Johor MY Faculty of Biosciences and Medical Engineering Universitas Sriwijaya Indonesia Department of Biomedical Engineering Faculty of Engineering Mahidol University Johor Malaysia Control and Mechatronics Engineering Department University Technology Malaysia Skudai Johor Malaysia National Heart Institute Kuala Lumpur Malaysia Department of Biomedical Engineering Mahidol University Salaya Salaya Nakorn Pathom Thailand

Echocardiography provides information about size, shape, and function of heart to create the image. Apical four-chamber echocardiography can be obtained by placing the ultrasound probe at the apex of the left ventricle. Such view enables to analyze heart abnormalities. In this regard, chamber quantification is recommended to evaluate the heart volume by defining the endocardial border of the chambers. Image segmentation that subdivides an image into different regions may be suitable to analyze the chambers. In this study, we propose a Marker-controlled Watershed segmentation method. It involves Watershed Transform, internal and external markers, and morphological processing. The advantage is that it can control over-segmentation due to noise and other local irregularities. We tested the proposed method on an apical four-chamber echocardiography image and a model image. We also compared the segmentation result with an Active Contour-based segmentation method. The results show that the Watershed Transform performs better than Active Contour.

关键词： Image segmentation Echocardiography Heart Noise Mathematical model Shape Educational institutions

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Event-Triggered Reinforcement Learning Approach for Unknown Nonlinear Continuous-Time System

Event-Triggered Reinforcement Learning Approach for Unknown ...

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International Joint Conference on Neural Networks

作者： Xiangnan Zhong Zhen Ni Haibo He Xin Xu Dongbin Zhao Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston USA College of Mechatronics and Automation National University of Defense Technology Changsha China State Key Lab of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China

This paper provides an adaptive event-triggered method using adaptive dynamic programming (ADP) for the nonlinear continuous-time system. Comparing to the traditional method with fixed sampling period, the event-triggered method samples the state only when an event is triggered and therefore the computational cost is reduced. We demonstrate the theoretical analysis on the stability of the event-triggered method, and integrate it with the ADP approach. The system dynamics are assumed unknown. The corresponding ADP algorithm is given and the neural network techniques are applied to implement this method. The simulation results verify the theoretical analysis and justify the efficiency of the proposed event-triggered technique using the ADP approach.

关键词： Equations Neural networks Stability analysis Performance analysis Approximation algorithms Approximation methods Heuristic algorithms

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control Strategy for Hybrid Excavator Swing System Driven by Electric Motor

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IFAC Proceedings Volumes 2013年第5期46卷 109-115页

作者： Hong Yao Qingfeng Wang The Institute of Mechatronics Control Engineering Zhejiang University Hangzhou China

Hybrid power technology is adopted to raise the efficiency and lower the emission of construction machinery. The efficiency can be improved better if the swing system is driven by electric motor in hybrid construction machinery due to its better efficiency than the hydraulic motors used in conventional hydraulic excavators and the regeneration of kinetic energy of upper structure. The purpose of this paper is to investigate the control strategy for hybrid excavator swing system driven by electric motor. At first, the configuration and working principle are introduced of swing system driven by electric motor and the working condition is also analyzed; then the model of the swing system is built and analyzed. The range of swing inertia of the upper structure is tested for controller design by site experiments. Based on the working requirement, the control flow chart of the swing system is given and a dual-mode (torque and speed) control strategy is presented. In speed control mode and torque control mode, a robust speed controller based on simplified mixed sensitivity algorithm and a P torque controller are designed respectively. Simulations and actual tests verify the feasibility and effectiveness of the proposed control method.

关键词： hybrid excavator swing system electric motor robust control

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Application of a force sensor in wire bonding process

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Sensors and Transducers 2013年第11期159卷 345-350页

作者： Zhou, Lei Li, Jiangang Fu, Lanhui Li, Zexiang Department of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong 999077 China

Wire bonder is important equipment in semiconductor end-package. The benefits of using force sensor are precisely force control and earlier contact detection. In this paper, we introduced an application of a force sensor in the wire bonding process. We proposed the control strategy of the whole bonding process with the force sensor. In the bonding process, it's very important to make sure the safety before switching between the force control and position control. A contact detection method in force mode was introduced to get a smooth switch from position control to force control. Before switching from the force control to position control, a twosteps method was proposed to prevent vibrations. The experiments results show that a good bonding performance was achieved by applying with the force sensor. © 2013 by IFSA.

关键词： Position control

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Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance

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AIP Conference Proceedings 2015年第1期1660卷

作者： Mohd Shahrieel Mohd Aras Shahrum Shah Abdullah Muhammad Nizam Kamarudin Ahmad Fadzli Nizam Abdul Rahman Fadilah Abd Azis Hazriq Izzuan Jaafar Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia International Campus Jalan Semarak 54100 Kuala Lumpur Malaysia Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Faculty of Information Technology and Computer Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia

This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater Technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.

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Output feedback stabilization of networked control systems with uncertain transition probability matrix

Output feedback stabilization of networked control systems w...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Qiu, Li Zhong, Xiaopin Li, Shanbin Xu, Bugong Shenzhen Key Laboratory of Urban Rail Transit College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China Key Laboratory of Autonomous Systems and Network Control School of Control Science and Engineering South China University of Technology Guangzhou 510640 China

ISBN: (纸本)9783902823458

In this paper, the output feedback stabilization problem for a class of discrete-time networked control systems (NCSs) with uncertain transition probability matrix and random packet dropouts are investigated. Random packet dropouts occurring in the sensor-to-controller (S-C) and controller-to-actuator (C-A) are modeled as Markov chain. The resulting closed-loop systems are modeled as discrete-time Markovian jump linear systems (MJLSs) with uncertain transition probability matrix. Su±cient conditions for existence of a output feedback controller which guarantees the stochastic stability of NCS are established based on stochastic Lyapunov function and linear matrix inequality approach. A simulation example illustrates the validity and feasibility of the results. Copyright © 2013 IFAC.

关键词： Networked control systems

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Research of several PID algorithms based on MATLAB

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2nd International Conference on Opto-Electronics engineering and Materials Research, OEMR 2013

作者： Zeng, Jin Wang, Li Guang Ye, Meng Jun Hu, Chang Hui Ye, Tian Feng College of Mechatronics and Control Engineering Hubei Normal University Huangshi 435002 China College of Electrical and Electronic Information Engineering Hubei Polytechnic University Huangshi 435003 China

ISBN: (纸本)9783037857731

This paper introduces several PID control algorithms and their discretization expression. Compare the performance of positional PID algorithm with incremental PID algorithm, integration separate PID algorithm, incomplete differential PID algorithm and PID algorithm with dead zone. The experiment results show that different digital PID control algorithm could achieve different using. © (2013) Trans Tech Publications, Switzerland.

关键词： Dead zones

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RETRACTED ARTICLE: Support vector regression methodology for prediction of input displacement of adaptive compliant robotic gripper

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Applied Intelligence 2014年第3期41卷 887-896页

作者： Dalibor Petković Shahaboddin Shamshirband Hadi Saboohi Tan Fong Ang Nor Badrul Anuar Nenad D. Pavlović Faculty of Mechanical Engineering Deparment for Mechatronics and Control University of Niš Niš Serbia Department of Computer Science Chalous Branch Islamic Azad University (IAU) Chalous Iran Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of Information System Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Computer Engineering Department Islamic Azad University of Karaj Karaj Iran

The prerequisite for new versatile grippers is the capability to locate and perceive protests in their surroundings. It is realized that automated controllers are profoundly nonlinear frameworks, and a faultless numerical model is hard to get, in this way making it troublesome to control utilizing tried and true procedure. Here, a design of an adaptive compliant gripper is presented. This design of the gripper has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize specific shapes of the grasping objects. Since the conventional control strategy is a very challenging task, soft computing based controllers are considered as potential candidates for such an application. In this study, the polynomial and radial basis function (RBF) are applied as the kernel function of Support Vector Regression (SVR) to estimate and predict optimal inputs displacement of the gripper according to experimental tests and shapes of grasping objects. Instead of minimizing the observed training error, SVR poly and SVR rbf attempt to minimize the generalization error bound so as to achieve generalized performance. The experimental results show that an improvement in predictive accuracy and capability of generalization can be achieved by the SVR approach compared to other soft computing methodology.

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