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2013 IEEE International Conference on Automation Science and engineering, CASE 2013

作者： Shen, Z. Wang, K. Wang, F.-Y. State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 Zhongguancun E. Road Beijing 100190 China Centre for Military Computational Experiments and Parallel Systems Technology College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 Hunan Province China

ISBN: (纸本)9781479915156

As the computing technology develops, micro-simulation becomes more and more important in the Intelligent Transportation Systems (ITS) research, because it can provide detailed descriptions of the system. However, for a multi-agent systems (MAS) modelling of an ITS, the computation burden is large, as it involves the computation of the state changing of all the agents. Further, if we consider simulation based optimization, which can be simply understood as an intelligent way of running a number of micro-simulations, the computation burden is huge. Moreover, there are multiple objective optimization problems in the ITS. The Vector Ordinal Optimization (VOO) method is a powerful tool for multi-objective optimization. In this paper, we apply VOO to the problem of optimizing the stop times and delay time of an ITS. We test the method on a 4 intersection lattice road network, and on the 18 intersection road network of the Zhongguancun area of Beijing. Compared with the Non-dominated Sorting Genetic Algorithm-II (NSGA-II) method, the VOO method can achieve a speedup of factor of more than 150, with only a little sacrifice of performance. © 2013 IEEE.

关键词： Multiobjective optimization

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The dynamic characteristics of a valve-less micropump

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Chinese Physics B 2012年第7期21卷 359-367页

作者：蒋丹李松晶 School of Mechatronics Engineering University of Electronic Science and Technology of China Department of Fluid Control and Automation Harbin Institute of Technology

The aim of this paper is to investigate the dynamic characteristics of a valve-less micropump. A dynamic mathe- matical model of the micropump based on a hydraulic analogue system and a simulation method using AMESim software are developed. By using the finite-element analysis method, the static analysis of the diaphragm is carried out to ob- tain the maximum deflection and volumetric displacement. Dynamic characteristics of the valve-less micropump under different excitation voltages and frequencies are simulated and tested. Because of the discrepancy between simulation results and experimental data at frequencies other than the natural frequency, the revised model for the diaphragm maximum volumetric displacement is presented. Comparison between the simulation results based on the revised model and experimental data shows that the dynamic mathematical model based on the hydraulic analogue system is capable of predicting dynamic characteristics of the valve-less micropump at any excitation voltage and frequency.

关键词： valve-less micropump dynamic characteristics hydraulic analogue model diffuser

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A sensitivity-based approach for the control of repetitive processes

A sensitivity-based approach for the control of repetitive p...

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International Conference on mechatronics (ICM)

作者： Andreas Rauh Luise Senkel Christina Dittrich Harald Aschemann Krzysztof Gałkowski Paweł Dąbkowski Mechatronics University of Rostock Rostock Germany Institute of Physics Nicolaus Copernicus University Torun Poland Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic

For a large number of technical processes, it is desirable to design control strategies which allow for tracking desired state or output profiles which are repeated periodically. Such tasks are commonly solved by means of iterative learning control strategies as well as by the concept of repetitive control. Most of these before-mentioned techniques are designed in such a way that the linearity of the underlying system model is exploited. If a dynamic system is nonlinear, techniques for gain scheduling, corresponding to an online adaptation of a quasi-linear system model, are commonly applied. However, such adaptation strategies, depending on state measurements or estimated variables, have to be derived specifically for each problem at hand. Therefore, a sensitivity-based control approach is presented in this paper that can be employed for tracking control of both linear and nonlinear dynamic systems in spite of non-modeled disturbances. This control strategy makes use of a real-time capable sensitivity analysis of dynamic system models and comprises aspects of model-predictive and iterative learning control. The applicability of the corresponding algorithm is demonstrated in simulation and experiment for a distributed heating system.

关键词： Mathematical model Equations Vectors Measurement uncertainty Process control Space heating

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Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

Optimized state feedback regulation of 3DOF helicopter syste...

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Asian control Conference

作者： Rini Akmeliawati Safanah M. Raafat Intelligent Mechatronics System Research Unit International Islamic University Malaysia Kuala Lumpur Malaysia Department of Control & System Engineering University of Technology Baghdad Baghdad Iraq

ISBN: (纸本)9781467357661

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the control Error (SVFB-ICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance.

关键词： Helicopters Cost function Tuning Gold Vectors control systems

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Integrated e-learning modules for Teaching Energy for Sustainable World

Integrated e-learning modules for Teaching Energy for Sustai...

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IEEE International Conference on E-Learning in Industrial Electronics, ICELIE

作者： Ádám Veres Richárd Zsámboki Zoltán Németh Péter Korondi Péter Stumpf Zoltán Varga Rafael K. Járdán István Nagy Department of Mechatronics Optics and Engineering Informatics Budapest University of Technology and Economics Budapest Hungary MTA-BME Control Engineering Research Group Budapest Hungary Budapesti Muszaki es Gazdasagtudomanyi Egyetem Budapest HU

The paper concentrates on the topic given in the title by using the e-learning technique and presents up-to-date methods utilizing new possibilities of the electronic multimedia, widening the borders of communication in the elaboration, delivery and dissemination of knowledge. Within the project “Teaching Energy for Sustainable World” (SustEner) financed by the European Union nine practically oriented modules with remote experiments or interactive animation materials will be offered in a web based learning portal. Here the development and the operation of two modules titled “Solar Powered Electric Vehicles” and “Luminous Efficacy of Modern Light Sources” are described in some detail.

关键词： Light emitting diodes Light sources Solar energy Lighting Vehicles Electronic learning Color

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A multiobjective-based switching topology for hierarchical model predictive control applied to a hydro-power valley

A multiobjective-based switching topology for hierarchical m...

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

作者： Núñez, A. Ocampo-Martinez, C. De Schutter, B. Valencia, F. López, J.D. Espinosa, J. Section of Road and Railway Engineering Delft University of Technology Delft Netherlands Institut de Robòtica I Informàtica Industrial CSIC-UPC Technical University of Catalunya Barcelona Spain Delft Center for Systems and Control Delft University of Technology Delft Netherlands School of Mechatronics Universidad Nacional de Colombia Medellín Colombia

ISBN: (纸本)9783902823458

In a Hierarchical Model Predictive control (H-MPC) framework, this paper explores suitable time-variant structures for the hierarchies of different local MPC controllers. The idea is to adapt to different operational conditions by changing the importance of the local controllers. This is done by defining the level of the hierarchy they belong to, and solving within each level the local MPC problem using the information provided by the higher levels at the current time step and the predicted information from the lower levels obtained in the previous time step. As selecting a hierarchy results in a combinatorial optimization problem, it is explicitly solved for a limited number of relevant topologies only and then the switching between topologies is defined with a multiobjective optimizer, so as to decide the best H-MPC scheme according to the expected performance. A comparison with fixed-topology H-MPC controllers is done, showing the effectiveness of the proposed approach for the power control of a hydro-power valley. Copyright © 2013 IFAC.

关键词： Model predictive control

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A frequency limited model reduction technique for linear discrete systems

A frequency limited model reduction technique for linear dis...

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Australian control Conference (AUCC)

作者： Xin Du Ahmad Jazlan Victor Sreeram Roberto Togneri Abdul Ghafoor Shafishuhaza Sahlan School of Mechatronics Engineering and Automation Shanghai University Shanghai P. R. China Electronic and Computer Engineering University of Western Australia Western Australia WA Australia Department of Electrical Engineering National University of Sciences and Technology Rawalpindi Pakistan Control & Mechatronics Eng. Dept. (CMED) Universiti Teknologi Malaysia Skudai Johor Malaysia

This paper describes the model reduction framework for single-input single-output (SISO) discrete-time systems based on the preservation parameters such as Markov properties of the original system by applying a Frequency-Limited Impulse Response Gramian based Balanced Truncation method. This proposed method extends the Frequency-Limited Impulse Response Gramians model reduction method for continuous systems described in the recent paper in [20] to be applicable for discrete time systems. A numerical example is provided to compare the performances between various frequency limited model reduction methods at an arbitrarily selected frequency range within the passband of a digital filter. The stability of the reduced order models are also checked for each scenario.

关键词： Reduced order systems Observability controllability Matrix decomposition Time-frequency analysis Equations Mathematical model

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Sliding mode type-2 fuzzy control of robotic arm using ellipsoidal membership functions

Sliding mode type-2 fuzzy control of robotic arm using ellip...

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Asian control Conference

作者： Mojtaba Ahmadieh Khanesar Erdal Kayacan Okyay Kaynak Wouter Saeys Department of Electrical and Control Engineering Semnan University Semnan Iran Division of Mechatronics Biostatistics and Sensors (MeBioS) Department of Biosystems (BIOSYST) KU Leuven Leuven Belgium Department of Electrical and Electronics Engineering Bogazici University Istanbul Turkey

ISBN: (纸本)9781467357661

Several papers claim that the performance of the type-2 fuzzy logic systems is superior over their type-1 counterparts, especially under noisy conditions. In order to show the effectiveness of the noise reduction capabilities of the type-2 fuzzy logic systems, a novel type-2 fuzzy membership function, ellipsoidal membership function, has recently been proposed. The novel membership function has certain values on both ends of the support and the kernel, and some uncertain values on the other values of the support. The parameters responsible for the width of uncertainty are decoupled from the parameters responsible for the center and the support of the membership function. In this study, a sliding mode control theory based learning algorithm has been proposed to tune the consequent part parameters tuning of the ellipsoidal type-2 fuzzy membership functions. The applicability of the novel membership function with the proposed novel parameter update rules has been shown on the control of a 2DOF robotic arm. The simulation results show that the type-2 fuzzy neural networks working in parallel with conventional PD controllers have the ability of controlling the robotic arm with a high accuracy especially under noisy conditions.

关键词： PD control Robot kinematics Fuzzy neural networks Manipulators Fuzzy control Uncertainty

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Iterative Learning control of the electrostatic microbridge actuator

Iterative Learning Control of the electrostatic microbridge ...

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European control Conference (ECC)

作者： Błażej Cichy Krzysztof Gałkowski Andreas Rauh Harald Aschemann Institute of Control and Computation Engineering University of Zielona Góra ul Zielona Góra Poland Chair of Mechatronics University of Rostock Rostock Germany Universitat Rostock Rostock Mecklenburg-Vorpommern DE

ISBN: (纸本)9781479901890

In this paper, we consider the control of an electrostatic microbridge actuator with a distributed electrostatic force input and distributed displacement sensing. A bounded desired trajectory is achieved by using an Iterative Learning control (ILC) method based on discrete linear repetitive processes with the use of Linear Matrix Inequalities (LMI). Space and time discretization is accomplished by using a finite difference approach based on the so-called Crank-Nicolson method.

关键词： Mathematical model Actuators Equations Electrostatics Linear matrix inequalities Aerospace electronics Vectors

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