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第25届中国控制与决策会议

作者： Ming Chi Zhi-Hong Guan Fu-Shun Yuan Xi-Sheng Zhan Department of Control Science and Engineering Huazhong University of Science and Technology School of Mathematics and Statistics Anyang Normal University College of Mechatronics and Control Engineering Hubei Normal University

ISBN: (纸本)9781467355322

There has recently been significant interest in feedback control problems with communication constraints. But the existed work mainly assume that the plant has an exact model. The object of this paper is to investigate the optimal tracking problems for networked control system in the presence of plant uncertainty. This paper studies optimal tracking performance issues for finite-dimensional, continuous-time, linear time-invariant (LTI) networked control systems, in which the control input is subject to a quantization and the plant model with uncertainty. The problem under consideration amounts to determining the minimal tracking error, while we consider two-parameter controllers. The plant is assumed to be non-minimum phase and unstable, that is, the plant contains zeros in the right half and unstable poles. And we formulate the uncertainty by utilizing stochastic embedding. The integral square criterion is adopted to measure the tracking error. The results show that the quantization error and the model uncertainty, as well as the non-minimum phase zeros, can worsen the tracking performance.

关键词： quantization, tracking performance limitation, networked control systems, uncertainty, non-minimum phase zeros.

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An Identification Based Optimization of Fractional-order Iterative Learning control

An Identification Based Optimization of Fractional-order Ite...

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第26届中国控制与决策会议(2014 CCDC)

作者： Yan Li Yang Zhao YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan 250061 Shandong PR 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

In this paper, a practical identification strategy is applied to the optimal design of fractional-order iterative learning control (FOILC). The initialized fractional-order gray-box system with commensurate order or non-commensurate order is identified by using the fractional-order iterative learning identification and the least square or instrumental variable method. The optimal Dα-type FOILC is derived from the estimated system and by the assumption that the fractional-order system is repeatable. Many other discussions on FOILC can be included as special cases of this paper. A number of illustrated examples are shown to validate the concepts.

关键词： Initialized fractional calculus Identification Data driven Iterative learning control Optimization

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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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Driving simulator development for human adaptive mechatronics application 11

Driving simulator development for human adaptive mechatronic...

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2013 11th IEEE Student Conference on Research and Development, SCOReD 2013

作者： Ishak, Mohamad Hafis Izran Bin Kasai, Mohammad Fitri Alif Bin Mohammad Hisham, Amirah Aisha Binti Badrul Idris, Nurul Hawani Binti Department of Mechatronics and Control Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Johor81310 Malaysia

ISBN: (纸本)9781479926565

This paper discusses the development of the designed driving simulator for human adaptive mechatronics (HAM) application. Driving simulator is used to clarify the effect of skill, track patterns, disturbances and experience in the human machine system (HMS). There are three graphical user interfaces (GUI) of programs in driving simulator, which is the 'MapMaker', the 'Car Driving Simulator' and the 'Error Computational program'. The MapMaker program is used to design the tracks and comparing the tracks with the paths. Then, the Car Driving Simulator is mainly used to collect the data from the human subjects. Lastly, the Error Computational program is used to calculate the error between the paths of each subject and the actual tracks. © 2013 IEEE.

关键词： Errors

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GEM Algorithm Based Global Identification of LPV system with Time-delay and Missing Output Data

GEM Algorithm Based Global Identification of LPV system with...

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第25届中国过程控制会议

作者： Xianqiang Yang Biao Huang Huijun Gao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Department of Chemical and Materials Engineering University of AlbertaEdmonton Alberta T6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University

This paper is concerned with the parameter estimation for linear parameter varying(LPV)systems with time-delay and completely randomly missing *** the LPV system model is often obtained in the input-output setting,the LPV input-output model is considered *** problems of time-delay and missing output data are commonly experienced in practical industrial *** LPV time-delay modeling problem with incomplete data set is formulated in the scheme of the generalized expectation-maximization(GEM)algorithm in which the time-delay and the model parameters are estimated *** numerical example is presented to demonstrate the effectiveness of the proposed method.

关键词： Linear parameter varying systems,Time-delay,Missing output data,Generalized expectation-maximization algorithm

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Multi-Objective control of Balancing Systems for Li-Ion Battery Packs: A Paradigm Shift?

Multi-Objective Control of Balancing Systems for Li-Ion Batt...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jorge V. Barreras Claudio Pinto Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo Department of Energy Technology Aalborg University Aalborg Denmark INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany

While a great number of battery balancing circuit topologies have been proposed, the unique control objective typically pursued is equalization of single cell charge. However, a balancing circuit could offer potentially more control features, especially with topologies able to provide bidirectional power flow control. This has not been explored yet in literature or at least not with enough thoroughness. Thus, in addition to charge balancing, up to three more objectives could be pursued simultaneously. Firstly, virtual resistance control, in order to provide dynamic compensation for variations in terminal cell voltage. Secondly, thermal management, to achieve a more uniform temperature distribution within a battery pack. Third, on-board diagnosis or fault detection tools, e.g. to perform characterization tests or to identify and even isolate problematic cells. In this paper, this issue is discussed and evaluated for a battery pack made up of 48 large format Li-Ion cells in series in a e-mobility application. Simulation results demonstrate the technical feasibility of this newly defined concept.

关键词： Batteries System-on-chip Integrated circuit modeling Mathematical model control systems Voltage control Fault detection

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Mapping of incremental dynamic environment using Rao-Blackwellized particle filter

Mapping of incremental dynamic environment using Rao-Blackwe...

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12th International Conference on Intelligent Autonomous Systems, IAS 2012

作者： Öner, Alper Control and Automation Engineering Department Mechatronics Education and Research Center Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783642339257

This research is a preliminary research for real time autonomous robot in unknown incremental dynamical environment. A general method for mapping incremental dynamic environment using Multiple Target tracking (MTT) was proposed in this research. Rao-Blackwellized Particle Filter (RBPF) was used for the multiple moving obstacles tracking problem. Firstly data association problem was solved via Multiple Hypothesis Tracking (MHT) data association by a new method. The new MHT method can use extra information except using only position of targets. Particle Filter is used in the method. Each particle is assumed as an obstacle map. Then tracking problem for each obstacle in the particle is solved by Extended Kalman Filter (EKF). Finally the particle which has highest weight is assumed as the dynamic map. Additionally a new resampling method was proposed in this research. The algorithm can cope with new obstacles and false detection according to the pure particle filter. Obstacles are assumed as human in this research hence their velocities are determined randomly up to human walking speed. Furthermore the robot moves approximately at human walking speed. A graphical user interface program was constituted in MATLAB so different states are surveyed. © 2013 Springer-Verlag.

关键词： Mapping

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Development of CR2-Haptic: A compact and portable rehabilitation robot for wrist and forearm training

Development of CR2-Haptic: A compact and portable rehabilita...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. X. Khor P. J. H. Chin A. R. Hisyam C.F. Yeong A. L. T. Narayanan E. L. M. Su Universiti Teknologi Malaysia from Malaysia Japan International Institute of Technology Universiti Teknologi Malaysia Skudai Johor MY Department of Control Mechatronics of Faculty of Electrical Engineering Unwersiti Teknologi Malaysia Universiti Teknologi Malaysia Center of Artificial Intelligence and Robotics (CAIRO)

Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it to be very expensive and huge in size. Rehabilitation robots should be useful but also need to be affordable and portable enabling more patients to afford and train independently at home. This paper presents a development of an affordable, portable and compact rehabilitation robot that implements different rehabilitation strategies for stroke patient to train forearm and wrist movement in an enhanced virtual reality environment with haptic feedback.

关键词： Robots Training Torque Wrist Haptic interfaces Games Joints

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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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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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