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IEEE Conference on Decision and control

作者： Maryam Kamgarpour Jerry Ding Sean Summers Alessandro Abate John Lygeros Claire Tomlin Department of Mechanical Engineering University of California at Berkeley USA Department of Electrical Engineering and Computer Sciences University of California at Berkeley USA Automatic Control Labratory ETH Zurich Switzerland Delft Center for Systems and Control Delft University of Technology The Netherlands

ISBN: (纸本)9781612848006

This paper presents a framework for analyzing probabilistic safety and reachability problems for discrete time stochastic hybrid systems in scenarios where system dynamics are affected by rational competing agents. In particular, we consider a zero-sum game formulation of the probabilistic reach-avoid problem, in which the control objective is to maximize the probability of reaching a desired subset of the hybrid state space, while avoiding an unsafe set, subject to the worst-case behavior of a rational adversary. Theoretical results are provided on a dynamic programming algorithm for computing the maximal reach-avoid probability under the worst-case adversary strategy, as well as the existence of a maxmin control policy which achieves this probability. The modeling framework and computational algorithm are demonstrated using an example derived from a robust motion planning application.

关键词： state space discrete-time dynamic programming algorithm Unsafe hybrid systems Stochastic System dynamics Frameworks Rational number

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Adaptive control of Linear Modal Systems using Residual Mode Filters and a Simple Disturbance Estimator

Adaptive Control of Linear Modal Systems using Residual Mode...

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2011 American control Conference (ACC)

作者： Mark J. Balas Susan A. Frost Department of Electrical and Computer Engineering University of Wurzburg Laramie WY USA Intelligent Systems Division NASA Ames Research Center Moffett Field CA USA

Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter.

关键词： Adaptive control Flexible structures Filtering theory Adaptation models Generators Stability analysis Vectors

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Reduction of Player's Weight by Active Playing Using Motion Sensors

Reduction of Player's Weight by Active Playing Using Motion ...

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The 2011 International Conference on Electric and Electronics(EEIC 2011)

作者： Ondrej Krejcar Dalibor Janckulik University of Hradec Kralove FIM Department of Information Technologies VSB Technical University of Ostrava Center for Applied Cybernetics Department of Measurement and Control Faculty of Electrical Engineering and Computer Science

This project was inspired by the idea of the connection of amusement and useful thing respectively the movement by the playing games, because as is known global problem of the Word is increasing obesity caused by the addiction on the PC games at the young people. This project connects pleasurable with useful, respectively playing of the game with physical effort. By the help of the accelerometer is possible to handle by simple games to whose operating is needed physical impulsion of the player. After it would be possible to take up on this project by the beat measurement of the player in order to check on effectivity of the suggested system. Software was programmed in background C#.

关键词： accelerometer weight reducing mobile device C#

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Hybrid control of Rigid-Body Attitude with Synergistic Potential Functions

Hybrid Control of Rigid-Body Attitude with Synergistic Poten...

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American control Conference

作者： Christopher G. Mayhew Andrew R. Teel Robert Bosch Research and Technology Center 4005 Miranda Ave. Palo Alto CA 94304 Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA 93106-9560

ISBN: (纸本)9781457700811

Achieving global asymptotic stabilization of rigid-body attitude is impossible using smooth feedback due to topological obstructions. In this paper, we propose a hybrid feedback that coordinates a "synergistic" family of potential functions and their natural feedbacks to achieve global asymptotic stability of a desired attitude with robustness to small perturbations including measurement noise. We illustrate the results via simulation.

关键词： Attitude control Torque Potential energy Asymptotic stability Switches Hybrid power systems

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Compressive System Identification of LTI and LTV ARX Models

Compressive System Identification of LTI and LTV ARX Models

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IEEE Conference on Decision and control

作者： Borhan M. Sanandaji Tyrone L. Vincent Michael B. Wakin Roland Toth Kameshwar Poolla Department of Electrical Engineering and Computer Science Colorado School of Mines Golden CO 80401 USA Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Departments of Electrical Engineering and Computer Sciences and Mechanical Engineering University of California Berkeley CA 94720 USA

ISBN: (纸本)9781612848006

In this paper, we consider identifying Auto Regressive with eXternal input (ARX) models for both Linear Time-Invariant (LTI) and Linear Time-Variant (LTV) systems. We aim at doing the identification from the smallest possible number of observations. This is inspired by the field of Compressive Sensing (CS), and for this reason, we call this problem Compressive System Identification (CSI). In the case of LTI ARX systems, a system with a large number of inputs and unknown input delays on each channel can require a model structure with a large number of parameters, unless input delay estimation is performed. Since the complexity of input delay estimation increases exponentially in the number of inputs, this can be difficult for high dimensional systems. We show that in cases where the LTI system has possibly many inputs with different unknown delays, simultaneous ARX identification and input delay estimation is possible from few observations, even though this leaves an apparently ill-conditioned identification problem. We discuss identification guarantees and support our proposed method with simulations. We also consider identifying LTV ARX models. In particular, we consider systems with parameters that change only at a few time instants in a piecewise-constant manner where neither the change moments nor the number of changes is known a priori. The main technical novelty of our approach is in casting the identification problem as recovery of a block-sparse signal from an underdetermined set of linear equations. We suggest a random sampling approach for LTV identification, address the issue of identifiability and again support our approach with illustrative simulations.

关键词： LTI System identification delay estimation Mathematic Identifiability Model structures

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Periodic disturbance rejection of a PMSM with adaptive control algorithms

Periodic disturbance rejection of a PMSM with adaptive contr...

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical model of the PMSM is necessary. A model with nonlinear dynamics and a Fourier approach for the ripples is used as a mathematical description. Through comparisons between measured data and simulated data it is shown that the model assumptions are valid. The adaptive algorithm is implemented as an add-on controller to the already existing control system which consists of a feedforward part and a basis controller. The challenge is that the closed loop system has a resonant frequency and the algorithm should have the same performance for all frequencies. Experimental results show the performance and convergence of the adaptive algorithm at constant and non constant velocity.

关键词： Torque Mathematical model Transfer functions control systems Feedforward neural networks Equations Adaptation models

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Universal squash model for optical communications using linear optics and threshold detectors

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Physical Review A 2011年第2期84卷 020303(R)-020303(R)页

作者： Chi-Hang Fred Fung H. F. Chau Hoi-Kwong Lo Department of Physics and Center of Computational and Theoretical Physics University of Hong Kong Pokfulam Road Hong Kong Center for Quantum Information and Quantum Control Department of Physics and Department of Electrical & Computer Engineering University of Toronto Toronto Ontario M5S 3G4 Canada

Transmission of photons through open-air or optical fibers is an important primitive in quantum-information processing. Theoretical descriptions of this process often consider single photons as information carriers and thus fail to accurately describe experimental implementations where any number of photons may enter a detector. It has been a great challenge to bridge this big gap between theory and experiments. One powerful method for achieving this goal is by conceptually squashing the received multiphoton states to single-photon states. However, until now, only a few protocols admit a squash model; furthermore, a recently proven no-go theorem appears to rule out the existence of a universal squash model. Here we show that a necessary condition presumed by all existing squash models is in fact too stringent. By relaxing this condition, we find that, rather surprisingly, a universal squash model actually exists for many protocols, including quantum key distribution, quantum state tomography, Bell's inequality testing, and entanglement verification.

关键词： Photons

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Evaluation of functional connectivity in control and ADHD subjects by generalized Canonical Correlation and Probabilistic Independent Component Analysis

Evaluation of functional connectivity in control and ADHD su...

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Iranian Conference of Biomedical engineering (ICBME)

作者： AmirEhsan Lashkari Hamid Soltanian-Zadeh GholamAli Hosseinzadeh Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Faculty of Engineering University of Tehran Tehran Iran Radiology Image Analysis Laboratory Henry Ford Health System Detroit MI USA

Functional connectivity can be evaluated by temporal correlation between spatial neurophysiologic events or correlation between neural activities of brain regions. Unlike anatomical connectivity which represents physical connections between two brain regions, functional connectivity investigates interactions between brain regions. In this study, we implemented and evaluated Probabilistic Independent Component Analysis (PICA) and generalized Canonical Correlation Analysis (gCCA) on resting state data of healthy subjects and subjects with ADHD disorders from NITRC database. This was done to detect brain functional connectivity and compare the results in normal and diseased subjects. In addition, speed of the methods was compared. Our study shows that relative to PICA, gCCA has higher precision and accuracy and lower computational complexity and run time in addition to capability of extracting more reproducible statistical maps in both control and ADHD subjects.

关键词： Correlation Magnetic resonance imaging Independent component analysis Educational institutions Biomedical engineering Probabilistic logic Basal ganglia

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Trajectory extension methods for model predictive direct torque control

Trajectory extension methods for model predictive direct tor...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Yashar Zeinaly Tobias Geyer Bo Egardt Delft Center for Systems and Control Delft University of Technnology Netherlands Department of Electrical and Computer Engineering University of Auckland New Zealand Department of Signals and Systems Chalmers University of Technology Sweden

This paper focuses on model predictive direct torque control (MPDTC), which is a recent control scheme for three-phase ac electric drives combining the notions of model predictive control (MPC) and direct torque control (DTC). Using a dynamic model of the drive, MPDTC predicts several future switch transitions, extends the outputs and chooses the inverter switch positions that minimize the switching frequency or the switching losses. The performance of MPDTC depends on the accuracy of the predictions. However, MPTDC schemes with very accurate predictions are computationally demanding necessitating very fast controller hardware. New methods for extending the output trajectories are proposed that yield fast yet accurate predictions giving rise to a computationally efficient MPDTC scheme. The advantages of the proposed methods are shown in terms of the associated computational complexity and the accuracy of the predictions.

关键词： Trajectory Stators Switches Rotors Inverters Computational modeling Predictive models

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On the Non-Robustness of Inconsistent Quaternion-Based Attitude control Systems using Memoryless Path-Lifting Schemes

On the Non-Robustness of Inconsistent Quaternion-Based Attit...

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2011 American control Conference (ACC)

作者： Christopher G. Mayhew Ricardo G. Sanfelice Andrew R. Teel Robert Bosch Limited Liability Company Palo Alto CA USA Department of AeroSpace and Mechanical Engineering University of Arizona Tucson Tucson AZ USA Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Quaternion-based feedback control laws that are inconsistent (i.e. do not have a unique value for a given attitude) require an additional mechanism that lifts a continuous attitude trajectory to the unit quaternion space. Lifting mechanisms that are memoryless, for example, selecting the quaternion having positive scalar component, have a limited domain where they remain injective and, when used globally, introduce discontinuities into the closed-loop system. We show that such discontinuities can be exploited by an arbitrarily small measurement disturbance to stabilize attitudes far from the desired attitude and destroy "global" attractivity properties.

关键词： Quaternions Attitude control Manifolds Aerospace electronics Kinematics Feedback control Trajectory

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