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Semi-Global Stabilization of Linear Time-Delay Systems with Input Energy Constraint

IFAC Proceedings Volumes 2011年第1期44卷 5106-5111页

作者： Bin Zhou Zongli Lin James Lam Center for Control Theory and Guidance Technology Harbin Institute of Technology P.O. Box 416 Harbin 150001 P. R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743-4743 Charlottesville VA 22904-4743 U.S.A. Department of Mechanical Engineering University of Hong Kong Hong Kong

Abstract This paper is concerned with semi-global stabilization of linear systems with actuator delay and energy constraints. Under the condition of null controllability by vanishing energy, the parametric Lyapunov equation based L 2 low gain feedback is adopted to solve the problem. If the delay in the system is exactly known, a delay-dependent controller is designed and if the delay in the system is either time-varying or not exactly known, a delay-independent controller is established. The proposed approach is used in the linearized model of the relative motion in the orbit plane of a spacecraft with respect to another in a circular orbit around the Earth to validate its effectiveness.

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Compressive System Identification in the Linear Time-Invariant Framework

Compressive System Identification in the Linear Time-Invaria...

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IEEE Conference on Decision and control

作者： Roland Toth Borhan M. Sanandaji Kameshwar Poolla Tyrone L. Vincent Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Department of Electrical Engineering and Computer Sciences Colorado School of Mines Golden CO 80401 USA Berkeley Center for Control and Identification University of California at Berkeley 5105 Etcheverry Hall Berkeley CA 94720-1740 USA

ISBN: (纸本)9781612848006

Selection of an efficient model parametrization (model order, delay, etc.) has crucial importance in parametric system identification. It navigates a trade-off between representation capabilities of the model (structural bias) and effects of over-parametrization (variance increase of the estimates). There exists many approaches to this widely studied problem in terms of statistical regularization methods and information criteria. In this paper, an alternative l_(1) regularization scheme is proposed for estimation of sparse linear-regression models based on recent results in compressive sensing. It is shown that the proposed scheme provides consistent estimation of sparse models in terms of the so-called oracle property, it is computationally attractive for large-scale over-parameterized models and it is applicable in case of small data sets, i.e., underdetermined estimation problems. The performance of the approach w.r.t. other regularization schemes is demonstrated in an extensive Monte Carlo study.

关键词： Compressive Sensing System Identification Linear Time-Invariant Systems

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A Truncated Prediction Approach to Stabilization of Linear Systems with Long Time-Varying Input Delay

A Truncated Prediction Approach to Stabilization of Linear S...

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IEEE Conference on Decision and control

作者： Bin Zhou Zongli Lin Guang-Ren Duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 P.R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904-4743 U.S.A.

ISBN: (纸本)9781612848006

This paper studies the problem of stabilizing a linear system with long time-varying delay in the input. Under the assumption that the open-loop system is not exponentially unstable and stabilizable, a finite dimensional static time-varying linear state feedback controller is obtained by truncating the prediction based controller and by adopting the parametric Lyapunov equation based low gain feedback. As long as the time-varying delay is exactly known and bounded, explicit condition is provided to guarantee the stability of the closed-loop system. It is also shown that the proposed controller achieves semi-global stabilization of the system if its actuator is also subject to saturation. Numerical examples show the effectiveness of the proposed approach.

关键词： Linear system time varying state feedback controller Lyapunov equation stabilization system controllers Closed loop systems actuators Induction loop systems

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Voxel based treatment prediction using diffusion anisotropy indices and spatial information in Glioblastoma Multiform tumor

Voxel based treatment prediction using diffusion anisotropy ...

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Iranian Conference of Biomedical engineering (ICBME)

作者： Hadi Sabahi Hamid Soltanian-Zadeh Lisa Scarpace Tom Mikkelsen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Image Analysis Laboratory Radiology Department Henry Ford Hospital Detroit MI USA Hermelin Brain Tumor Research Center Neurosurgery Department Henry Ford Health System Detroit MI USA

In this paper, we propose a method to predict the outcome of Bevacizumab therapy on Glioblastoma Multiform (GBM) tumors. The method uses diffusion anisotropy indices (DAI) and spatial information to predict the treatment response of each tumor voxel. These DAIs are Fractional Anisotropy, Mean Diffusivity, Relative Anisotropy, and Volume Ratio, extracted from Diffusion Tensor Imaging (DTI) data before treatment. The spatial information is considered as the distance of each tumor voxel from the tumor center, extracted from pre-treatment post-contrast T1-weighted Magnetic Resonance Images (pc-T1-MRI). DAIs and spatial information of each tumor voxel are considered as feature vector. DTI and pc-T1-MRI are gathered before and after the treatment of seven GBM patients. First, DAIs of all brain voxels and the distance of each tumor voxel from the tumor center are calculated. Second, the method registers pre-treatment DAI maps and post-treatment pc-T1-MRI to pre-treatment pc-T1-MRI. Next, the tumor is segmented using thresholding technique from pc-T1-MRI. Then, Gd-enhanced voxels of the pre- and post-treatment pc-T1-MRI are compared to label the feature vectors. Three classifiers were evaluated, including Support Vector Machine, K-Nearest Neighbor, and Artificial Neural Network. Classification results show a preference for K-Nearest Neighbor based on well-established performance measures.

关键词： Tumors Anisotropic magnetoresistance Diffusion tensor imaging Support vector machines Feature extraction Artificial neural networks

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Effect of polymer thickness on the chemical sensing behavior of polymer-coated mass-sensitive disk resonators

Effect of polymer thickness on the chemical sensing behavior...

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IEEE International Conference on Micro Electro Mechanical Systems

作者： S. Truax K.S. Demirci L. Beardslee Y. Luzinova B. Mizaikoff A. Hierlemann O. Brand School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Texas Instrumenits Inc. Dallas TX USA Center of Disease Control and Prevention Atlanta GA USA Institute of Analytical and Bioanalytical Chemistry Ulm University Ulm Germany Department of Biosystems Science and Engineering ETH Zurich Basel Switzerland

ISBN: (纸本)9781424496327

The chemical sensing behavior of disk microresonators, as it is affected by the thickness of polymer coatings applied to them, is reported. The disk microresonators were fabricated using a CMOS-compatible silicon bulk micro machining process. The disks were subsequently coated with layers of (poly) isobutylene (PIB) as a sensing film and exposed to gaseous benzene, toluene, and m-xylene. The experimental results agree well with analytical models derived for both the chemical sensitivity and limit of detection (LOD). Minimal LODs measured for benzene, toluene, and m-xylene were 5.3 ppm, 1.2 ppm, and 0.6 ppm, respectively.

关键词： Polymers Resonant frequency Chemicals Sensitivity Sensors Heating Chemical sensors

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PARTICLE SWARM OPTIMIZATION（PSO）OF POWER ALLOCATION IN COGNITIVE RADIO SYSTEMS WITH INTERFERENCE CONSTRAINTS

PARTICLE SWARM OPTIMIZATION（PSO）OF POWER ALLOCATION IN COG...

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2011 4th IEEE International Conference on Broadband Network and Multimedia Technology

作者： Saeed Motiian Mohammad Aghababaie Hamid Soltanian-Zadeh Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Colleague of EngineeringUniversity of TehranTehran 14399-57131Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences(IPM)Tehran 19548-56316 Iran Image Analysis Laboratory Radiology DepartmentHenry Ford HospitalDetroitMichigan 48202USA

Cognitive radio is used for enhancement of spectrum *** many works have been accomplished on the power allocation of cognitive radio,limited efforts have considered evolutionary *** this paper,we study this problem in the cognitive radio networks where interference constraints are defined for protection of quality of service（QoS）for both primary and secondary *** defined as functions of the signal-to-interference-plus-noise ratio（SINR） are matched for each secondary user which meets Nash’s *** general,the region of utilities that meets the constraints is *** is possible to make simplifications,generate a convex region,and then use common convex optimization approaches to obtain a ***,Particle Swarm Optimization（PSO）does not need such simplifications and thus its results are superior to those of the convex optimization *** is an evolutionary algorithm based on social intelligence,utilized in many optimization *** is a global optimizations algorithm that does not require the objective function be differentiable as required in classic optimization methods.

关键词： Cognitive radio Power allocation Particle Swarm Optimization（PSO）.

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Adaptive and Repetitive controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

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IEEE International Conference on Robotics and Biomimetics

作者： Pannatee Rakprayoon Peerayot Sanposh Nattapon Chayopitak Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Industrial Control and Automation Laboratory National Electronics and Computer Technology Center

ISBN: (纸本)9781457721366

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits.

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements control Architecture Manipulators Unknown parameter Linear Combination

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An application of fractional intelligent robust controller for electromechanical valve

An application of fractional intelligent robust controller f...

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World Congress on Information and Communication Technologies (WICT)

作者： Tribeni Prasad Banerjee Suman Saha Swagatam Das Ajith Abraham Department of Electronics and Telecommunication Engineering Jadavpur University Kolkata India Drives and Control System Laboratory CSIR-Central Mechanical Engineering Research Institute Durgapur West Bengal India IT For Innovations EU Center of excellence Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Czech Republic Scientific Network for Innovation and Research Excellence Machine Intelligence Research Laboratories-MIR Laboratories WA USA

The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. This is for controlling the velocity of worm gear so that the friction torque due to uneven rotational speed can be avoided. Because with the friction and stiction and backlash the valve system performance is reduced and more and more unstable this leads the system to failure. The proposed controller can provide robustness against the uncertain loading torque and system parameter.

关键词： Valves Gears Equations control systems Robustness Mathematical model Torque

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3D surveillance coverage using maps extracted by a monocular SLAM algorithm

3D surveillance coverage using maps extracted by a monocular...

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Lefteris Doitsidis Alessandro Renzaglia Stephan Weiss Elias Kosmatopoulos Davide Scaramuzza Roland Siegwart Informatics & Telematics Institute Center of Research and Technology Hellas Thessaloniki Greece Department of Electronics Technological Educational Institute of Crete Chania Greece INRIA Rhône-Alpes Grenoble France ETH Autonomous Systems Laboratory Zurich Switzerland Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece GRASP laboratory University of Pennsylvania Philadelphia USA

This paper deals with the problem of deploying a team of flying robots to perform surveillance coverage missions over a terrain of arbitrary morphology. In such missions, a key factor for the successful completion is the knowledge of the terrain's morphology. In this paper, we introduce a two-step centralized procedure to align optimally a swarm of flying vehicles for the aforementioned task. Initially, a single robot constructs a map of the area of interest using a novel monocular-vision-based approach. A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, building an incremental map of the surrounding environment. The map generated is processed and serves as an input in an optimization procedure using the cognitive adaptive methodology initially introduced in [1], [2]. The output of this procedure is the optimal arrangement of the robot team, which maximizes the monitored area. The efficiency of our approach is demonstrated using real data collected from aerial robots in different outdoor areas.

关键词： Three dimensional displays Optimization Simultaneous localization and mapping Cameras

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Hybrid Satellite-Terrestrial Architecture for control Systems Education

Hybrid Satellite-Terrestrial Architecture for Control System...

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International Conference on computer Modeling and Simulation, UKSIM

作者： Vasilis N. Tsoulkas Athanasios A. Pantelous Leonidas Dritsas Christos Papachristos Center for Security Studies/Minist. of Citizen Protection (KEMEA) Athens Greece Department of Mathematical Sciences University of Liverpool UK Division of Automatic Control Hellenic Air Force Academy Athens Greece Division of Information and Transmission Systems and Materials Technology Department of Electrical and Computer Engineering National and Technical University of Athens Greece

In this paper, the modules for the conceptual design of an innovative e-learning platform using satellite communications for teaching control systems theory courses are presented. All necessary tools and mechanisms are provided enabling real time text, and audio/video based communication between tutors and learners. The end-user driven services include: virtual classroom, offline operation, sharing of applications, private/ public chatting, audio/video streaming. A concise description of the pilot architecture which depends on the DVB-RCS standard is presented justifying further the choice of the proposed platform. Simulation results concerning the teaching of fundamental issues in Networked control Theory within the proposed architecture are provided. Connections with hybrid configurations such as wireless terrestrial broad-band technologies (DVB-RCS/WiMAX, DVB-RCS/Wi-Fi) are further justified.

关键词： Streaming media Satellites Digital video broadcasting Servers Training control systems Materials

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