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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Kemao Ma Hassan K.Khalil the Control and Simulation Center Harbin Institute of Technology the Department of Electrical and Computer Engineering Michigan State University

In the paper [1],Serrani and Isidori design an output feedback controller that achieves semiglobal output regulation for a class of minimum phase nonlinear *** controller has three basic components:an internal model to ensure asymptotic regulation,a high-gain partial state feedback controller to stabilize the augmented system of the plant and the internal model,and a high-gain observer to implement the partial state *** this paper we show a property of the transient performance of the controller of [1].We consider an alternate controller that shares with the controller of [1]the structure of high-gain partial state feedback and high-gain observer,but without internal *** controller can only achieve practical *** show that when the controller and observer gains are high enough,the trajectories under the two controllers will be close to each *** property shows that the transient performance of the controller of [1] is not degraded by the inclusion of the internal model.

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Formation control of autonomous robots based on cooperative behavior 10

Formation control of autonomous robots based on cooperative ...

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2009 10th European control Conference, ECC 2009

作者： Dorfler, Florian Francis, Bruce Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa BarbaraCA93106 United States Electrical and Computer Engineering Department University of Toronto TorontoM5S3G4 Canada

ISBN: (纸本)9783952417393

This paper considers the formation control problem for autonomous robots, where the target formation is specified as a minimally rigid formation. A distributed control law based on potential functions is derived from a directed sensor graph and relies on the graph matrices only. By methods of inverse optimality a certain class of sensor graphs is identified that is related to a cooperative behavior among the robots. These graphs are referred to as cooperative graphs, and undirected graphs, directed cycles, and directed open chain graphs can be identified as such graphs. Cooperative graphs admit a local stability result of the target formation together with a guaranteed region of attraction, that depends on the rigidity properties of the formation. © 2009 EUCA.

关键词： Robots

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Quantum key distribution with an untrusted source

Quantum key distribution with an untrusted source

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Conference on Lasers and Electro-Optics (CLEO)

作者： Yi Zhao Bing Qi Hoi-Kwong Lo Center for Quantum Information and Quantum Control Department of Physics and Department of Electrical & Computer Engineering University of Toronto Toronto ONT Canada

The ldquoPlug & playrdquo quantum cryptography scheme has significant advantage in real-life applications over other schemes and is adopted in most commercial quantum cryptosystems. Here, we present a rigorous sec... 详细信息

关键词： Quantum computing Security Presence network agents Plugs Cryptography Filters Optical receivers Distributed computing Physics computing Educational institutions

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$H_{\infty }$ Fuzzy control of Nonlinear Systems Under Unreliable Communication Links

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IEEE Transactions on Fuzzy Systems 2009年第2期17卷 265-278页

作者： Huijun Gao Yan Zhao Tongwen Chen Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

This paper investigates the problem of H infin fuzzy control of nonlinear systems under unreliable communication links. The nonlinear plant is represented by a Takagi--Sugeno (T-S) fuzzy model, and the control strategy takes the form of parallel distributed compensation. The communication links existing between the plant and controller are assumed to be imperfect (that is, data packet dropouts occur intermittently, which appear typically in a network environment), and stochastic variables satisfying the Bernoulli random binary distribution are utilized to model the unreliable communication links. Attention is focused on the design of H infin controllers such that the closed-loop system is stochastically stable and preserves a guaranteed H infin performance. Two approaches are developed to solve this problem, based on the quadratic Lyapunov function and the basis-dependent Lyapunov function, respectively. Several examples are provided to illustrate the usefulness and applicability of the developed theoretical results.

关键词： Fuzzy systems Communication system control Fuzzy control control systems Nonlinear systems Lyapunov method Space technology Nonlinear control systems Fuzzy sets control design

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A probabilistic roadmap based planning algorithm for wheeled-tip robots manipulating polygonal objects

A probabilistic roadmap based planning algorithm for wheeled...

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

作者： N. Noori E. Noohi H. Moradi A. H. Bakhtiary M. Nili Ahmadabadi Robotics and AI Lab Control and Intelligent Processing Center Department of Electrical and Computer Engineering University of Tehran Tehran Iran

This work extends the probabilistic roadmap (PRM) framework by efficiently incorporating the force closure (FC) criterion into motion planning. A new FC verification approach is proposed that eliminates the need for testing FC in the intermediate configurations of the local planner. The algorithm is tested for special kinds of planar robots that have two wheeled-tip fingers. The wheels are actuated and can roll along the object's edges. We propose a general planning algorithm for this new mechanism without any limitations on the fingers structure and the task. The algorithm is implemented and the simulation results in ADAMS verify the validity of our algorithm.

关键词： Mobile robots Fingers Wheels Service robots Humanoid robots Intelligent robots Motion planning Testing Mechatronics Defense industry

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Speeding up top-down attention control learning by using full observation knowledge

Speeding up top-down attention control learning by using ful...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： N. Noori M. Nili Ahmadabadi M. S. Mirian B. N. Araabi AI Lab Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781424448081

We present a general mathematical description of the top-down attention control problem. Three important components are identified in the model: context extraction, attention focus and decision making. The context gives a coarse blurry representation of the whole input; the attention module models the focus of attention on a limited part of input, and the decision making component accounts the final decision of the agent for its motory actions. In order to achieve a faster convergence of attention learning in the online phase, an offline optimization step is performed in advance. To do so, we incorporate the knowledge of a full observer agent that has approximately learned the optimal decision making of the task. The simulation results show that by employing our algorithm, the learning speed is improved.

关键词： Context modeling Decision making Layout Focusing Convergence Information filtering Information filters Robot sensing systems Bayesian methods Humans

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Benchmark Tests of Active Disturbance Rejection control on an Industrial Motion control Platform

Benchmark Tests of Active Disturbance Rejection Control on a...

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2009 American control Conference (ACC 2009)

作者： Gang Tian Zhiqiang Gao Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University Cleveland OH 44115 USA

ISBN: (纸本)9781424445233

The improvement of Active Disturbance Rejection control over the existing industry controller is benchmarked with the state of the art industrial automation equipment, using the common PLC, drive, and the mechanical transmissions of belt, gear, and direct coupling. All together 168 tests are run at various line speeds, different levels of pulse-like torque disturbance, and with various viscous friction. The results are tabulated for comparison, in terms of integrated absolute error and maximum error observed, and the RMS and peak torque required from the drive motor. In the worst case scenarios, across all variations of mechanical configuration, we observe the performance improvement from just under 20percent to 290percent, with comparable control efforts. Together with simplicity in the control algorithm itself, the ease of tuning and operation, such improvement establishes ADRC as a viable replacement of the existing industry controller in manufacturing.

关键词： Robust control Benchmark testing state of the art disturbing torque Machine Configuration MECHANICAL TRANSMISSIONS computer algorithms performance boost Motor control absolute error directly coupled DC motors maximum error peak torque BENCHMARKS

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Fuzzy controller for cooperative object pushing with variable line contact

Fuzzy controller for cooperative object pushing with variabl...

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International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control control systems Multirobot systems Path planning Inference algorithms Mobile robots

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From Poncelet's Invariance Principle to Active Disturbance Rejection

From Poncelet's Invariance Principle to Active Disturbance R...

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2009 American control Conference (ACC 2009)

作者： Gang Tian Zhiqiang Gao Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University Cleveland OH 44115 USA

ISBN: (纸本)9781424445233

This is a brief survey of a little known field of disturbance estimation and subsequent cancellation, a field with a long history and is still rather disorganized. Researchers and results are scattered over almost two centuries, across East and West: from Jean-Victor Poncelet's Principle of Invariance in 1829, to Jingqing Han's conception of Active Disturbance Rejection in 1995 and beyond. But the field in recent years is maturing and coming into a focus with significant practical and theoretical implications abound. It provides a powerful alternative to the modern control paradigm in how real world control problems, of which disturbance rejection is a central theme, are viewed and solved. In this paper a reader will find a brief history of ideas, a new, unifying, problem formulation, and a summary of recent stability analysis results.

关键词： Disturbance rejection invariance Problem Formulation Stability analysis Maturity modern control

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Simultaneously, speed and flux control of a induction motor, with brain emotional learning based intelligent controller (BELBIC)

Simultaneously, speed and flux control of a induction motor,...

引用

IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： E. Daryabeigi Gh. Arab markadeh C. Lucas Electrical Engineering Department Islamic Azad University Isfahan Iran Faculty of engineering Department Shahrekord University Shahrekord Iran Iranian Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

In this paper, a modern intelligent control based on computational model of mammalian limbic system and emotional processes (BELBIC) is presented for speed and flux control of induction motor simultaneously. In this work, a novel and simple model of induction motor drives control plant is achieved by using the intelligent control system, which controls motor speed and flux accurately, without needing to using any conventional controllers and also, quite independent of motor parameters. This generation of intelligent controllers that has high auto learning speed with simple structure shows excellent praxis for industrial scale utilization truly.

关键词： Induction motors Intelligent control Computational intelligence Computational modeling Induction motor drives control system synthesis Induction generators Intelligent structures electrical equipment industry Industrial control

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