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American control Conference (ACC)

作者： Qing Zheng Zhongzhou Chen Zhiqiang Gao Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA Department of Chemical Engineering University of Massachusetts Amherst MA USA

In this paper, a unique dynamic decoupling control strategy, based on the active disturbance rejection control framework, is proposed for square multivariable systems. With the proposed method, it is shown that a largely unknown square multivariable system is readily decoupled by actively estimating and rejecting the effects of both the internal plant dynamics and external disturbances. By requiring as little information on plant model as possible, the intention is to make the new method practical. Simulation results obtained on two chemical process problems show good performance in the presence of significant unknown disturbances and unmodeled dynamics.

关键词： Chemical processes MIMO control systems Uncertainty Aerospace control Chemical industry electrical equipment industry Cities and towns USA Councils Mathematical model

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H∞ filtering for a class of 2D systems

H∞ filtering for a class of 2D systems

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15th European Signal Processing Conference, EUSIPCO 2007

作者： Wu, Ligang Lam, James Paszke, Wojciech Galkowski, Krzysztof Rogers, Eric Kummert, Anton Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65-246 Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom University of Wuppertal Faculty of Electrical Information and Media Engineering Communication Theory Germany

ISBN: (纸本)9788392134022

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required. © 2007 EURASIP.

关键词： Dynamics

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Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine

Multi-Robot Localization and Mapping Strategy: Utilizing Beh...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping Robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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Active Disturbance Rejection control of Chemical Processes

Active Disturbance Rejection Control of Chemical Processes

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhongzhou Chen Qing Zheng Zhiqiang Gao Department of Chemical Engineering University of Massachusetts Amherst Amherst MA USA The Center for Advanced Control Technologies Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA

In this paper a novel control strategy, the active disturbance rejection control (ADRC), is applied to the representative process control problems. In the ADRC framework, the disturbance and unmeasured dynamics associated with chemical processes are treated as an additional state variable, which is then estimated and compensated for in real time. This reduces a normally complex, time-varying, nonlinear, and uncertain dynamic process to an approximately linear, time-invariant, cascade-integral form, where a simple proportional-derivative (PD) controller suffices. Simulation studies are performed on two nonlinear continuous stirred tank reactors (CSTR), both demonstrate very good performance in the absence of an accurate mathematical model of the process.

关键词： Process control Chemical processes control systems State estimation Proportional control PD control Three-term control Pi control Aerospace control Nonlinear dynamical systems

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Initial Rotor Position Estimation for Sensorless Brushless DC Drives

Initial Rotor Position Estimation for Sensorless Brushless D...

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International Conference on electrical Machines and Systems 2007(ICEMS2007)(第十届国际电机与系统会议)

作者： P. Champa P. Somsiri P. Wipasuramonton P. Nakmahachalasint Industrial Control and Automation Lab National Electronics and Computer Technology Center Thailand Industrial Control and Automation Lab National Electronics and Computer Technology Center Thailand Department of Electrical Engineering Thammasat University Thailand

This paper presents a method to determine the initial rotor position of a brushless DC machine at standstill without a position sensor. The key principle of the rotor position estimation is based on the simple detection and comparison of phase voltage and current responses relating to the stator inductance varied with the position of the rotor magnet. In the proposed method, only three pulse voltage injections are applied and 30 degree resolution can be achieved. Moreover, no knowledge of machine parameters is required. The effectiveness of the proposed method is validated by experimental results.

关键词： Voltage Rotors Phase detection Position measurement Current measurement Inductance measurement Drives Phase estimation Stators Brushless DC motors

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A Bayesian approach to conceptualization using reinforcement learning

A Bayesian approach to conceptualization using reinforcement...

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

作者： Saeed Amizadeh Majid Nili Ahmadabadi Babak N. Araabi Roland Siegwart Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran ASL ETHZ Zurich Switzerland

Abstraction provides cognition economy and generalization skill in addition to facilitating knowledge communication for learning agents situated in real world. Concept learning introduces a way of abstraction which maps the continuous state and action spaces into entities called concepts. Of computational concept learning approaches, action-based conceptualization is favored because of its simplicity and mirror neuron foundations in neuroscience. In this paper, a new biologically inspired concept learning approach based on the Bayesian framework is proposed. This approach exploits and extends the mirror neuron's role in conceptualization for a reinforcement learning agent in nondeterministic environments. In the proposed method, an agent sequentially learns the concepts from both of its successes and its failures through interaction with the environment. These characteristics as a whole distinguish the proposed learning algorithm from positive sample learning. Simulation results show the correct formation of concepts' distributions in perceptual space in addition to benefits of utilizing both successes and failures in terms of convergence speed as well as asymptotic behavior. Experimental results, on the other hand, show the applicability and effectiveness of our method for a real robotic task such as wall-following.

关键词： Bayesian methods Learning Mirrors Neurons Decision making Orbital robotics Uncertainty Encoding Biological information theory Signal processing

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A Hybrid control Strategy for Robust Contact Detection and Force Regulation

A Hybrid Control Strategy for Robust Contact Detection and F...

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American control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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Hybrid Dynamical Systems: Robust Stability and control

Hybrid Dynamical Systems: Robust Stability and Control

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Chinese control Conference (CCC)

作者： Cai Chaohong Goebel Rafal G. Sanfelice Ricardo R. Teel Andrew Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Seattle WA USA Seattle WA USA Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: rsanfelice@ece.ucsb.edu Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 USA. E-mail: teel@ece.ucsb.edu

Modeling issues for hybrid dynamical systems are discussed and fundamental stability analysis tools are summarized. These tools are useful for the development of hybrid control algorithms.

关键词： Robust stability control systems Oscillators Evolution (biology) State-space methods Equations Chaos Stability analysis Systems engineering and theory Biological system modeling

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Relaxed characterizations of smooth patchy control Lyapunov functions

Relaxed characterizations of smooth patchy control Lyapunov ...

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作者： Goebel, Rafal Prieur, Christophe Teel, Andrew R. Department of Mathematics University of Washington Seattle WA 98195-4350 United States LAAS-CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9783902661289

A smooth patchy control Lyapunov function for a nonlinear control system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy a certain arrangement property. In contrast to (Goebel et al., IEEE CDC, 2006), on each intersection of the domains, we do not impose a decrease condition of the local control Lyapunov functions when the index increases. We show a construction, based on such a patchy control Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise. Copyright © 2007 IFAC.

关键词： Hybrid systems

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