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Dynamic Anti-windup Design in Anticipation of Actuator Saturation

Dynamic Anti-windup Design in Anticipation of Actuator Satur...

引用

2011 American control Conference (ACC)

作者： Xiongjun Wu Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiaotong University Shanghai China Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

In a traditional anti-windup design, the anti-windup mechanism is set to be activated as soon as the control signal saturates the actuator. A recent innovation of delaying the activation of the anti-windup mechanism, both static and dynamic, until the saturation reaches to a certain level of severity has led to a performance improvement of the resulting closed-loop system. More recently, it has been shown that significant further performance improvements can be obtained by activating a static anti-windup mechanism in anticipation of actuator saturation, in comparison with the delayed activation design. This paper demonstrates that anticipatory activation of a dynamic anti-windup mechanism would also lead to significant performance improvements over both the immediate and delayed activation schemes.

关键词： Actuators Windup Linear matrix inequalities Simulation automation Symmetric matrices

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Direct synthesis decoupling control for TITO processes with time delays

Direct synthesis decoupling control for TITO processes with ...

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International Symposium on Advanced control of Industrial Processes (ADCONIP)

作者： Yuling Shen Shaoyuan Li Wen-Jian Cai Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiaotong University Shanghai China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In this paper, a direct synthesis approach is proposed to design ETF based multivariable decoupling controllers. This new scheme is different from two existing ETF based decoupling schemes which involves the following steps: (1) by uniquely determine the ETFs for every transfer function element, the inverse matrix of transfer function matrix is approximated; (2) selecting the desired closed-loop system transfer function such that the resulted controllers are stable, causal and proper; (3) deriving the achievable full-matrix decoupling controller by specifying the tuning parameters. The effectiveness of the proposed design approach is verified by two multivariable industrial processes, which shows that it results in better overall system performance than other two ETF based schemes.

关键词： Transfer functions Process control Steady-state control systems Argon Delay effects Matrices

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Robust partially mode delay-dependent ℋ∞ output feedback control of discrete-time networked control systems

Robust partially mode delay-dependent ℋ∞ output feedback c...

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American control Conference (ACC)

作者： Seunghwan Chae Dan Huang Sing Kiong Nguang The Department of Electrical and Computer Engineering University of Auckland Auckland New Zealand Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiaotong University Shanghai China

This paper examines robust partially mode de lay dependent H ∞ output feedback controller design for discrete-time systems with random communication delays. A finite state Markov chain with partially known transition probabilities is used to model random communication delays between sensors and controller. Based on Lyapunov-Krasovskii functional, a novel methodology for designing a partially mode delay-dependent output feedback controller is proposed. Using cone complementarity linearization algorithm bilinear matrix inequalities (BMIs) are solved to obtain the controller gains. We also show that the results for completely known transition probabilities and completely unknown transition probabilities can be derived as special cases of our result. The effectiveness of the proposed design methodology is demonstrated by a numer ical example. To the best of authors' knowledge, the problem of designing an output feedback controller for a partially known transition probability has not been fully investigated.

关键词： Delay Markov processes Output feedback Linear matrix inequalities Robustness Silicon

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Robust ℋ∞ output feedback control of discrete-time networked systems with adaptive quantizers

Robust ℋ∞ output feedback control of discrete-time network...

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IEEE Conference on Decision and control

作者： Faiz Rasool Dan Huang Sing Kiong Nguang Department of Electrical and Computer Engineering University of Auckland Auckland New Zealand Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiaotong University Shanghai China

Quantization effects are inevitable in networked control systems (NCSs). These quantization effects can be reduced by increasing the number of quantization levels. However, increasing the number of quantization levels may lead to network congestion, (i.e., the network needs to transfer more information than its capacity). In this paper, we investigate the problem of designing a robust ℋ ∞ output feedback controller for discrete-time networked systems with an adaptive quantization density or limited information. More precisely, the quantization density is designed to be a function of the network load condition which is modeled by a Markov process. A stability criterion is developed by using Lyapunov-Krasovskii functional and sufficient conditions for the existence of a dynamic quantized output feedback controller are given in terms of Bilinear Matrix Inequalities(BMIs). An iterative algorithm is suggested to obtain quasi-convex Linear Matrix Inequalities (LMIs) from BMIs. An example is presented to illustrate the effectiveness of the proposed design.

关键词： Quantization Delay Linear matrix inequalities Markov processes Closed loop systems Stability analysis Output feedback

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An on-board pan-tilt controller for ground target tracking systems

An on-board pan-tilt controller for ground target tracking s...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhekui Xin Yongchun Fang Bin Xian Beijing AeroSpace Automatic Control Institute China Institute of Robotics and Information Automatic System Nankai University Tianjin China Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane when the target is in sight. When the target is temporarily out of view due to various reasons, the designed controller will make the camera quickly re-capture the target by estimating its state and then regulating the orientation of the camera correspondingly. Specifically, a novel state transformation is firstly introduced to make the error system independent of the target image. Subsequently, a nonlinear pan-tilt controller is designed for the transformed error system. Lyapunov techniques are then employed to prove that the target tracking error in the image plane is driven to zero exponentially fast. To facilitate the implementation of the constructed controller, a visual estimator is also utilized to obtain the state information of the target even if it is occasionally out of the view of the camera by introducing an effective nonlinear filter. Simulation results are provided to validate the performance of the presented control system.

关键词： Target tracking Cameras Helicopters Jacobian matrices Visualization Robot vision systems

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A novel type of trigonometric neural network trained by Extended Kalman Filter

A novel type of trigonometric neural network trained by Exte...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： M. Norouzi M. Mansouri M. Teshnehlab M. Aliyari Shoorehdeli Faculty of Engineering Department of Computer Engineering Science and Research Branch Islamic Azad University Iran Intelligent System Laboratory (ISLAB) Faculty of Electrical Engineering Control Department K.N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering Advanced Process Automation &Control Laboratory (APAC) K.N. Toosi University of Technology Tehran Iran

In this study, a new type of trigonometric neural network is presented by adding frequency and phase to trigonometric activation functions. The proposed trigonometric neural network has more flexibility in comparison with conventional trigonometric neural networks and even other types of neural networks. Due to the low convergence rate and high posibility of trapping in a local minimum of backpropagation algorithm, Extended Kalman Filter algorithm is used to train the neural network's parameters which they appear in a nonlinear form. The Simulation of the suggested neural network based on the prediction of Mackey-Glass time series and identification of a nonlinear dynamic ystem reveals the efficiency of the proposed network. To show the efficiency of this method, the results are compared with the results of the others.

关键词： Biological neural networks Kalman filters Equations Neurons Vectors Covariance matrix Mathematical model

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Visual tracking of robots in uncalibrated environments

Visual tracking of robots in uncalibrated environments

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hesheng Wang Weidong Chen Zhongli Wang Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

This paper presents a new adaptive controller for visual tracking control of a robot manipulator in 3D general motion with a fixed camera whose intrinsic and extrinsic parameters are uncalibrated. In addition to camera parameters, the feature positions in 3D space are also assumed unknown. Based on the fact that the unknown parameters appears linearly in the closed-loop dynamics of the system if the depth-independent interaction matrix is adopted to map the image errors onto the joint space of the manipulator, we developed a new adaptive algorithm to estimated the unknown parameters on-line. With a full consideration of dynamic responses of the robot manipulator, we employ the Lyapunov method to prove asymptotic convergence of the image errors. Experimental results are used to demonstrate the performance of the proposed approach.

关键词： Cameras Robot vision systems Trajectory Manipulator dynamics Joints

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Optimization research of genetic neural network based on Scilab

Optimization research of genetic neural network based on Sci...

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IEEE International Workshop on Open-source Software for Scientific Computation (OSSC)

作者： Baoyong Zhao Yingjian Qi Xing Tao School of Automation & Electrical Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Advanced Control for Iron and Steel Process Ministry of Education China Science School Communication University of China Beijing China Beijing Research Center of Urban System Engineering Beijing China

ISBN: (纸本)9781612844923

Radial basis function (RBF) network is one of the significant neural networks. It has been used successfully in various fields. But in RBF network approximation algorithm, the initial value of the network weights, Gauss function center vector and broad-based vector is not easy to determine, and when these parameter choice is undeserved, RBF network approximation precision will decline and even the serious consequences of network spread will be produced. By using genetic algorithm in this paper, which can better realize RBF network parameter optimization, thereby increasing the accuracy of approximation. Scilab is open source software and has good simulation capabilities. Experiments using Scilab shows that the optimization method of genetic neural network is feasible and results are satisfied.

关键词： Genetic algorithms Radial basis function networks Optimization Approximation methods Vectors Biological cells Genetics

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Hierarchical control scheme for voltage Harmonics Compensation in an islanded droop-controlled microgrid

Hierarchical control scheme for voltage Harmonics Compensati...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Mehdi Savaghebi Josep M. Guerrero Alireza Jalilian Juan C. Vasquez Tzung-Lin Lee Center of Excellence for Power System Automation and Operation Iran University of Science and Technology Iran Department of Automatic Control and Industrial Informatics Technical University of Catalonia Spain Institute of Energy Technology University of Aalborg Denmark Department of Electrical Engineering National Sun Yat-sen University Taiwan

In this paper, a microgrid hierarchical control scheme is proposed which includes primary and secondary control levels. The primary level comprises distributed generators (DGs) local controllers. The local controller mainly consists of active and reactive power controllers, voltage and current controllers, and virtual impedance loop. A novel virtual impedance structure is proposed to achieve proper sharing of non-fundamental power among the microgrid DGs. The secondary level is designed to manage compensation of voltage harmonics at the microgrid load bus (LB) to which the sensitive loads may be connected. Also, restoration of LB voltage amplitude and microgrid frequency to the rated values is directed by the secondary level. These functions are achieved by sending proper control signals to the local controllers. The simulation results show the effectiveness of the proposed control scheme.

关键词： Harmonic analysis Voltage control Power harmonic filters Impedance Frequency control Resistance

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Containment control of networked Lagrange systems with group dispersion and cohesion behaviors

Containment control of networked Lagrange systems with group...

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Chinese control Conference (CCC)

作者： Ziyang Meng Zongli Lin Wei Ren Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville 22904-4743 U.S.A. Department of Electrical and Computer Engineering Utah State University Logan 84322 U.S.A.

In this paper, distributed containment control with group dispersion and cohesion behaviors are discussed for a group of Lagrange systems. Both the cases of constant leaders' generalized coordinate derivatives and time-varying leaders' generalized coordinate derivatives are considered. The proposed control algorithms are shown to obtain velocity matching, connectivity maintenance and collision avoidance. In addition, the sum of the steady-state distances between followers and the convex hull formed by the leaders is shown to be bounded and this bound is explicitly given.

关键词： Lead Dispersion Topology Sensors Laplace equations Maintenance engineering Algorithm design and analysis

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