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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami D. Schoenwald Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Sandia National Laboratories Albuquerque NM USA

We propose a new inventory control technique for large-scale bidirectional (or closed-loop) supply chains including repairs. It is well-known that available optimization techniques are computationally intractable for bidirectional stochastic supply chains and also necessitate several simplifying assumptions. In contrast, the proposed approach is an adaptive scheme which scales well to practically interesting large-scale multi-item supply chains. Furthermore, practical issues such as stochastic transport delays, manufacturing times, and repair times and probabilistic characterization of part repair success are handled in a unified framework. The control scheme is based on a hierarchical two-level architecture comprised of an adaptive set-point generator and a lower-level order-up-to policy. An application to aircraft supply chains involving multiple OEMs, depots, bases, squadrons, and planes is also investigated

关键词： Inventory control Large-scale systems Supply chains Laboratories Manufacturing Stochastic processes Aircraft manufacture Programmable control Adaptive control Transportation

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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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Integrated information processing and communications: Complexity analysis

Integrated information processing and communications: Comple...

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IASTED International Conference on COMMUNICATION SYSTEMS AND APPLICATIONS Part of the Sixth IASTED International Multi-Conference on WIRELESS AND OPTICAL COMMUNICATIONS

作者： Huyu, Qu Le, Yi Wang Yaprak, Ece Hong, Wang Yanlong, Zhao Department of Electrical and Computer Engineering Wayne State University Detroit MI 48202 United States Division of Engineering Technology Wayne State University Detroit MI 48202 United States Department of Anesthesiology Wayne State University Detroit MI 48202 United States Key Laboratory of System and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences China

Accuracy of information transmission when a signal must be transmitted through a communication channel is of essential importance in design of communication systems. When system resources are limited, such as transmission bandwidths assigned to a wireless communication channel, appropriate utility of available resources becomes imperative. This paper investigates fundamental relationships between accuracy of information exchange and communication resources, on a platform of wireless communication channels that involve typical system blocks of data compression, quantization, and stochastic wireless channels. The main complexity relationships developed in this paper provide rigorous trade-off between resource consumptions and information processing errors of each block. When these relationships are integrated, an optimization procedure emerges that allows optimal allocation of resources to each system block, such as compression ratio, quantization levels, and transmission speed, to maximize overall information accuracy. Consequently, the overall errors of the transmitted signal will be minimized at the receiver end.

关键词： Data processing

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Knowledge engineering Approach to Concurrently Competng Cyclic Processes control

Knowledge Engineering Approach to Concurrently Competng Cycl...

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International IEEE Conference on Intelligent Systems, IS

作者： R. Wojcik G. Bocewicz Z. Banaszak Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Poland Technical University of Koszalin Koszalin Poland Systems Research Institute of Polish Academy of Sciences Laboratory of Knowledge Systems and Artificial Intelligence Wroclaw Poland

This paper addresses the problem of designing the steady-state behavior of a system composed of a set of repetitive processes competing for access to shared resources. Its objective is to provide a framework allowing to prototype a robust distributed control policy as a function of the characteristics of the component processes and dispatching rules involved. The considered problem resolution consists in finding a schedule with no process waiting for access to the shared resources and wherefore leading to controls not requiring resource conflict resolution. The problem is formulated as a task of prototyping of conditions sufficient for existence of a waiting-free n-process execution. The conditions prototyping is then examined within the framework of logic-algebraic method. The illustrative example of the approach proposed is provided

关键词： Knowledge engineering Process control Dispatching Steady-state Prototypes Distributed control Telephony Robust control Job shop scheduling Resource management

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Decision Support Systems Based on CLP Approach in SMEs

Decision Support Systems Based on CLP Approach in SMEs

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Izabela Tomczuk-Pirog Robert Wojcik Zbigniew Banaszak Department of Management and Production Engineering Technical University of Opole Opole Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Systems Research Institute Laboratory of Knowledge Systems and Artificial Intelligence Polish Academy of Sciences Wroclaw Poland

The paper focuses on a selected class of decision problems related with the production flow planning in SMEs, particularly in new production orders. Verification of orders gives a possibility to evaluate whether resources capacity of a manufacturer is balanced with the orderer's requirements. The class of decision problems under analysis is included in the scope of organizational production preparation and can be naturally determined by available CLP (constraint logic programming) tools. The approach proposed in the paper is based on establishment of an interface which facilitates its task oriented use. The system has been presented on the basis of a sample order execution in a manufacturer's company (Archimedes S.A.).

关键词： Decision support systems Flow production systems Logic programming Production planning Manufacturing Companies Packaging Artificial intelligence Production systems Knowledge management

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

关键词： Earthquake sliding mode control structural systems vibration control

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Adaptive Output-Feedback Stabilization and Disturbance Attenuation for Feedforward Systems with ISS Appended Dynamics

Adaptive Output-Feedback Stabilization and Disturbance Atten...

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IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We propose an adaptive output-feedback control design technique for feedforward systems with Input-to-State Stable (ISS) appended dynamics and disturbance inputs. The design is based on our recent results on the application of dynamic high-gain scaling to state-feedback and output-feedback control of feedforward systems. Unlike previous approaches to the control of feedforward systems, the dynamic high-gain scaling technique provides robustness to additive disturbances and enabled the first output-feedback controller design for feedforward systems. In this paper, we further investigate the robustness properties of the dynamic high-gain scaling approach by introducing exogenous disturbance inputs and ISS appended dynamics coupled with all the system states and the input. The designed adaptive output-feedback controller achieves BIBS stability with respect to disturbance inputs and also provides a disturbance attenuation result. This provides the first results for feedforward systems with ISS appended dynamics and disturbance inputs.

关键词： Attenuation Feedforward systems control systems Programmable control Adaptive control control design Robust control Additives Robustness Stability

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Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems

Generalized state scaling-based robust control of nonlinear ...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In this paper, we propose a high-gain scaling based controller to achieve global state-feedback stabilization of a general class of nonlinear systems which are allowed to contain uncertain functions of all the states and the control input as long as polynomial bounds on ratios of some uncertain system terms are available. The design is based on a high-gain scaling involving appropriate powers of a high-gain scaling parameter which is a dynamic signal driven by the state. The designed controller has a very simple structure being essentially a dynamic extension and a linear feedback with state-dependent dynamic gains. The obtained results are applicable to both lower triangular (strict-feedback) and upper triangular (feedforward) structures and also to systems without any triangular structure as long as a set of inequalities involving powers of the polynomial bounds on the ratios of the uncertain system terms and scaling orders is solvable. The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations.

关键词： Robust control Nonlinear systems Nonlinear control systems control systems Polynomials Uncertain systems Signal design Nonlinear dynamical systems Linear feedback control systems State feedback

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Adaptive output-feedback for nonlinear systems with no a priori bounds on parameters

Adaptive output-feedback for nonlinear systems with no a pri...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In a result by P. Krishnamurthy and F. Khorrami (2004), we proposed a dynamic high-gain observer/controller architecture for nonlinear systems of the generalized output-feedback canonical form. The design of P. Krishnamurthy and F. Khorrami (2004) utilized the dual architecture of a high-gain observer and controller and incorporated a single dynamic scaling. The designed output-feedback controller was shown to be robust to functional and parametric uncertainties coupled with all states. However, a magnitude bound on the unknown parameters was required. In this paper, we propose a time-varying output-feedback controller that can handle time-varying nonlinear parametric uncertainty coupled with all states without requiring any a priori magnitude bounds on the unknown parameters. This is achieved using a novel time-varying dynamics of the high-gain scaling parameter. The proposed observer/controller structure provides a globally asymptotically stabilizing output-feedback solution for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary.

关键词： Nonlinear systems control systems Observers Uncertainty Riccati equations Lyapunov method Nonlinear control systems Robust control Couplings Programmable control

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GODZILA: a low-resource algorithm for path planning in unknown environments

GODZILA: a low-resource algorithm for path planning in unkno...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In this paper, we propose a novel path-planning and obstacle avoidance algorithm GODZILA for navigation in unknown environments. No prior knowledge of the environment is required. The path-planning algorithm follows a purely local approach using only the current range sensor measurements at each sampling instant and requiring only a small number of stored variables in memory. No map of the environment is built during navigation. This minimizes the memory and computational requirements for implementation of the algorithm, a feature that is especially attractive for small autonomous vehicles. The algorithm utilizes three components: an optimization algorithm, a local straight-line path planner to visible targets, and random navigation. It is proved, for navigation in any finite-dimensional space, that the path-planning algorithm converges in finite time with probability 1. The performance of the algorithm is demonstrated through simulations for path-planning in two-dimensional and three-dimensional spaces. It is seen that a relatively small number of range sensor measurements is sufficient even in complex unknown environments.

关键词： Path planning Navigation Remotely operated vehicles Mobile robots Current measurement Sampling methods Cost function Trajectory Robot sensing systems Orbital robotics

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