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ℋ ∞ stabilisation of switched linear stochastic systems under dwell time constraints

International Journal of Control 2012年第9期85卷 1209-1217页

作者： Huang, Ran huangran_asee@*** Lin, Yan Ge, Shuzhi Sam Lin, Zhongwei School of Automation Bejing University of Aeronautics and Aeronautics Beijing 100191 China Institute of Intelligent Systems and Information Technology School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing 102206 China

Based on the determination of a minimum dwell time, this article addresses the problem of characterising a switching strategy for ℋ∞ stabilisation of switched linear stochastic systems with adapted external inputs. Sufficient conditions that assure exponential mean square stability and an ℋ∞ performance index are established by analysing the time evolution of the second-order moment of the state and a recursive dynamic programming inequality, respectively. Alternative conditions are derived for numerical implementations. The proposed method is illustrated by numerical simulations. [ABSTRACT FROM AUTHOR]

关键词： ℋ∞ control dwell time switched systems Wiener process

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{\cal U}Boost: Boosting with the Universum

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2012年第4期34卷 825-832页

作者： Chunhua Shen Peng Wang Fumin Shen Hanzi Wang Australian Center for Visual Technologies and School of Computer Science University of Adelaide North Terrace SA Australia School of Automation Science and Electrical Engineering Beihang University Beijing China School of Computer Science and Technology Nanjing University of Science and Technology of PLA Nanjing China Cognitive Science Department School of Information Science and Technology and Fujian Key Laboratory of the Brain-like Intelligent Systems Xiamen University Xiamen Fujian China School of Computer Science University of Adelaide SA Australia

It has been shown that the Universum data, which do not belong to either class of the classification problem of interest, may contain useful prior domain knowledge for training a classifier [1], [2]. In this work, we design a novel boosting algorithm that takes advantage of the available Universum data, hence the name UBoost. UBoost is a boosting implementation of Vapnik's alternative capacity concept to the large margin approach. In addition to the standard regularization term, UBoost also controls the learned model's capacity by maximizing the number of observed contradictions. Our experiments demonstrate that UBoost can deliver improved classification accuracy over standard boosting algorithms that use labeled data alone.

关键词： Boosting Training Educational institutions Optimization Algorithm design and analysis Histograms Accuracy

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on Control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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Integrated Approach to Hypersonic Vehicle Modeling

Integrated Approach to Hypersonic Vehicle Modeling

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Chinese Control Conference

作者： Xiaofeng Su Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications School of Electrical Engineering and Automation Henan Polytechnic University

ISBN: (纸本)9781467325813

This paper is devoted to the modeling problem of hypersonic vehicle with significant couplings. An integrated approach is developed to analytically model the dynamics of hypersonic vehicle, in which the effects of variable mass, spherical rotating earth, and couplings among the sub-models are considered. Furthermore, a preliminary analysis is conducted using the general data of a hypersonic vehicle. The simulation results show that the maximum of the Coriolis force can reach values up to 7.02% of the vehicle weight, and that the thermal load determined by the nonuniform aerodynamic heating and the properties of the structure has a significant influence on the elastic deformation.

关键词： Hypersonic vehicle modeling Inertial dynamics Aerodynamics Elasticity Heating hypersonic vehicles Aerodynamics elasticity Coriolis force Vehicle weight Heating Couplings Thermal loading elastic deformation

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A new non-fragile H∞ proportional-integral filtered-error adaptive observer for a class of non-linear systems and its application to synchronous generators

A new non-fragile H∞ proportional-integral filtered-error a...

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作者： Pourgholi, M. Majd, V.J. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran

In this paper, a parameter and state estimation problem in the presence of observer gain perturbations and input disturbance is discussed for the Lipschitz systems that are linear in unknown parameters and non-linear in states. A non-linear non-fragile proportional-integral filtered-error adaptive observer is designed, and its stability conditions based on the Lyapunov technique are derived. The optimal gain among a solution set that satisfies the observer stability conditions is derived systematically using the linear matrix inequality approach. Numerical examples, as well as a synchronous generator case study, are provided in which the non-linear terms depend on the unmeasured states. The proposed design is more robust against both disturbance and gain perturbations than those presented in recent research. Moreover, it is feasible for much larger values of the Lipschitz constants than is the case for conventional methods. © Authors 2011.

关键词： Synchronous generators

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Optimization of Power System Stabilizer Parameters using Population-Based Incremental Learning

Optimization of Power System Stabilizer Parameters using Pop...

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IEEE Energy Conversion Congress and Exposition

作者： Komla A Folly Ganesh K. Venayagamoorthy Department of Electrical Engineering University of Cape Town South Africa Holcombe Dept. of Electrical and Computer Engineering Real-Time Power and Intelligent Systems Laboratory Clemson University Clemson SC 29634 USA

ISBN: (纸本)9781467308021

Population-based incremental learning (PBIL) has been recently applied to a range of optimization problems in controller designs with promising results. It combines aspects of genetic algorithm with competitive learning. The learning rate in the standard PBIL is generally fixed which makes it difficult for the algorithm to explore the search space effectively. In this paper, the standard PBIL is improved by using a combination of adaptive and fixed learning rate that varies according to the generation. The adaptive-fixed (AF) algorithm can adjust the learning rate automatically according to the degree of evolution of the search. The objective of the power system stabilizer (PSS) design is to achieve adequate stability over a wide range of power system operating conditions. The proposed controller is compared with conventional PBIL with fixed learning rate (PBIL) and tested under various operating conditions. Simulation results show that the AFPBIL based PSS provides a more efficient search capability and gives a better damping and adequate dynamic performance of the system than the conventional PBIL based PSS.

关键词： PSS Population-Based PBIL

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Stochastic H_2 Optimal Control of Discrete-Time Markov Jump systems with Periodic Coefficients

Stochastic H_2 Optimal Control of Discrete-Time Markov Jump ...

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American Control Conference

作者： Hongji Ma Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

In this paper, the H_2 optimal state-feedback control problem is investigated for discrete-time Markov jump systems subject to periodic coefficients and multiplicative noise. First of all, an exhaustive analysis is pursued to set up an H_2 performance criterion (H_2 norm), which can be characterized by the periodic solutions of two generalized Lyapunov equations. Based on the obtained H_2 norm, the H_2 optimal state-feedback controller is designed in terms of the stabilizing solution of a discrete-time generalized Riccati equation with periodic coefficients. Moreover, this stabilizing solution can be computed efficiently by the available iterative algorithm.

关键词： Markov processes Noise Educational institutions Riccati equations Optimal control

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Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject ...

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American Control Conference

作者： Changfang Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecom-munications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

关键词： Wheels Vehicles Roads Tires Friction Aerodynamics Vehicle dynamics

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Residual muscle contraction and prosthetic socket interface force in a transtibial amputee upon the osteomyoplastic procedure - A preliminary study

Residual muscle contraction and prosthetic socket interface ...

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2012 ISSNIP Biosignals and Biorobotics Conference: Biosignals and robotics for Better and Safer Living, BRC 2012

作者： Mai, Anh Commuri, Sesh Day, Jonathan Dionne, Carol Ertl, William J. J. School of Electrical and Computer Engineering University of Oklahoma Norman OK 73019 United States Intelligent and Robotic Systems United States Department of Orthopaedic Surgery and Rehabilitation Orthotic/Prosthetic Section University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Mechanical Therapy Research Laboratory Department of Rehabilitation Sciences United States College of Allied Health University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Department of Orthopedic Surgery and Rehabilitation United States College of Medicine University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States

ISBN: (纸本)9781467324762

In the Transtibial Osteomyoplastic Amputation (TOA) technique, the fibular end and the tibial end are connected to each other by a bone bridge in order to stabilize the bony anatomy of the residual limb. In addition, during the myoplasty procedure, the ends of the muscles are secured to one another and to the bony foundations to re-establish the length-tension relationship. In contrast to conventional amputation techniques in which the muscles are cut and the length-tension relationship is lost overtime, the TOA procedure is anticipated to allow muscles to actively contract and return blood to the heart more efficiently [1]. In this study, the outcomes of the TOA procedure were investigated by measuring electromyography signals from the tibialis anterior and gastrocnemius muscles on the amputated leg as well as the interface force inside the prosthetic socket at the end-bearing level of a transtibial amputee. The subject had undergone the TOA procedure and the study was conducted while the subject walked on different terrain (level ground with different speeds, stairs, and incline) with two different kinds of prosthetic feet. Preliminary results showed that (1) the residual muscles appeared to be active while walking on various terrain, and (2) the activation level of the residual tibialis anterior muscle was found to be related to the force variation inside the prosthetic socket. © 2012 IEEE.

关键词： Muscle

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COMPLEXITY ANALYSIS OF NETWORK-BASED DYNAMICAL systems

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Journal of systems Science & Complexity 2011年第3期24卷 413-432页

作者： Guofeng ZHANG Long WANG Tongwen CHEN School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China. Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing 100871 China Department of Electrical and Computer Engineering University of Alberta Edmonton Alberta T6G 2V4 Canada

This paper investigates the nonlinear dynamics of network-based dynamical systems where network communication channels of finite data rates are inserted into the closed loops of the control systems. The authors analyze the bifurcation and chaotic behavior of the non-smooth dynamical systems. The authors first prove that for almost all system parameters there are no periodic orbits. This result distinguishes this type of non-smooth dynamical systems from many others exhibiting border-collision bifurcations. Next, the authors show analytically that the chaotic sets are separated from the region containing the line segment of all fixed points with a finite distance. Finally, the authors employ a simple model to highlight that both the number of clients sharing a common network channel and fluctuations in the available network bandwidth have significant influence on the performance of such dynamical systems.

关键词： Bifurcation feedback network-based dynamical system non-convexity periodicity.

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