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IEEE Annual Conference on Decision and control

作者： Bing Chu David H Owens Christopher T Freeman school of Electronic and Computer Science University of Southampton Southampton SO17 1BJ UK Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street Sheffield S1 3JD UK

ISBN: (纸本)9781479978878

Iterative learning control (ILC) is a control design method for high performance trajectory tracking. Most existing results achieve this by learning from information collected over past executions of the task (named trials). This paper proposes a novel gradient based ILC design which updates the control input by learning not only from past trials but also from the predicted future trials using plant model knowledge. It is shown that by including information from predicted future trials, the designed ILC controller is less short-sighted and therefore better performance can be achieved. Analysis of the algorithm's properties reveals potentially substantial benefit in terms of convergence speed;the proposed algorithm also possesses distinct robustness features with respect to model uncertainty. Numerical simulations are provided to demonstrate the effectiveness of the proposed method.

关键词： control input design approach model uncertainty experimentation Trials Myopia Converge plant models

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Stochastic Packet Scheduling for Optimal Parameter Estimation

Stochastic Packet Scheduling for Optimal Parameter Estimatio...

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IEEE Annual Conference on Decision and control

作者： Duo Han Keyou You Lihua Xie Junfeng Wu Ling Shi School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Automation Tsinghua University Beijing 100084 China Department of Automatic Control The Royal Institute of Technology (KTH) Stockholm Sweden Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

ISBN: (纸本)9781479978878

In this paper we consider optimal parameter estimation with a constrained packet transmission rate. Due to the limited battery power and the traffic congestion over a large sensor network, each sensor is required to discard some packets and save transmission times. We propose a packet-driven sensor scheduling policy such that the sensor transmits only the important measurements to the estimator. Unlike the existing deterministic scheduler in [1], our stochastic packet scheduling is novelly designed to maintain the computational simplicity of the resulting maximum-likelihood estimator (MLE). This results in a nice feature that the MLE is still able to be recursively computed in a closed form, and the Cramer-Rao lower bound (CRLB) can be explicitly evaluated. Moreover, an optimization problem is formulated and solved to obtain the optimal parameters of the scheduling policy under which the estimation performance is comparable to the standard MLE (with full measurements) even with a moderate transmission rate. Numerical simulations are included to show the effectiveness.

关键词： Packet optimal parameter Parameter estimation packet schedule Battery power supply scheduling policy traffic congestion Sensors Sensor networks closed forms Stochastic

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Analysis and optimization of centralized sequential channel sensing in cognitive radio networks 20

Analysis and optimization of centralized sequential channel ...

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20th European Wireless Conference, EW 2014

作者： Shokri-Ghadikolaei, Hossein Yaghoubi, Forough Fischione, Carlo Automatic Control Department KTH Royal Institute of Technology Stockholm10044 Sweden School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

ISBN: (纸本)9783800736218

Effective spectrum sensing strategies enable cognitive radios to enhance the spectrum efficiency. In this paper, modeling, performance analysis, and optimization of spectrum handoff in a centralized cognitive radio network are studied. More specifically, for a given sensing order, the average throughput of secondary users and average interference level among the secondary and primary users are evaluated for a cognitive radio network with only one secondary user. By a Markov chain analysis, a network with multiple secondary users performing cooperative spectrum sensing is modeled, and the above performance metrics are derived. Then, a maximization of the secondary network performance in terms of throughput while keeping under control the average interference is formulated. Finally, numerical results validate the analytical derivations and show that optimally tuning sensing time significantly enhances the performance of the spectrum handoff. Also, we observe that exploiting OR rule for cooperative spectrum sensing provides a higher average throughput compared to AND rule. © VDE VERLAG GMBH, Berlin, Offenbach, Germany.

关键词： Cognitive radio

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Collective control of multiple unicycle agents with non-identical constant speeds: Tracking control and performance limitation

Collective control of multiple unicycle agents with non-iden...

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Conference on control Applications

作者： Zhiyong Sun Georg S. Seyboth Brian D. O. Anderson Shandong Computer Science Center SCSC (National Supercomputer Center in Jinan) and Shandong Provincial Key Laboratory of Computer Networks Jinan China Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany National ICT Australia and Research School of Engineering The Australian National University Canberra ACT 0200 Australia

ISBN: (纸本)9781479977970

This paper discusses collective control of multiple unicycle-type vehicles with nonholonomic constraints and nonidentical constant speeds, with focus on the design of a tracking controller for a desired target's position and velocity. The tracking control task is divided into several sub-tasks. The group centroid is controlled to track a desired reference velocity, while the reference velocity is constructed with information from the target's position and velocity so that the group centroid can successfully track both the position and velocity of a target vehicle. In order to keep all the agents close to the centroid within a reasonable spacing, an additive spacing controller is devised. We also discuss in detail the performance limitation and trade-offs of the tracking control due to the constraint of non-identical and constant speeds in such a heterogeneous agent group.

关键词： position velocity reasonable

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A control theoretical approach to congestion control of TCP/AQM networks 10

A control theoretical approach to congestion control of TCP/...

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2009 10th European control Conference, ECC 2009

作者： Alvarez, Teresa Salim, Anuar Maestre, J.M. Department of Engineering Science and Automatic Control School of Computer Engineering University of Valladolid Spain Department of Engineering Science and Automatic Control Faculty of Science University of Valladolid Spain Dept. de Ingeniería de Sistemas y Automática Escuela Superior de Ingenieros University of Seville Spain

ISBN: (纸本)9783952417393

This paper shows how control techniques, such as PID or generalized predictive control, can improve the performance of TCP/IP networks when dealing with congestion. Drop tail, or more sophisticated AQM techniques such as RED, perform worse than process control techniques. A comparison between the different methods in different working scenarios is analyzed. Two different GPC controllers are evaluated. One considers the model resulting from on-line identification and the other is the linearization of the non-linear model. © 2009 EUCA.

关键词： Transmission control protocol

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State feedback stabilization of time delay linear singular systems subject to actuator saturation 19

State feedback stabilization of time delay linear singular s...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Gassara, Hamdi El Hajjaji, Ahmed Chaabane, Mohamed Modeling Information and Systems Laboratory University of Picardie Jules Verne Amiens80000 France Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering Lab-STA National School of Engineering of Sfax University of Sfax Tunisia

ISBN: (纸本)9783902823625

This paper investigates the problem of stabilization of time delay linear singular systems subject to actuator saturation. A polytopic approach is used to describe the saturation behavior. By using an augmented Lyaponuv-Krasovskii functional and adopting the delay partitioning technique, less conservative sufficient conditions are established to ensure the closed loop system to be locally admissible based on a state feedback controller. In this paper, all the conditions are transformed into minimization problem involving LMI conditions by adopting the idea of the cone complementarity algorithm. A numerical example illustrates the effectiveness of the design. © IFAC.

关键词： Time delay

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Higher Order Sliding Mode control of Uncertain Robot Manipulators

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Journal of Electrical engineering 2014年第3期2卷 116-123页

作者： Neila Mezghani Ben Romdhane Tarak Damak Lab-STA (Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering) National Engineering School ofSfax Sfax 3038 Tunisia

This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition to assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuity in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The stability and the robustness of the proposed controller can be easily verified by using the classical Lyapunov criterion. The proposed controller is tested to a three-degree-of-freedom robot to prove its effectiveness.

关键词： High order sliding mode control of robot Lyapunov method

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ANFIS based Jacobian for a parallel manipulator mobility assistive device 10

ANFIS based Jacobian for a parallel manipulator mobility ass...

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10th UKACC International Conference on control, control 2014

作者： Asker, Ahmed Salah, Omar Fath El-Bab, Ahmed M. R. Ramadan, Ahmed A. Assal, Samy M. F. Sessa, Salvatore Abo-Ismail, Ahmed School of Innovative Design Engineering Egypt-Japan University for Science and Technology E-JUST New-Borg-El-Arab-City-Alexandria Egypt Mechanical Engineering Dept Faculty of Engineering Assiut University Assiut Egypt Dept. of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Tanta Egypt Computer and Automatic Control Dept Faculty of Engineering Tanta University Tanta Egypt Graduate School of Creative Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781479950119

Nowadays parallel manipulators are used widely in bioengineering applications;this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. computer simulations show relatively good results of the proposed system. © 2014 IEEE.

关键词： Inverse kinematics

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State feedback stabilization of time delay linear singular systems subject to actuator saturation

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IFAC Proceedings Volumes 2014年第3期47卷 10072-10077页

作者： Hamdi Gassara Ahmed El Hajjaji Mohamed Chaabane Modeling Information and Systems Laboratory University of Picardie Jules Verne Amiens 80000 Laboratory of Sciences and Techniques of Automatic control and computer engineering Lab-STA National School of Engineering of Sfax University of Sfax Tunisia

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A usability study case of a vision-based gesture interface 14

A usability study case of a vision-based gesture interface

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15th International Conference on Human computer Interaction, INTERACCION 2014

作者： Ponsa, Pere Urbina, Carlos Manresa-Yee, Cristina Vilanova, Ramon Automatic Control Department Universitat Politècnica Catalunya Av. Víctor Balaguer 1 Vilanova i la Geltrú08800 Spain Computer Graphics Computer Vision and AI Group University of Balearic Islands Crta. Valldemossa km 7.5 Palma07122 Spain Engineering Systems and Telecommunications Department School of Engineering Universitat Autònoma Barcelona Bellaterra08193 Spain

ISBN: (纸本)9781450328807

Gestural interaction uses human gestures to interact with an interactive system. Many efforts have been done to define gestures and facilitate a comfortable and natural way to interact. In this paper an experimental session in laboratory conditions is presented aiming at analyzing the usability factors of a visionbased gestural interface. Based on the results, recommendations are given to modify the configuration of some parameters between the human, the Kinect sensor, Kinect Mouse and the virtual visit of a museum with the final aim to improve the overall interaction. Copyright 2014 ACM.

关键词： gestures usability Vision-based interfaces evaluation

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