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International Conference on Systems, Analysis and automatic control

作者： Mourad Kchaou Ahmed Toumi Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) High Institute op Applied Sciences and Technology Sousse ISSATso University of Sfax National School of Engineers of Sfax

ISBN: (纸本)9781467364591

This paper is concerned with the problem of stabilization of continuous-time Takagi-Sugeno (TS) fuzzy systems which are controlled through networks. Network-induced delays, data packet dropouts, and measurement quantization are simultaneously considered for Network signal-transmission. Based on the LyapunovKrasovskii functional approach and a parallel distributed compensation scheme, a delay-dependent stabilization approach is developed for the NCSs, which guarantees that the closed-loop system is asymptotically stable. Finally, an illustrative example is given to illustrate the effectiveness of the proposed design technique.

关键词： Nonlinear systems design techniques Closed loop systems data packets Fuzzy Communication Research dropouts Student Dropouts Standing Orders Fuzzy systems

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An improved particle swarm optimization algorithm

An improved particle swarm optimization algorithm

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International Conference on Natural Computation (ICNC)

作者： Huafen Yang Dejian Kong Zuyuan Yang You Yang Dechun Dong Lihui Zhang Department of Computer Science and Engineering Qujing Normal College Qujing China School of Automatic Control and Mechanical Engineering Kunming University Kunming China School of Information Science and Engineering Chongqing Normal University Chongqing China Kunming normal college Kunming China

Particles can remember some information in an optimization process. They learn by themselves and from other particles, so the next generation can inherit much information from their parents and finally find optimal solutions. But particles are also faced with two problems of stagnating in a local but not global optimum. Genetic algorithms have strong global search ability. Genetic algorithms are combined with particles swarm optimization and an improved particles swarm optimization algorithm is proposed in this paper. The better individuals obtained by improved genetic algorithms can be improved further by particles swarm optimization. The experiments show that the proposed algorithm is better than traditional genetic algorithm and particles swarm.

关键词： Optimization Genetics Sociology Statistics Genetic algorithms Cities and towns Convergence

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Obstacle avoidance in formation using navigation-like functions and constraint based programming

Obstacle avoidance in formation using navigation-like functi...

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2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Michele Colledanchise Dimos V. Dimarogonas Petter Ögren Centre for Autonomous Systems Computer Vision and Active Perception Lab School of Computer Science and Communication The Royal Institute of Technology - KTH Stockholm Sweden Centre for Autonomous Systems Automatic Control Lab School of Electrical Engineering The Royal Institute of Technology - KTH Stockholm Sweden

In this paper, we combine navigation function-like potential fields and constraint based programming to achieve obstacle avoidance in formation. Constraint based programming was developed in robotic manipulation as a technique to take several constraints into account when controlling redundant manipulators. The approach has also been generalized, and applied to other control systems such as dual arm manipulators and unmanned aerial vehicles. Navigation functions are an elegant way to design controllers with provable properties for navigation problems. By combining these tools, we take advantage of the redundancy inherent in a multi-agent control problem and are able to concurrently address features such as formation maintenance and goal convergence, even in the presence of moving obstacles. We show how the user can decide a priority ordering of the objectives, as well as a clear way of seeing what objectives are currently addressed and what are postponed. We also analyze the theoretical properties of the proposed controller. Finally, we use a set of simulations to illustrate the approach.

关键词： Navigation Convergence Programming Collision avoidance Robots Maintenance engineering

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Evaluation of the beam wondering in free space optics by image analysis

Evaluation of the beam wondering in free space optics by ima...

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International Conference on Electronics, computers and Artificial Intelligence (ECAI)

作者： Mircea Hulea Zabih Ghassemlooy Sujan Rajbhandari School of Automatic Control and Computer Engineering Gheorghe Asachi Technical University of IaSi Iasi Romania Optical Communications Research Group Faculty of Engineering and Environment Northumbria University Newcastle upon Tyne UK University of Oxford Oxford UK

This paper proposes a simple method to determine the laser beam wandering and scattering in free space optics. The main application of this method is to determine the dimensions of a device required to compensate for beam wandering and scattering due to the air turbulences in FSO communications. The method uses color image analysis for automatic determination of the shape of the laser spot, which provides information about the spot area and the maximum amplitude of beam wandering. Results show that when the spot is photographed on a non-colored paper screen, the method is able to determine the laser spot shape accurately. Moreover, the method is robust to the variation of the screen background illumination.

关键词： Laser beams Lasers Shape Optical fiber communication Measurement by laser beam Optical imaging Atmospheric measurements

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Closed-Loop control of a Novel 2-DOF MEMS Nanopositioner with Electrothermal Actuation *

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IFAC Proceedings Volumes 2013年第5期46卷 391-398页

作者： Anthony G. Fowler Micky Rakotondrabe S.O. Reza Moheimani School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia FEMTO-ST Institute UMR CNRS 6174 - UFC / ENS MM / UTBM Automatic Control and Micro-Mechatronic Systems depart. AS2M 25000 Besançon France

The design, characterization and control of a novel 2-DOF MEMS nanopositioner is presented, with Z-shaped electrothermal actuators being used to position the device's central stage. Whereas the more commonly-used V-shaped electrothermal actuator only allows displacements in one direction, the design of the Z-shaped beams used in the presented device allows two actuators to be coupled back-to-back to achieve bidirectional motion along each of the two axes. Testing of the device shows that stage displacements in excess of ϕ5 μm are achievable for both the x and y axes. The device features integrated displacement sensors based on polysilicon electrothermal heaters, which are supplied with an electrical bias voltage that results in Joule heating. The resistance of each heater varies depending on the position of the central stage, with two heaters being used per axis in a differential configuration. The displacement measurements are utilized as part of an implemented closed-loop control scheme that uses both feedforward and feedback mechanisms based on the principle of internal model control. Experimental testing shows that the use of the controller enhances the static and dynamic performance of the system, with particular improvements being seen in the device's reference tracking, response time and cross-coupling rejection.

关键词： MEMS nanopositioning electrothermal actuator electrothermal sensor feedforward feedback

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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H∞ control of nonlinear Fuzzy descriptor system via LMI

H∞ control of nonlinear Fuzzy descriptor system via LMI

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International Conference on Electrical engineering and Software Applications (ICEESA)

作者： Assil Ayadi Amine Trabelsi Mohamed Chaabane Driss Mehdi National Engineering School of Sfax (ENIS) Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) University of Sfax Sfax Tunisia Laboratoire dInformatique et dautomatique pour les systèmes (LIAS) Université de Poitiers Poitiers France

ISBN: (纸本)9781467363020

This paper deals with the H ∞ control of nonlinear fuzzy descriptor system described by Takagi-Sugeno fuzzy models. In the first step, we present a stability analysis of nonlinear fuzzy descriptor system. The stability conditions are given in LMI form. In the second step, we have developed H ∞ PDC control law in order to reject the effects of external disturbances submitted to the system. Finally, a simulation example is presented to illustrate the mains results.

关键词： Symmetric matrices Xenon Stability analysis Mathematical model Vectors PD control Matrix decomposition

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Comparison between a backstepping mode control and a sliding mode control for a boost DC-DC converter of a photovoltaic panel

Comparison between a backstepping mode control and a sliding...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Yosra Massaoudi Tarak Damak Mariem Ghamgui Driss Mehdi National Engineering School of Sfax (ENIS) Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) University of Sfax Sfax Tunisia Laboratoire dInformatique et dAutomatique pour les systèmes (LIAS-ENSIP) Université de Poitiers Poitiers France

ISBN: (纸本)9781467364591

This paper focuses on the development of renewable energy systems. The main goal is the optimal exploitation from photovoltaic panels. Therefore, two robust control laws will be applied on the DC-DC boost converter in order to maintain a robust output voltage regulation. The first part of this communication is devoted to the backstepping mode control. In the second part, we will present the sliding mode control. Finally, we will present simulations to illustrate the validity of the proposed approaches and to compare their performances.

关键词： Backstepping Voltage control Mathematical model Sliding mode control Resistance Stability analysis Equations

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Fuzzy c-regression models based on the BELS method for nonlinear system identification

Fuzzy c-regression models based on the BELS method for nonli...

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International Conference on Electrical engineering and Software Applications (ICEESA)

作者： Borhen Aissaoui Moêz Soltani Dorsaf Elleuch Abdelkader Chaari Universite de Tunis Ecole Superieure des Sciences et Techniques de Tunis Tunis TN Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) National Engineering School of Sfax Sfax Tunisia Research Unit on Control Monitoring and Safety of Systems (C3S) (ESSTT) Tunisia

ISBN: (纸本)9781467363020

A fuzzy c-regression model clustering algorithm based on Bias-Eliminated Least Squares method (BELS) is presented. This method is designed to develop an identification procedure for noisy nonlinear systems. The BELS method is used to identify consequent parameters and eliminate the bias. The proposed approach has been applied to benchmark modeling problem which proved a good performance.

关键词： Mathematical model Clustering algorithms Equations Noise Vectors Nonlinear systems Computational modeling

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H_∞ filtering with Diagonal Interacting Multiple Model Algorithm for Maneuvering Target Tracking

H_∞ filtering with Diagonal Interacting Multiple Model Algo...

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American control Conference

作者： X. Fu Y. Jia J. Du J. Zhang W. Li X. Liu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing Key Laboratory of Intelligent Telecommunication Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunication school of Electronic and Information Engineering Beihang University (BUAA) Department of Automatic Beijing Information and Science of University

ISBN: (纸本)9781479901777

This paper is devoted to the problem of state estimate of discrete-time stochastic systems with Markov jump parameters. A robust algorithm-diagonal interacting multiple model algorithm based on H_∞ filtering (DIMMH) is presented for maneuvering target tracking when measurement noise is of unknown statistics. Extensive Monte Carlo simulations show the effectiveness and superiority of the proposed algorithm.

关键词： Maneuvering Target Tracking Markov jump parameters effectiveness Target tracking maneuvering target State estimation Filtration tracking Noise measurement Diagonal Monte Carlo technique

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