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Adaptive wavelet backstepping control for electro-hydraulic servo systems

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2008年第5期28卷 405-409页

作者： Qiao, Ji-Hong Shi, Bing Dai, Ya-Ping Wang, Hong-Yan Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China College of Information Engineering Beijing Technology and Business University Beijing 100037 China College of Math and Computer Dali University Dali 671003 China Department of Information Engineering Academy of Armored Forces Engineering of PLA Beijing 100072 China

Adaptive an wavelet backstepping control (WARBC) systems is proposed for electro-hydraulic servo systems. Two wavelet neural networks are used to approach the arbitrary model uncertainties of electro-hydraulic servo system, and all their weights are trained online. Novel update and control laws are proposed to guarantee that all the signals in the closed-loop control system are uniformly ultimately bounded (UUB) in a Lyapunov sense. As a result, the aim of electro-hydraulic servo system's tracking control can be achieved. In addition, a robust compensator is designed to improve the tracking performance. Finally, a computer simulation example is presented to illustrate the effectiveness and applicability of the suggested proposal.

关键词： Servomechanisms

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Conflict resolution for collaborative design based on rough set theory

Conflict resolution for collaborative design based on rough ...

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International Conference on computer Supported Cooperative Work in Design

作者： Jun Ma Tian-Yuan Xiao Jian-Chao Zeng Ma Hao Department of Automation National CIMS Engineering Research Center Tsinghua University Beijing China School of Computer Science and Technology Taiyuan University of Science and Technology Taiyuan China North Automatic Control Technology Institute Taiyuan China

ISBN: (纸本)9781424416509

Due to the design knowledge discrepancy during collaborative design, conflicts can be revealed from the process of collaborative design decision. A critical element of collaborative design would be conflict resolution. The conflict resolution is correlative with both of the knowledge granulation and specific method provided. In this paper, granularity is used to describe rules acquainted based on the concept of rough degree. In this condition, A feasible distance formula between different rules is constructed according to the requirement of describing the distance between different rules and the definition of attribute significance in information system with rough theory, in which the operator of attribute importance is introduced, and then traditional conflict resolutions are analyzed. As a result, the concept of rule set evolution is put forward, and the instance is introduced to explain the efficiency of new method.

关键词： Collaboration Set theory Collaborative work Process design Design methodology Product design Phase detection Knowledge management Space technology Design automation

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 3661-4172

作者： Salvador Dominguez Eduardo Zalama Jaime G. Garcia-Bermejo Jaime Pulido Robotics Computer Vision and Real Time Division CARTIF Foundation Boecillo Valladolid Spain DepDepartment of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Comput. Vision & Real Time Div. CARTIF Found. Valladolid

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisco is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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Neural networks for disturbance and friction compensation in hard disk drives

Neural networks for disturbance and friction compensation in...

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IEEE Conference on Decision and control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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A High-Performance Extraction Method for Public Opinion on Internet

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Wuhan University Journal of Natural Sciences 2007年第5期12卷 902-906页

作者： LI Yanling DAI Guanzhong ZHU Yehang QIN Sen School of Automatic Control Northwestern Polytechnical University Xi＇an 710072 Shaanxi China Department of Computer and Command Automation The Secondary Artillery Engineering College Xi＇an 710025 Shaanxi China

Aiming at the importance of the analysis for public opinion on Internet, the authors propose a high-performance extraction method for public opinion. In this method, the space model for classification is adopted to describe the relationship between words and categories. The combined feature selection method is used to remove noisy words from the original feature space effectively. Then the category weight of words is calculated by the improved formula combining the frequency of words and distribution of words. Finally, the class weights of the not-categorized documents based on the category weight of words are obtained for realizing opinion extraction. Experiment results show that the method has comparatively high classification and good stability.

关键词： opinion extraction text categorization class spacemodel feature selection

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The research status of Complex System Integrated Health Management System (CSIHM) architecture

The research status of Complex System Integrated Health Mana...

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2007 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2007

作者： Li, Yi-Bo Li, Bing Zhang, Sen-Yue Gao, Yun-Hong Department of Automatic Control Shenyang Institute of Aeronautical Engineering ShenYang China School of Computer Shenyang Institute of Aeronautical Engineering ShenYang China Department of Management Shenyang Institute of Aeronautical Engineering ShenYang China

ISBN: (纸本)1424415292

Complex System Integrated Health Management (CSIHM) technology is developed from the Fault Detecting, Isolation and Reconfiguration (FDIR) technology;which is the integrated application of the advanced reasoning technology, artificial intelligence technology, sensor technology and information management technology. CSIHM can effectively manage the health states of many kinds of complex system for reducing the maintenance cost of an overall system and make sure the accomplishment of mission and the safety of crews by detecting the system malfunctions earlier and make deal with them automatically. Recent years, most of presented health management models, such as ISHM, IVHM and PHM etc. can be put in the category of CSIHM. This paper firstly presents the goal which CSIHM must be achieved and its activities, and then has an analysis and comparison of some representative CSIHM architectures combining with some typical cases emerged from their development course, at last presents that use the technique of concurrent engineering to conduct the design of CSIHM and the design of complex system managed by CSIHM simultaneously, the design of user interface and the development of core engine is the difficulties and hotspot problems in the research of CSIHM architecture. © 2007 IEEE.

关键词： Large scale systems

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control systems theory and applications for linear repetitive processes

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Lecture Notes in control and Information Sciences 2007年 349卷 1-476页

作者： Rogers, Eric Galkowski, Krzysztof Owens, David H. School of Electronics and Computer Science University of Southampton Southampton SO17 IBJ United Kingdom Institute of Control and Computation Engineering University of Zielona Gora Podgrna Str. 50 65-246 Zielona Gora Poland Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SI 3JD Sheffield United Kingdom

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Level-triggered control of a scalar linear system

Level-triggered control of a scalar linear system

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2007 Mediterranean Conference on control and Automation, MED

作者： Rabi, Maben Baras, John S. Automatic Control Laboratory School of Electrical Engineering Royal Institute of Technology Stockholm 100 44 Sweden Institute for Systems Research Department of Electrical and Computer Engineering University of Maryland College Park MD 20742 United States

ISBN: (纸本)142441282X

In networked control systems, because of limits on communication rates, control waveforms are frequently piece-wise constant with limits on rates at which they can switch levels. It is, therefore, natural to expect event-triggered control switchings to perform more efficiently than time-triggered ones. This article verifies the validity of this supposition. A method for designing good level-triggered control schemes is obtained by reducing the continuous time problem to one in discrete time. Then, by numerical procedures, the performance of the level-triggered scheme is computed for comparison with that of the periodically switched control scheme. © 2007 IEEE.

关键词： Networked control systems

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On the design and control of wireless networked embedded systems

On the design and control of wireless networked embedded sys...

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Joint 2006 IEEE Conference on control Applications (CCA), computer-Aided control Systems Design Symposium (CACSD) and International Symposium on Intelligent control (ISIC)

作者： Årzén, Karl-Erik Bicchi, Antonio Hailes, Stephen Johansson, Karl H. Lygeros, John Department of Automatic Control Lund University Sweden Centro E. Piaggio University of Pisa Italy Department of Computer Science University College London United Kingdom School of Electrical Engineering Royal Institute of Technology Stockholm Sweden Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)0780397975

Wireless networked embedded systems are becoming increasingly important in a wide area of technical fields. In this tutorial paper we present recent results on the design of these systems and their use in control applications, that have been developed within the project Reconfigurable Ubiquitous Networked Embedded Systems (RUNES). RUNES is a European Integrated Project with the aim to control complexity in networked embedded systems by developing robust and scalable middleware systems. New components for control under varying network conditions are discussed for the RUNES architecture. The paper highlights how the complexity of the closed-loop system is increased, due to additional disturbances introduced by the communication system: additional delays, jitter, data rate limitations, packet losses etc. Experimental work on integration test beds that demonstrates these results is presented, together with motivating links to the RUNES disaster relief tunnel scenario. ©2006 IEEE.

关键词： Embedded systems

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Optimized allocation of chlorination stations for integrated quantity and quality control in drinking water distribution systems

Optimized allocation of chlorination stations for integrated...

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作者： Drewa, M. Brdys, M.A. Department of Automatic Control Gdansk University of Technology ul G. Narutowicza 11/12 80-952 Gdansk Poland School of Engineering Department of Electrical Electronic and Computer Engineering University of Birmingham Birmingham B15 2TT United Kingdom

ISBN: (纸本)9783902661258

Providing required quality of water delivered to the consumers is still a challenging operational task at drinking water distribution systems. Water quality meets the quality requirements at the outputs from the treatment plants but it may significantly deteriorate when travelling throughout the system and become not usable at the consumption nodes. It becomes then necessary to introduce secondary chlorine disinfection at certain nodes within the system network. The booster stations are located at these quality control nodes to inject the chlorine so that the quality requirements are met throughout the network, including the consumption nodes. The integrated quality and quantity optimized control can then be safely carried out in the system. The paper proposes a method for allocation of the booster stations such that a desired trade off between several objectives is robustly achieved. An advanced genetic solver of the derived optimization task is applied to determine the optimized allocation. The method is illustrated by application to the case study system. © 2007 IFAC.

关键词： Water quality

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