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IEEE International Symposium on Industrial Electronics (ISIE)

作者： K. Galkowski E. Rogers D.H. Owens Inst. of Telecommun. & Acoust. Tech. Univ. Wroclaw Poland Depaertment of Electrical and Computer Science Image Speech and Intelligent Systems Group University of southampton Southampton UK School Engineering Centre for Systems and Control Engineering Engineering Building University of Exeter Exeter UK

The general question considered in this paper is how to embed the 2D dynamics of discrete linear repetitive processes into a standard (1D) linear state space model for control related analysis. Previous work had obtained a partial answer in the form of an affine model structure due to a time varying term arising from the initial conditions on each pass. This paper shows how this term can be removed by state variable transformations and hence complete the solution of this general question.

关键词： State-space methods Vectors Equations

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Integrating evolutionary computation with neural networks

Integrating evolutionary computation with neural networks

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Electronic Technology Directions to the Year 2000

作者： E. Vonk L.C. Jain L.P.J. Veelenturf R. Hibbs Control Systems and Computer Engineering Group BSC Laboratory for Network Theory Department of Electrical Engineering University of Twente Enschede Netherlands Knowledge-based Engineering Systems Group School of Electronic Engineering University of South Australia Adelaide Australia

There is a tremendous interest in the development of the evolutionary computation techniques as they are well suited to deal with optimization of functions containing a large number of variables. This paper presents a brief review of evolutionary computing techniques. It also discusses briefly the hybridization of evolutionary computation and neural networks and presents a solution of a classical problem using neural computing and evolutionary computing techniques.< >

关键词： Evolutionary computation Neural networks Biological cells Genetic programming Genetic algorithms systems engineering and theory computer networks Knowledge engineering Genetic mutations control systems

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Neural network applications

Neural network applications

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Electronic Technology Directions to the Year 2000

作者： E. Vonk L.C. Jain L.P.J. Veelenturf Control Systems and Computer Engineering Group BSC Laboratory for Network Theory Department of Electrical Engineering University of Twente Enschede Netherlands Knowledge-based Engineering System Group School of Electronic Engineering University of South Australia Adelaide Australia

Artificial neural networks, also called neural networks, have been used successfully in many fields including engineering, science and business. This paper presents the implementation of several neural network simulat... 详细信息

关键词： Neural networks Neurons Artificial neural networks systems engineering and theory Hopfield neural networks Process control Knowledge engineering Supervised learning Clustering algorithms Application software

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Automatic generation of a neural network architecture using evolutionary computation

Automatic generation of a neural network architecture using ...

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Electronic Technology Directions to the Year 2000

作者： E. Vonk L.C. Jain L.P.J. Veelenturf R. Johnson Control Systems and Computer Engineering Group BSC Laboratory for Network Theory Department of Electrical Engineering University of Twente Enschede Netherlands Knowledge-based Engineering System Group School of Electronic Engineering University of South Australia Adelaide Australia Weapons Systems Division Defence Science and Technology Organisation Salisbury SA Australia

This paper reports the application of evolutionary computation in the automatic generation of a neural network architecture. It is a usual practice to use trial and error to find a suitable neural network architecture. This is not only time consuming but may not generate an optimal solution for a given problem. The use of evolutionary computation is a step towards automation in architecture generation. In this paper a brief introduction to the field is given as well as an implementation of automatic neural network generation using genetic programming.< >

关键词： Neural networks computer architecture Evolutionary computation Genetic programming Network topology Genetic algorithms Biological cells systems engineering and theory Knowledge engineering Australia

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Stability of switched and hybrid systems

Stability of switched and hybrid systems

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IEEE Conference on Decision and control

作者： M.S. Branicky Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Center for Intelligent Control Systems Massachusetts Institute of Technology USA

This paper outlines some preliminary work on the stability analysis of switched and hybrid systems. The hybrid systems considered are those that combine continuous dynamics, represented by differential or difference equations, with finite dynamics usually thought of as being a finite automaton. Here, we concentrate on the continuous dynamics and model the finite dynamics as switching among finitely many continuous systems. We introduce multiple Lyapunov functions as a tool for analyzing Lyapunov stability of such "switched systems". We use iterated function systems theory as a tool for Lagrange stability. We also discuss the case where the switched systems are indexed by an arbitrary compact set.< >

关键词： Stability Switched systems Difference equations Differential equations Automata Lyapunov method intelligent control Lagrangian functions control systems Laboratories

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Utilization of torque wheels for active damping of flexible manipulators

Utilization of torque wheels for active damping of flexible ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Khorrami A.A. Gomez M.D. Hills Polytechnic University School of Electrical Engineering 4 Computer Science Control/Robotics Research Laboratory Brooklyn NY USA Bernoulli Optical Systems Company Danbury CT USA Control/Robotics Research Laboratory (CRRL) School of Electrical Engineering 4 Computer Science University of California Brooklyn NY USA

Utilization of inertial actuators, such as torque wheels, for vibration damping of a single-link flexible manipulator is considered. The torque wheel is mounted at the end effector of the manipulator to provide a bending moment at the tip for vibration suppression and pointing purposes. The torque exerted by the torque wheel at the end-effector of the manipulator is achieved through controlling the velocity of the torque wheel. A decentralized control scheme is advocated in this paper for slewing and vibration suppression. The local loop around the torque wheel is closed through feedback of the accelerometer signal at the tip. Experimental results are provided to show the effectiveness of the proposed method for end-effector positioning of flexible-link manipulators. Although the experimental results reported are for a single-link flexible manipulator, the results are applicable to the multi-link case. It may be shown that the dynamics from the voltage input to the torque wheel mounted at the tip to the tip position is minimum phase and hence invertible given that an inner-loop controller has been applied to stabilize the rigid-body motion.< >

关键词： Wheels Damping Torque control Manipulator dynamics Actuators End effectors Velocity control Distributed control Vibration control Feedback loop

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Worst Case Identification of Continuous time systems via Interpolation

Worst Case Identification of Continuous time Systems via Int...

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American control Conference (ACC)

作者： Jie Chen Guoxiang Gu Carl N. Nett Schools of AeroSpace and Electrical Engineering Georgia Institute of Technology Atlanta GA USA Department of Electrical and Computer Engineering Louisiana State University Baton Rouge LA USA Laboratory for Identification and Control of Complex Highly Uncertain Systems(LIC-CHUS) School of Aerosapce Engineering Georgia Institute of Technology Atlanta GA USA

We consider a worse case control oriented identification problem recently studied by several authors. This problem is one of the H∞ identification in the continuous time setting. We give a less conservative formulation of this problem. The available apriori information consists of a lower bound on the relative stability of the plant, a frequency dependent upper bound on a certain gain associated with the plant, and an upper bound on the noise level. The available experimental information consists of a finite number of noisy plant point frequency response samples. The objective is to identify from the given apriori and experimental information an uncertain model that includes a stable nominal plant model and a bound on the modeling error measured in H∞ norm. Our main contributions include both a new identification algorithm and several new explicit lower and upper bounds on the identification error. The algorithm proposed belongs to the class of interpolatory algorithms which are known to possess a desirable optimality property under a certain criterion. The error bounds presented improve upon the previously available ones in both the aspects of providing a more accurate estimate of the identification error as well as establishing a faster convergence rate for the proposed algorithm.

关键词： Continuous time systems Interpolation Upper bound control systems Frequency Convergence Sampling methods Stability Noise level System identification

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Optimal Non-Parametric System Identification From Arbitrary Corrupt Finite Time Series: A control-Oriented Approach

Optimal Non-Parametric System Identification From Arbitrary ...

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American control Conference (ACC)

作者： Jie Chen Carl N. Nett Michael K. H. Fan Schools of Aerospace and Electrical Engineering Georgia Institute of Technology Atlanta GA USA Laboratory for Identification and Control of Complex Highly Uncertain Systems (LICCHUS) School of Aerospace Engineering Georgia Institute of Technology Atlanta GA USA Computer-Aided Control Systems Engineering Laboratory (CACSEL) School of Electrical Engineering Georgia Institute of Technology Atlanta GA USA

In this paper we formulate and solve a control-oriented system identification problem for single-input, single-output, linear, shift-invariant, distributed parameter plants. In this problem the available apriori information is minimal, consisting only of worst-case/deterministic, time dependent, upper and lower bounds on the plant impulse response and the additive output noise. The available aposteriori information consists of a corrupt finite output time series obtained in response to a known, non-zero but otherwise arbitrary, applied input. A novel system identification method is presented for this problem. This method maps the available apriori and aposteriori information into an "uncertain model" of the plant. The resulting uncertain plant model is comprised of a nominal plant model, a bounded additive output noise, and a bounded additive model uncertainty. The upper bound on the model uncertainty is explicit, worst-case/deterministic in nature, and expressed in terms of both the l 1 and H ∞ system norms. Under the assumption that the available apriori information is "correct" for the underlying physical plant, the resulting uncertain plant model has the property that it not only "explains" the available aposteriori information, but will also explain all aposteniori information observed in the future. Because this property hinges on the correctness of the available apriori information, a method is also presented for developing confidence that the available apriori information is in fact correct.

关键词： System identification Optimal control control systems Additive noise Robust control Uncertainty Noise level Aerospace engineering Upper bound Fasteners

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Sufficient Conditions for the Robust Stability of systems with Multiaffine Parameter Dependence

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IFAC Proceedings Volumes 1992年第21期25卷 168-171页

作者： B.D.O. Anderson F.J. Kraus M. Mansour S. Dasgupta Department of Systems Engineering Research School of Physical Sciences and Engineering Australian National University GPO Box 4 Canberra ACT 2601 Australia. Automatic Control Laboratory ETH Zurich 8092 Zürich Switzerland Department of Electrical & Computer Engineering University of Iowa Iowa City lA 52242 USA.

A number of robust stability problems take the following form: A polynomial has real coefficients wvhich are multiaffine in real parameters that are confined to a box in parameter space. An efficient method is required for checking the stability of this set of polynomials. We present two sufficient conditions in this paper. They involve: checking certain properties at the corners and edges of the parameter space box.

关键词： Robust Stability Multiaffine Parameter Dependence

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An Integrated Approach to controls and Diagnostics Using the Four Parameter controller

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IEEE control systems 1991年第6期11卷 22-29页

作者： Jacobson, C.A. Nett, C.N. Department of Electrical and Computer Engineering Northeastern University Boston MA 02115 United States School of Aerospace Engineering Laboratory for Identification Control of Complex Highly Uncertain Systems (LICCHUS) Georgia Institute of Technology Atlanta GA 30332-0150 United States

This paper presents a foundation for an integrated approach to the design of controls and diagnostics in reliable control systems. In this approach the control module and diagnostic module of the control system are designed together, instead of independently, thereby accounting for the interactions which occur between these two modules in a functioning control system. This approach makes use of a generalization of the familiar two parameter controller known as the four parameter controller. This controller has two vector inputs (rather than one) and two vector outputs;correspondingly, this controller is comprised of four matrix parameters (rather than two). The additional controller output may be viewed as a diagnostic output which is monitored to detect and isolate sensor and actuator faults. The presentation develops a parameterization of all four parameter controllers, delineates the fundamental limitations and inherent tradeoffs governing the design of controls and diagnostics, and gives special attention to the issues of control/diagnostic interaction and uncertainty. Several means for effectively resolving these design tradeoffs are proposed and illustrated by way of an example. © 1991 IEEE

关键词： control systems Fault detection Jacobian matrices Monitoring Actuators Neutron spin echo Research and development Aerospace engineering Laboratories Uncertain systems

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