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作者： Alminde, Lars Bendtsen, Jan D. Stoustrup, Jakob Pettersen, Kristin Y. Department of Electronic Systems Section of Automation and Control Aalborg University Denmark Department of Engineering Cybernetics Norwegian University of Science and Technology Norway

ISBN: (纸本)9783902661654

This paper presents a new method for control of complex MIMO plants based on a quantised state description. The control algorithm solves a minimisation problem for a set of user defined convex control objective functions with the plant dynamics as a constraint. The solution makes use of local linear models that are effectively calculated by propagating the state on-line using a quantised state description. The method is demonstrated on a model of an autonomous underwater vehicle.

关键词： Autonomous underwater vehicles

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OBJECTIVE DIRECTED control USING LOCAL MINIMISATION FOR AN AUTONOMOUS UNDERWATER VEHICLE

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IFAC Proceedings Volumes 2007年第15期40卷 72-77页

作者： Lars Alminde Jan D. Bendtsen Jakob Stoustrup Kristin Y. Pettersen Department of Electronic Systems Section of Automation and Control Aalborg University Department of Engineering Cybernetics Norwegian University of Science and Technology

关键词： non-linear MIMO control optimisation quantised state system

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Ka-band Active Phased Array Antenna

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Journal of the National Institute of Information and Communications Technology 2007年第4期54卷 53-58页

作者： Yajima, Masanobu Kuroda, Tomonori Maeda, Tsuyoshi Shimada, Masaaki Hasegawa, Takumi Kitao, Shiro Hariu, Ken-Ichi Space Engineering Development Co. Ltd. Satellite Communications Antenna Systems Space Systems Department Satellite Payload System Section Mitsubishi Electric Corporation Space Systems Integration and Test Department Test and Quality Control Section Mitsubishi Electric Corporation

Active Phased Array Antenna (APAA) is one of mission equipment on WINDS and the frequency band is Ka band, and maximum data rate 1.2 Gbps communication will be realized by APAA. It consists of 128 element antennas and many extremely minaturized RF modules. It can scan two beams of a transmitting antenna and a receiving antenna electronically and independently. WINDS service area covers almost all of the world which is a visible region from the satellite by APAA. This paper introduces APAA role, background, functions, key technologies, and major specifications, and describes development results.

关键词： Antenna phased arrays

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Modeling and design of hybrid vehicle propulsion systems for passenger cars

Modeling and design of hybrid vehicle propulsion systems for...

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23rd International Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exposition 2007 - Sustainability: The Future of Transportation, EVS 2007

作者： Hofman, Theo Steinbuch, Maarten Van Dritten, Roëll Serrarens, Alex Technische Universiteit Eindhoven Dept. of Mechanical Engineering WH-1.127 Section Control Systems Technology Group PO Box 513 5600 MB Eindhoven Netherlands Drivetrain Innovations b.v. Croy 46 5653 LD Eindhoven Netherlands

ISBN: (纸本)9781605607931

Designing a hybrid drive train implies, that choices have to be made regarding the drive train structure, component technologies, and - sizes. Designing an appropriate Energy Management Strategy (EMS), that facilitates the usage of the chosen components and drive train structure to its best performance is complementary to the overall design problem. Due to the complexity of hybrid vehicle drive trains, the design of topologies, component technologies, and the control strategy forms a considerable challenge for engineers. This paper presents a modeling and design approach in characterizing the component technologies, determining the optimal degree-of-hybridization for the drive train, and designing the control strategy of a hybrid drivetrain for passenger cars.

关键词： Energy utilization

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NONLINEAR NETWORK STRUCTURES FOR FEEDBACK control

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Asian Journal of control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

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A Stable Output Feedback Position control With Integral Action For Robot Manipulators

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Asian Journal of control 2008年第2期5卷

作者： Jose Alvarez-Ramirez Rafael Kelly Ilse Cervantes Universidad Autonoma Metropolitana-Iztapalapa Apartado Postal 55–534 Mexico D.F. 09340 MEXICO. Departamento de Fisica Aplicada CICESE Apartado Postal 2615 Ensenada B.C. 22800 MEXICO. Ilse Cervantes was born in Mexico City in 1973. She received the Ph.D. degree in Applied Mathematics from the Universidad Autónoma Metropolitana in 2000. She is currently a full-time professor at the Postgraduate Studies Section of the Mechanical and Electrical Engineering School (National Polytechnic Institute). Her research interests include nonlinear systems dynamics and control control of electromechanical systems and real time control applications. Sección de Estudios de Posgrado e Investigación Escuela Superior de Ingenieria Mecanica y Electrica Campus Culhuacan. Av. Santa Ana 1000 Col. San Francisco Culhuacan Mexico D.F. 04430 MEXICO. Rafel Kelly was born in Monterry Mexico in 1959. He received the B.S. degree in physics form the Instituto Tecnologico y de Estudios Superiores de Monterrey Mexico and the Ph.D. degree in automatic control from the Institut National Plytechnique de Grenoble Grenoble France in 1980 and 1986 respectively. He is currently a Professor at the Centro de Investigacion Cientifica y de Educacion Superior de Ensenada (CICESE) Mexico. His research interests include adaptive control systems robot control vision systems and neural networks.

In this paper, the problem of robust regulation of robot manipulators using only position measurements is addressed. The main idea of the control design methodology is to use an observer to estimate simultaneously the velocity and the modeling error signal induced by model/system mismatches. The controller is obtained by replacing the velocity and the modeling error in an inverse dynamics feedback by their estimates, which leads to a certainty equivalence controller. The resulting controller has a PID-type structure which, under least prior knowledge, reduces to the PI 2 D regulator studied in [20]. Moreover, the controller is endowed with a natural antireset windup (ARW) scheme to cope with control torque saturations. Regarding the closed-loop behavior, it is proven that the region of attraction can be arbitrarily enlarged with high observer gains only, thus we prove semiglobal asymptotic stability. Our result supersedes previous works in the direction of performance estimates; specifically, it is also proven that the performance induced by a saturated inverse dynamics controller can be recovered by our PID-type controller. In this sense, our work reveals some connections between PID-type and inverse dynamics controllers.

关键词： Robot position control output feedback semiglobal stability robust performance

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Performance tests of critical elements for pilot engine

Performance tests of critical elements for pilot engine

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43rd AIAA/ASME/SAE/ASEE Joint Propulsion Conference

作者： Yoshida, Makoto Takada, Satoshi Aoki, Hiroshi Kurosu, Akihide Naruo, Yoshihiro Niu, Kenichi 1 Koganezawa Kimigaya Kakuda Miyagi 981-1525 Japan Mitsubishi Heavy Industries Co. Ltd. 1200 Higashi-tanaka Komaki Aichi 485-8561 Japan Rocket Engine System Section Rocket Engine Technology Center ISTA AIAA Mechanism and Structure Section Rocket Engine Technology Center ISTA High-reliability System Design Section Rocket Engine Technology Center ISTA Office of Space Flight and Operations 2-1-1 Sengen Tsukuba Ibaraki 305-8505 Japan Department of Space Systems and Astronautics ISAS 3-1-1 Yoshinodai Sagamihara Kanagawa 229-8510 Japan Liquid Rocket Design Section Engine and Control Equipment Engineering Department

ISBN: (纸本)1563479036

A pilot engine project was initiated to demonstrate the feasibility of a new method of rapid development using a small-sized engine and to provide feedback for development of an actual flight model engine. Fundamental engineering tests for critical elements of the engine were selected from both a technological standpoint and by the QFD method. The critical performance tests of the bearings showed a good operational range at the 30% throttling condition, even though the pressure around the bearings was lower than the critical pressure.

关键词： Engines

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A New Research Field and A New Society, Complex Medical engineering

A New Research Field and A New Society, Complex Medical Engi...

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2007 IEEE/ICME International Conference on Complex Medical engineering-CME2007(CME2007 第二届国际复合医学工程学术大会)

作者： Jinglong Wu Mark Hallett Department of Intelligent Mechanical Systems Faculty of Engineering Kagawa University Hayashi-cho Human Motor Control Section Medical Neurology Branch NINDS NIH 10 Center Drive MSC 1428 Bethesd

The human neural mechanism is a complex system. The solution of many neuroscience complex problems involves highly coordinated and highly interdisciplinary research efforts between neuroscientists and biomedical engineers. The neuroscience and the biomedical engineering are melded into a new international society, known as Institute of Complex Medical engineering (ICME). Complex Medical engineering (CME) consists of neuroscience, neurology, biomedical robotics and biomedical informatics, using medical and engineering methods to understand the complex system of human neural mechanisms, and to apply the basic findings to technology. The goal of ICME is to establish a new forum for this interdisciplinary field of neuroscientists and biomedical engineers to discuss their investigations in same conference (symposium), and publish their research work in one periodical. The CME can bridge the gap between medicine & engineering and science & technology. The CME focuses on the complex problems in the medicine and engineering fields, and tries to solve their problems in order to find simple theories and unique tools to help us to reach new understanding and help develop better methods of improving patients' lives.

关键词： Biomedical engineering Biomedical imaging Neuroscience Medical diagnostic imaging Humans Nervous system Optical control Biomedical computing Biomedical optical imaging Biomedical informatics

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A 'Kane's Dynamics' model for the active rack isolation system. Part one: A linearised model

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International Journal of Vehicle systems Modelling and Testing 2007年第2期2卷 153-192页

作者： Hampton, Roy David Beech, Geoffrey S. Subba Rao, Nagendra N. Rupert, Jason K. Kim, Young K. Civil and Mechanical Engineering Department US Military Academy West Point NY 10996 United States Vehicle Analysis Branch Spacecraft and Vehicle Systems Department Engineering Directorate Mail Stop: EV12 Huntsville AL 35812 United States Sagamigaoka-1-34-20 Granero Yosiyama-201 Japan Simulation and Analysis Section Missile and Aviation Systems Department Dynetics Inc. 1000 Explorer Boulevard Huntsville AL 35806 United States Control Systems Design and Analysis Branch Flight Mechanics and Analysis Division Engineering Directorate Mail Stop: EV41 Huntsville AL 35812 United States

Many microgravity space-science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) addresses these isolation requirements on the International Space Station (ISS) at the rack level. Effective model-based vibration isolation requires • an appropriate isolation device • an adequate dynamical model of that isolator • a suitable, corresponding controller. ARIS provides the ISS response to the first requirement. This paper presents the use of 'Kane's Dynamics' to develop a state-space, analytical (algebraic) set of linearised equations of motion meeting the second requirement, for use in addressing the third via optimal controller design. Copyright © 2007 Inderscience Enterprises Ltd.

关键词： Spacecraft

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A 'kane's dynamics' model for the active rack isolation system. Part 2: Non-linear model development, verification and simplification

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International Journal of Vehicle systems Modelling and Testing 2007年第3期2卷 227-251页

作者： Hampton, R. David Beech, Geoffrey S. Subba Rao, Nagendra N. Rupert, Jason K. Kim, Young K. Civil and Mechanical Engineering Department US Military Academy West Point NY 10996 United States Vehicle Analysis Branch Spacecraft and Vehicle Systems Department NASA Marshall Space Flight Center Huntsville AL 35812 United States Zama Shi Sagamigaoka-1-34-20 Granero Yosiyama-201 Japan Simulation and Analysis Section Missile and Aviation Systems Department Dynetics Inc. 1000 Explorer Boulevard Huntsville AL 35806 United States Control Systems Design and Analysis Branch Flight Mechanics and Analysis Division NASA Marshall Space Flight Center Huntsville AL 35812 United States

Boeing's Active Rack Isolation System (ARIS) isolates microgravity space-science experiments on the International Space Station (ISS) against station-induced disturbances, at the level of the International Standard Payload Rack (ISPR). Part 1 of this documentation presented a linearised model of ARIS, hand-developed via Kane's method. Part 2, below, reports the use of software packages to develop and verify a corresponding non-linear model, without umbilicals. The model is first verified against a 'truth' model, then linearised to match the model of Part 1, and finally simplified using reasonable negligible-inertia assumptions. The resulting models all show nearly identical, and physically reasonable, dynamical responses. Copyright © 2007, Inderscience Publishers.

关键词： Microgravity

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