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International Conference on Networking and Distributed Computing

作者： Chen, Hao Pan, Shuwen Xiong, Rong Wu, Jun State Key Lab. of Industrial Control Technology Zhejiang University Hangzhou 310027 China Institute of Cyber-Systems and Control Yuquan Campus Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9780769542072

A new 2D walking pattern generation method is proposed for biped robots in this paper. The key feature of the proposed method is to obtain an optimal walking pattern on-line with the largest stability in the sense of zero moment point (ZMP) subject to the constraints of torque and velocity of the joint actuators. With the aids of a 3-link dynamic model of the robot legs and third-order spline interpolation, the hip and foot trajectories of biped robots are generated and the analytical objective function of ZMP as well as constraints of joint torques and angular velocities are obtained in terms of a parameter set. A nonlinear optimization procedure is then applied to obtain the optimal parameter set for the generation of walking pattern. An illustrative example is provided to demonstrate the merits of the proposed method. © 2010 IEEE.

关键词： Dynamic models

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Robust D stabilization of singular systems with polytopic uncertainties

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控制理论与应用（英文版） 2010年第4期8卷 540-544页

作者： Jianjun BAI Hongye SU Xiaofu JI Jinfeng GAO State Key Laboratory of Industrial Control Technology Institute of Cyber-System and Control Zhejiang University Hangzhou Zhejiang 310027 China School of Electrical and Information Engineering Jiangsu University Zhenjiang Jiangsu 212013 China Institute of Automation Zhejiang Sci-Tech University Hangzhou Zhejiang 310018 China

The robust D stabilization problem is considered for singular systems with polytopic uncertainties in this *** the derivative matrix E and the state matrix A are with uncertainties,which were not considered ***,with the introduction of some free matrices,a necessary and sufficient condition for the singular system to be D stable is proposed,based on which,the robust D stable problem is solved,and a sufficient condition for the closed system to be robust D stabilizable is *** desired state feedback controller is given in an explicit *** examples show the efficiency of the proposed approach.

关键词： Singular system Robust D stabilization Free matrices LMI region

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Robust H∞ control of networked control systems with access constraints and packet dropouts

Robust H∞ control of networked control systems with access ...

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1st International Conference on Green Circuits and systems, ICGCS 2010

作者： Wu, Dongxiao Wu, Jun Chen, Sheng State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China School of Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom

ISBN: (纸本)9781424468775

We consider a class of networked control systems (NCSs) where the plant has time-varying norm-bounded parameter uncertainties, the network only provides a limited number of simultaneous accesses for the sensors and actuators, and the packet dropouts occur randomly in the network. For this class of NCSs with uncertainties and access constraints as well as packet dropouts, we derive sufficient conditions in the form of linear matrix inequalities that guarantee robust stochastic stabilisation and synthesis of H∞ controller. An example is provided to illustrate our proposed method. © 2010 IEEE.

关键词： Networked control systems

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Parameter-dependent controller design for electro-hydraulic servo system

Parameter-dependent controller design for electro-hydraulic ...

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2010 International Conference on Intelligent control and Information Processing, ICICIP 2010

作者： Weng, Falu Mao, Weijie Liang, Bo State Key Lab. of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China Jiangxi University of Science and Technology Jiangxi 341000 China AQSIQ Information Center Beijing 100088 China

ISBN: (纸本)9781424470488

This paper is concerned with the problem of robust controller design for electro-hydraulic servo systems driven by double-rod hydraulic actuators. Firstly, by introducing a linear varying parameter, an electro hydraulic servo system is described as a linear parameter varying(LPV) model. Secondly, based on this LPV model and a parameter-dependent Lyapunov approach, two parameter-dependent controllers are established for the stabilization and tracking problems, respectively. The obtained controllers are simple and their gains can vary with the parameter measured online. Finally, the numerical simulations demonstrate the satisfactory performance of the proposed controllers. © 2010 IEEE.

关键词： controllers

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The investigation on research opportunities for the applications of the Internet of Things in semiconductor wafer fabrication

The investigation on research opportunities for the applicat...

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IEEE International Conference on industrial Engineering and Engineering Management

作者： Yong-Zai Lu State Key Laboratory of Industrial Control Technology &Institute of Cyber-Systems and Control University of Zhejiang Hangzhou China

Based on the state-of-the-art technologies of the Internet of Things (IOT) and Radio Frequency Identifier (RFID) this paper introduces the concepts of IOT/RFID and investigates its open research opportunity and potent... 详细信息

ISBN: (纸本)9781424485017

关键词： Radiofrequency identification Internet Manufacturing Real time systems Production Optimization Inspection

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Passivity-based adaptive integral sliding mode control of uncertain nonlinear systems

Passivity-based adaptive integral sliding mode control of un...

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World Congress on Intelligent control and Automation (WCICA)

作者： Zhitao Liu Hongye Su Shuwen Pan State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control University of Zhejiang Hangzhou China

This paper deals with the stabilization problem of uncertain nonlinear systems by passivity-based adaptive integral sliding mode control. The systems may possess both parametric uncertainties and unknown nonlinear functions that may represent modeling errors and external disturbances. The proposed method first combines immersion and invariance adaptive control with integral sliding mode control, which preserves the advantages of the two methods, namely asymptotic stability of adaptive control in the presence of parametric uncertainties, and stronger robustness with integral sliding mode control for both parametric uncertainties and unknown bounded nonlinear functions.

关键词： Uncertainty Adaptive control Nonlinear systems Sliding mode control Damping Equations

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A new heuristic method combined with Lagrangian relaxation algorithm for Hybrid flow shop problem

A new heuristic method combined with Lagrangian relaxation a...

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IEEE International Conference on industrial Engineering and Engineering Management

作者： Xuanhao Zhou Yong-Zai Lu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control University of Zhejiang Hangzhou China

ISBN: (纸本)9781424485017

In this paper, a heuristic algorithm which embedded in the Lagrangian relaxation algorithm is proposed to obtain the near optimal solution to minimize the total weighted complete time in the Hybrid flow shop problem (HFS). Compared with the original precedence capacity relaxation algorithm proposed by Tang et al., our algorithm can produce a better solution in most cases.

关键词： Job shop scheduling Heuristic algorithms Processor scheduling Dynamic programming Parallel machines Mathematical model

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Dynamic Power Shaping control of A Continuous Fermentation Process

Dynamic Power Shaping Control of A Continuous Fermentation P...

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American control Conference

作者： Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781424474264

In this paper dynamic power shaping control is applied to a continuous fermentation process which is a benchmark problem in the nonlinear process systems. In contrast with other techniques, dynamic power shaping control yields a nonlinear state feedback that ensures the asymptotic stability of the desired equilibrium of the fermentation process. Moreover, as the biomass concentration is hardly measurable, a observer-based power shaping controller is designed and can also make the fermentation asymptotically stable. Simulation results are shown to demonstrate the close-loop performance of the proposed method.

关键词： BIOPROCESSING continuous fermentation Benchmark testing state feedback process systems Energy sources asymptotic stability region closed-loop performance Simulation results

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Recursive closed-loop subspace identification based on predictor Markov parameters

Recursive closed-loop subspace identification based on predi...

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Congress on Image and Signal Processing, CISP

作者： Youfeng Li Lei Xie Hongye Su Jian Chu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control University of Zhejiang Hangzhou China

Recursive subspace identification methods have been an active area of research in recent years. In this paper, a recursive version of a closed-loop subspace method is proposed for on-line system modeling. The algorithm is based on the predictor Markov parameters and is prone to a very simple and computationally attractive implementation. A numerical example shows the effectiveness of the proposed algorithm on the problem of closed-loop recursive identification.

关键词： Signal processing algorithms Markov processes Prediction algorithms Technological innovation Estimation Monte Carlo methods Approximation algorithms

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Hysteretic Optimization for Protein Folding on the Lattice

Hysteretic Optimization for Protein Folding on the Lattice

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International Conference on Computational Intelligence and Software Engineering (CiSE)

作者： Juan Zha Guo-Qiang Zeng Yong-Zai Lu State Key Laboratory of Industrial Control Technology& Institute of Cyber-Systems and Control University of Zhejiang Hangzhou China

Hysteretic optimization (HO) is a recently proposed optimization method based on the well-known demagnetization process of magnetic materials in physics. In this study, we apply HO to the protein folding problem, an attractive problem in computational biology, by generalizing the external field. The experimental results with benchmark problems show the proposed method is competitive with other popular algorithms, such as extremal optimization.

关键词： Proteins Optimization Lattices Computational modeling Glass Amino acids Algorithm design and analysis

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