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IEEE Aerospace Conference

作者： Ning Wang Chenguang Yang Michael R. Lyu Zhijun Li Department of Computer Science and Engineering The Chinese University of Hong Kong School of Computing and Mathematics Plymouth University Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology

ISBN: (纸本)9781479916191

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： impedance Electromyogram Human Robot Force Astronauts Force control muscles robotics

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On stability analysis and synthesis of reset control systems with output uncertainties

On stability analysis and synthesis of reset control systems...

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第三十三届中国控制会议

作者： Guanglei Zhao Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Electronics Electrical Engineering and Computer ScienceQueens University BelfastUK

ISBN: (纸本)9781479947249

This paper considers reset control systems with output *** present sufficient conditions for the quadratic stability and finite L2 gain ***,the results are extended to piecewise quadratic stability which is much less ***,an iterative algorithm is proposed to design the reset *** the obtained results are given as linear matrix inequalities(LMIs) that can be solved *** examples are given to illustrate the results.

关键词： reset control output uncertainties quadratic stability iterative algorithm

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Distributed MPC for Tracking based on Reference Trajectories

Distributed MPC for Tracking based on Reference Trajectories

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第三十三届中国控制会议

作者： Langwen Zhang Jingcheng Wang Zhengfeng Liu Kang Li Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast

ISBN: (纸本)9781479947249

In this paper, we consider the control of large-scale processes with both input and state couplings. A distributed model predictive control(MPC) strategy for tracking based on the reference trajectories is presented. The proposed distributed MPC strategy requires decomposing a large-scale system into several smaller ones and solving convex optimization problems independently. Distributed MPC tracking strategies for unconstrained and constrained processes are presented, respectively. An iterative algorithm is presented to coordinate the distributed MPC controllers. The proposed algorithm is applied to a four-tank process to demonstrate the effectiveness.

关键词： distributed MPC tracking iterative algorithm reference trajectories

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Faults and fault propagation modeling in manufacturing systems based on colored petri nets 28

Faults and fault propagation modeling in manufacturing syste...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Gerzson, Miklós Leitold, Adrien Hangos, Katalin M. Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel fault integration method is proposed in this paper for manufacturing system models given in the form of timed colored Petri nets. The faults are assumed to have a stochastic nature and are represented in the form of transitions firing in stochastic way with known fault probabilities in the system model. A novel fault effect propagation method was also developed, that can be used to compute the probabilities of the possible faulty and non-faulty intermediate and final states of the system using the probabilities of faults and the occurrence graph. The faultless and fault containing models were implemented in CPNTools both for non-timed and timed cases. A software module was also developed for the proposed probabilistic fault propagation analysis. The proposed methods and tools were demonstrated using a simple case study.

关键词： Manufacture

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On-line qualitative model-based diagnosis of technological systems using colored petri nets 28

On-line qualitative model-based diagnosis of technological s...

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28th European Simulation and Modelling Conference, ESM 2014

作者： Leitold, Adrien Gerzson, Miklós Pózna, Anna I. Hangos, Katalin M. Department of Mathematics University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Dept. of Electrical Engineering and Information System University of Pannonia P.O.B. 158 VeszprémH-8201 Hungary Process Control Research Group Computer and Automation Research Institute P.O.B. 63 BudapestH-1518 Hungary

ISBN: (纸本)9789077381861

A novel on-line diagnosis method is proposed in this paper that uses a qualitative dynamic model of the system and its colored Petri nets model. The model contains both the normal and the possible faulty operational modes of the system. The deviation between the normal and faulty modes is characterized based on P-HAZID tables. The actual system state can be searched on the occurrence graph constructed in advance. Starting from this node the possible consequences and root causes can be determined on-line with traversing on the graph. The proposed method is illustrated on simple case studies.

关键词： Petri nets

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State Feedback Tracking control for Indirect Field-oriented Induction Motor Using Fuzzy Approach

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International Journal of Automation and computing 2013年第2期10卷 99-110页

作者： M. Allouche M. Chaabane M. Souissi D. Mehdi F. Tadeo Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) National School of Engineering of SfaxUniversity of Sfax Laboratory of Computer and Automatic for System (LIAS) Higher School of Engineering of Poitiers (ESIP) University of Poitiers Department of Systems Engineering University of Valladolid

This paper deals with the synthesis of fuzzy controller applied to the induction motor with a guaranteed model reference tracking performance. First, the Takagi-Sugeno （T-S） fuzzy model is used to approximate the nonlinear system in the synchronous d-q frame rotating with field-oriented control strategy. Then, a fuzzy state feedback controller is designed to reduce the tracking error by minimizing the disturbance level. The proposed controller is based on a T-S reference model in which the desired trajectory has been specified. The inaccessible rotor flux is estimated by a T-S fuzzy observer. The developed approach for the controller design is based on the synthesis of an augmented fuzzy model which regroups the model of induction machine, fuzzy observer, and reference model. The gains of the observer and controller are obtained by solving a set of linear matrix inequalities （LMIs）. Finally, simulation and experimental results are given to show the performance of the observer-based tracking controller.

关键词： Fuzzy tracking control H∞ performance feedback controller linear matrix inequality （LMI） fuzzy observer

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A unified framework for optimality analysis of model predictive control

A unified framework for optimality analysis of model predict...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai P.R. China Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

As well-known, model predictive control is closely related to optimal control. This paper studies relationships between them and provides a unified framework for optimality analysis of model predictive controllers (MPC). The optimality is evaluated by comparing total performance of MPC with finite and infinite horizon optimal cost. Based on relaxed value iteration method, upper and lower bounds of optimality evaluation functions are expressed explicitly in terms of optimization horizon. These results reveal detailed characteristics on performance of closed-loop MPC systems due to using “receding horizon optimization” implementation style.

关键词： Optimal control Nonlinear systems Cost function Predictive control Predictive models

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Enhancing the Effectiveness of Fungicides by Optimizing Their Combinations

Enhancing the Effectiveness of Fungicides by Optimizing Thei...

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第26届中国控制与决策会议

作者： Xiang Wang Jia Ma Xiaowei Li Xiaodong Zhao Zongli Lin Jie Chen Zhifeng Shao Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Department of Resource and Environmental Science School of Agriculture and BiologyShanghai Jiao Tong University School of Biomedical Engineering Shanghai Jiao Tong University Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

In controlling biological diseases, it is often more potent to use a combination of agents than using individual ones. However, the number of possible combinations increases exponentially with the number of agents and their concentrations. It is prohibitive to search for effective agent combinations by trial and error as biological systems are complex and their responses to agents are often a slow process. This motivates to build a suitable model to describe the biological systems and help reduce the number of experiments. In this paper, we consider the use of fungicides to inhibit Bipolarismaydis and construct models that describe the responses to fungicide combinations. Three data-driven modeling methods, the polynomial regression, the artificial neural network and the support vector regression, are compared based on the experimental data of the inhibition rates of the southern corn leaf blight with different fungicide combinations. The analysis of the results demonstrates that the support vector regression is best suited to the construction of the response model in terms of achieving better prediction with fewer experiments.

关键词： agent combinations,complex system,data-driven model,polynomial regression,artificial neural network,support vector regression

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On Infinite Time Performance of Nonlinear Model Predictive controllers

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IFAC Proceedings Volumes 2014年第3期47卷 1916-1921页

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases.

关键词： Model Predictive control Finite Horizon Optimal control Value Iteration Principle of Optimality

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Further Results on the Maximal Contractively Invariant Ellipsoid of Discrete-time Linear systems with Multiple Inputs Subject to Actuator Saturation

Further Results on the Maximal Contractively Invariant Ellip...

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IEEE Annual Conference on Decision and control

作者： Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

ISBN: (纸本)9781467360890

Contractively invariant ellipsoids have been extensively used as estimates of the domain of attraction of a linear system under a saturated linear feedback. For a discrete-time linear system with a single input subject to actuator saturation, based on a convex hull representation of the saturated linear feedback, a necessary and sufficient condition for an ellipsoid to be contractively invariant was previously established. Based on this condition, the determination of the maximal contractively invariant ellipsoid can be formulated and solved as an LMI problem. In this paper, we develop a criterion to determine if a contractively invariant ellipsoid is the maximal one for discrete-time saturated linear systems with multiple inputs. This criterion is based on the solution of an LMI problem, which involves a generalized convex hull representation of saturated linear feedbacks, and includes the existing result for discrete-time saturated linear systems with a single input as a special case. Simulation results demonstrate the effectiveness of our results.

关键词： Linear system multi-input discrete-time Invariant discrete time systems linear feedback Saturated convex hull region of attraction

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