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Mediterranean Conference on control and Automation (MED)

作者： Hao Ding Mingxiang Zhou Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany Institute of Automatic Control Engineering Technische Universität München Munich Germany

The task of motion planning for robotic manipulators means to drive an end-effector between designated points in the work area while obstacles are not hit. This contribution investigates the case of dynamic obstacles (like human operators) and the consideration of a performance criterion to be maximized for the motion. The proposed approach maps the dynamics of the manipulator and the obstacles into the C times T-space (spanned by the configuration C and the time T). Within this space, an (sub-)optimal sequence of configurations in the collision-free subspace is determined by mixed-integer linear programming. To achieve sufficient computational efficiency, the optimization task is approached by employing the principles of model predictive control. The paper describes the approach based on the example of a two-link robot interacting with a human operator.

关键词： Manipulator dynamics Motion planning Robots Dynamic programming Linear programming Orbital robotics Path planning Robotics and automation Trajectory Automatic control

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Low Cost RT Process control Using Windows PLC by MATLAB/Simulink Throw the REX control system by Secured Wireless Network

Low Cost RT Process Control Using Windows PLC by MATLAB/Simu...

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ICONS International Conference on systems

作者： Ondrej Krejcar Petr Konarik Department of Measurement and Control Centre for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Department of Measurement and Control Centre for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava-Poruba Czech Republic Department of Control System and Instrumentation VSB-Technical University of Ostrava Faculty of Mechanical Engineering Ostrava-Poruba Czech Republic

Paper deals with industrial realization of feedback control of demanding applications on theirs control, control algorithms and visualization together with real time control from MATLAB/Simulink Environment. Paper shows direct connection and implementation way of designed control schemas of prepared applications to an industrial WinPLC. Described is a way to produce a permanent solution in control applications that are fully prepared, designed and implemented directly from MATLAB/Simulink to the target control platform. As a part, the mentioned solution is using a multiplatform control system REX as a bridge between MATLAB and target platforms. These methods allow minimizing costs of development of control of applications, because it produces target permanent realizations in comparison to classical development methods that usually need expensive real time measurement cards and produce only one purpose development solution.

关键词： Costs Process control Programmable control MATLAB control systems Wireless networks Electrical equipment industry Industrial control Pulp and paper industry Feedback control

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Distributed state and unknown input estimation for freeway traffic flow models 10

Distributed state and unknown input estimation for freeway t...

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2009 10th European control Conference, ECC 2009

作者： Luspay, T. Kulcsar, B. Tettamanti, T. Varga, I. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute HAS Kende u. 13.-17 BudapestH-1111 Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University of Delft Mekelweg 2 Delft Netherlands Department of Control and Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2 BudapestH-1111 Hungary

ISBN: (纸本)9783952417393

The paper presents a joint state and unmeasured input estimation technique for a special class of nonlinear second order macroscopic traffic model. The freeway traffic system is transformed into a quasi and affine approximate Lin- ear Parameter Varying (LPV) form. Observer design technique is formulated using off-line optimization problem subjected to Linear Matrix Inequality (LMI) conditions, considering uncertain scheduling parameters. Furthermore, locally designed state estimators are interconnected to cover multiple freeway sections. The elaborated method is validated using real traffic measurements. © 2009 EUCA.

关键词： Linear matrix inequalities

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Increasing Reliability of Intelligent Manufacturing systems by Adaptive Optimization and Safety Supervision

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IFAC Proceedings Volumes 2009年第8期42卷 1533-1538页

作者： Hao Ding Sebastian Kain Frank Schiller Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel D-34109 Kassel Germany Institute of Information Technology in Mechanical Engineering Technische Universität München D-85748 Garching near Munich Germany

For concurrent consideration of reliability and safety of manufacturing systems on the one hand, and flexibility and performance on the other, a specialized control architecture was proposed recently. It consists of a strategic controller for online computing (sub-)optimal control strategies under consideration of dynamic models, safety specifications, and learned knowledge. The second building block is an operational controller for providing certified safety when dealing with behaviors that are not completely predictable, for instance in case of faults. This paper extends the architecture by a specific technique for the strategic controller: For the case of an intelligent manufacturing system which reacts adaptively to a human operator, control trajectories for a robot arm are computed online such that collision with the operator is excluded. The computation is based on solving a mixed-integer programming problem that takes a dynamic safety area around the operator into account as constraint.

关键词： Reliability Safety Intelligent Manufacturing systems Optimal control

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Yaw control via combined braking and steering

Yaw control via combined braking and steering

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European control Conference (ECC)

作者： B. Vanek B. Kulcsár P. Falcone G. Balas Computer and Automation Research Institute of the Hungarian Academy of Sciences Delft Center for System and Control Department of Signals and Systems Chalmers University of Technology Department of Aerospace Engineering and Mechanics University of Minnesota

Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. control is provided via a cascade connection of scheduled inverse tyre characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tyre characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.

关键词： Tires Force Mathematical model Wheels Vehicles Equations Nonlinear dynamical systems

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Optimal placement of Unified Power Flow controllers (UPFCs) using Mixed-Integer Non-Linear Programming (MINLP) method

Optimal placement of Unified Power Flow Controllers (UPFCs) ...

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IEEE General Meeting Power& Energy Society

作者： F. Aminifar M. Fotuhi-Firuzabad A. Khodaei S. O. Faried Centre of Excellence in Power System Control and Management Electrical Engineering Department Sharif University of Technology Tehran Iran Electrical and Computer Engineering Department Illinois Institute of Technology Chicago IL USA Department of Electrical Engineering University of Saskatchewan Saskatoon Canada

Utilization of unified power flow controllers (UPFCs) can be more beneficial in the restructured power systems due to their capabilities in increasing the transmission line capacities as well as shunt reactive compensation. So, these devices should be installed such that the most benefit can be gained. In this paper, the problem of optimal placement of UPFCs is solved using Mixed-Integer Non-Linear Programming (MINLP) method. Hence, the problem is completely formulated based on this method and is solved using available commercial solvers. The salient feature of this method is having potential to simultaneously determine the optimal location of multi UPFCs. Also, since a full AC Optimal Power Flow (AC-OPF) is fulfilled during this process, functional parameters of UPFCs and results of OPF are obtained finally. Some case studies are examined to illustrate the effectiveness of the proposed formulation.

关键词： Load flow Optimal control Reactive power Voltage Nonlinear control systems control systems Admittance Power systems Power transmission lines Power system control

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Train regulation for mass transit systems

Train regulation for mass transit systems

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European control Conference (ECC)

作者： Wagner E. Mendes Rafael S. Mendes Control System Group inside the Transport segment of Alstom São Paulo Department of Computer Engineering and Industrial Automation Campinas State University São Paulo Brazil

The train regulation problem is of particular importance among the scheduling problems found in mass transit systems, being characterized by trains running in urban regions taking passengers from one location to another. If the desired headway between trains, dwell-times in platforms and running times between platforms are determined and known a-priori, the steady state solution (timetable) can be calculated. However, real systems are subject to disturbances such as passengers preventing doors from closing, mechanical or electrical failures, etc., that can deviate the trains from the steady state. In this context, this work is concerned with the determination of a control law, i.e. a law for the determination of the arrival and departure times of each train on each platform in the system's cycles in order to reestablish and maintain the timetable (reference solution). The proposed control law is based on max-plus algebra concepts. The desired arrival and departure times of each train on each platform are calculated from the last occurrence instants of the system's events and from a set of matrices defined in max-plus algebra.

关键词： Europe

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Remote wireless low cost RT process control using Windows PLC by MATLAB/Simulink throw the REX control system

Remote wireless low cost RT process control using Windows PL...

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IEEE GCC Conference & Exhibition

作者： Ondrej Krejcar Petr Konarik Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Centre of Applied Cybernetics VSB-Technical University of Ostrava Ostrava Poruba Czech Republic Faculty of Mechanical Engineering Department of Control System and Instrumentation VSB-Technical University of Ostrava Ostrava Poruba Czech Republic

Paper shows direct connection and implementation way of designed control schémas of prepared applications to an industrial WinPLC. Paper deals with industrial realization of feedback control of demanding applications on their control, control algorithms and visualization together with design, implementation and real time control from MATLAB/Simulink Environment. Described is a way to produce a permanent solution in control applications that are fully prepared, designed and implemented directly from MATLAB/Simulink to the target control platform. As a part, the mentioned solution is using a multiplatform control system REX as a bridge between MATLAB and target platforms. These methods allow minimizing costs of development of control of applications, because it produces target permanent realizations in comparison to classical development methods that usually need expensive real time measurement cards and produce only one purpose development solution. As next benefit the application is created for visualization the data from RT database during the measurement and control process. This last benefit produce an interesting data from real control process to give a next reason to use of WinCon solution.

关键词： MATLAB Libraries control systems Process control Real time systems Algorithm design and analysis Servers

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Road traffic estimation with signal matching in mobile phone using large-size database

Road traffic estimation with signal matching in mobile phone...

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International Conference on Intelligent Transportation

作者： Sunisa Promnoi Poj Tangamchit Wasan Pattara-Atikom Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand

This paper presents a road traffic estimation method using a GSM mobile phone as a probe. The technique relies on localization by signal strength matching. Our emphasis is on the unusual-large size of the database. We built a module that automatically collects location-signal with one second refresh rate and carried it along a test route to collect database. To handle big database, we additionally present a noise reduction algorithm, which eliminates bad data and compacts the database. For the localization algorithm, the fast nearest neighbor strategy is applied in the database matching to reduce computation time. The position estimations which formerly implemented noise reduction are compared with the ordinary results. Furthermore, we compared the computation time of the fast nearest neighbor algorithm to the normal method. The results show that the mobile phone positioning based on signal strength pattern matching can locate its location down to 63 meter accuracy.

关键词： Mobile handsets Databases Neurons GSM Global Positioning system Nearest neighbor searches Intelligent transportation systems Signal processing Roads Cellular phones

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WinPLC control from MATLAB/Simulink Environment throw the Multiplatform control system REX by Secured Wireless Network

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IFAC Proceedings Volumes 2009年第1期42卷 13-16页

作者： Ondrej Krejcar Petr Konarik Tutsch Michal VSB-Technical University of Ostrava Faculty of Electrical Engineering and Computer Science Department of Measurement and Control Centre for Applied Cybernetics 17. listopadu 15 708 33 Ostrava- Poruba VSB-Technical University of Ostrava Faculty of Mechanical Engineering Department of Control System and Instrumentation 17. listopadu 15 708 33 Ostrava- Poruba

Paper deals with industrial realization of feedback control of demanding applications on their control, control algorithms and visualization together with design, implementation and real time control from MATLAB/Simulink Environment. Paper shows direct connection and implementation way of designed control schemas of prepared applications to an industrial WinPLC. Described is a way to produce a permanent solution in control applications that are fully prepared, designed and implemented directly from MATLAB/Simulink to the target control platform. As a part, the mentioned solution is using a multiplatform control system REX as a bridge between MATLAB and target platforms. These methods allow minimizing costs of development of control of applications, because it produces target permanent realizations in comparison to classical development methods that usually need expensive real time measurement cards and produce only one purpose development solution.

关键词： WinPLC Matlab Simulink control system REX control Real Time

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