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International Conference on control and Automation (ICCA)

作者： Miguel R. Celi Cesar De Prada Thamara Villegas Daniel Sarabia Asdrubal Aguilera Industrial Technology Department Simón Bolívar University Caracas Venezuela System Engineering and Automatic Control Department University of Valladolid Valladolid Spain Electrical and Electronic Circuit Department Simón Bolívar University Caracas Venezuela

In this paper, the authors studied the implementation issues of an explicit model predictive controller on a programmable electronic device. For the implementation of this controller is considered the programmable controller architecture, hardware and software level, so the performance is optimized ensuring the feasibility of functioning. The main outcome is a series of recommendations to help implement the explicit MPC, which are applied to design the MPC of a DC-DC converter.

关键词： Microcontrollers Process control Performance evaluation Field programmable gate arrays Mathematical model Clocks Predictive models

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Theory and Implemetion of Simulation Testing Framework for Embedded Software

Theory and Implemetion of Simulation Testing Framework for E...

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2011 9th International Conference on Reliability,Maintainability and Safety(第九届国际可靠性、维修性、安全性会议 ICRMS'2011)

作者： Yichen Wang Yikun Wang Chongwu Jiang School of reliability and system engineering Beihang University Beijing 100191 P.R.China Beijing Sinus Technology Beijing 100039 P.R.China Beijing Aerospace Automatic Control Institute Beijing 100854 P.R.China

This paper characterizes the technical difficulties and challenges faced when testing complex avionics software. With this as background, a unique Simulation Testing Framework (STF) will be introduced. The basic principles of the STF, associated technology and tools are then presented in detail and include both strategy and process of defining test methods as well as the software architecture of the distributed simulation test system (DSTS).

关键词： Embedded software simulation testing simulation testing framework model-based testing testing model distributed simulation testing system

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Hierarchical control scheme for voltage Harmonics Compensation in an islanded droop-controlled microgrid

Hierarchical control scheme for voltage Harmonics Compensati...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Mehdi Savaghebi Josep M. Guerrero Alireza Jalilian Juan C. Vasquez Tzung-Lin Lee Center of Excellence for Power System Automation and Operation Iran University of Science and Technology Iran Department of Automatic Control and Industrial Informatics Technical University of Catalonia Spain Institute of Energy Technology University of Aalborg Denmark Department of Electrical Engineering National Sun Yat-sen University Taiwan

In this paper, a microgrid hierarchical control scheme is proposed which includes primary and secondary control levels. The primary level comprises distributed generators (DGs) local controllers. The local controller mainly consists of active and reactive power controllers, voltage and current controllers, and virtual impedance loop. A novel virtual impedance structure is proposed to achieve proper sharing of non-fundamental power among the microgrid DGs. The secondary level is designed to manage compensation of voltage harmonics at the microgrid load bus (LB) to which the sensitive loads may be connected. Also, restoration of LB voltage amplitude and microgrid frequency to the rated values is directed by the secondary level. These functions are achieved by sending proper control signals to the local controllers. The simulation results show the effectiveness of the proposed control scheme.

关键词： Harmonic analysis Voltage control Power harmonic filters Impedance Frequency control Resistance

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Dynamic modelling of a single link flexible manipulator in vertical motion using swarm and genetic optimisation

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12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Md Zain, B.A. Tokhi, M.O. Tora, S.F. Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9814291269

In this research, particle swann optimisation (PSO) and genetic algorithm (GA) are used to model a single-link flexible manipulator. Investigations focus on characterizing the system from input torque to hub-angle, hub-velocity and end-point acceleration. A simulation environment characterizing the system behaviour in vertical motion is used as a platfonn to test and verifY the PSO and GA based transfer function models. The environment is based on finite difference discretisation of the goveming dynamic equation of motion of the system. The system is treated as a single-input multioutput system, and the input/output data collected is used with PSO and GA to develop models of the system based on autoregressive moving average model structure and one-step-ahead prediction. Comparative assessment of the results is presented and discussed in the time and frequency domains.

关键词： Genetic algorithms

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Modelling and simulation of a single link flexible manipulator in vertical motion

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12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Amd Zain, B. Tokhi, M.O. Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9814291269

This paper presents mathematical modelling of a single-link flexible manipulator in vertical plane motion. This extends the previously developed mathematical model for motion in the horizontal plane, where the effects of gravity, rotary inertia and shear deformation were ignored. The dynamic model of the system is obtained using the Lagrange equation. The finite difference method is used to transform this into a discrete formulation. The dynamic behaviour of the system in vertical motion is studied using the developed algorithm. Simulation results of the response of the manipulator are assessed in comparison to corresponding theoretical ones in the time and the frequency domains to verify the accuracy of the algorithm in characterizing the behaviour of the flexible manipulator system.

关键词： Flexible manipulators

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Tutorial: control issues in haptic teleoperation

Tutorial: Control issues in haptic teleoperation

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World Haptics Conference

作者： Angelika Peer Cristian Secchi Katsunari Sato Cenk Cavusoglu Institute of Automatic Control Engineering (LSR) Technische Universität München Munchen Germany DISMI University of Modena and Reggio Emilia and INFM Reggio Emilia Italy Graduate School of System Design and Management Keio University Yokohama Kanagawa Japan Department of Electrical Engineering and Computer Sciences Case Western Reserve University Cleveland OH USA

Telerobotics is one of the most traditional fields of robotics and it played a crucial role in the history of robotics and of the mankind, especially in the areas of space and undersea exploration and of remote material handling. On the other hand, teleoperation is still a very active research area and many problems are still open. In particular, the design of the control strategy for coupling local and remote site is of paramount importance for implementing telepresence, namely the feeling of being directly interacting with the remote environment. The IEEE RAS Technical Committee on Telerobotics would like to propose a half-day tutorial for illustrating several successful control strategies for implementing high performance bilateral teleoperation systems.

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An ACP-based framework for occupants safety evacuation under fire in high-rise buildings

An ACP-based framework for occupants safety evacuation under...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Yu-Ling Hu Ding Wen Xi-Wei Liu School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture Beijing China Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology Beijing China Research Center of Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha China Institute of Automation Chinese Academy and Sciences Beijing China

Because the structure and function of a high-rise building is complex and the density of occupants in it is high, fire safety is still a worldwide difficult problem. Safety and timely evacuation is an important issue under fire in the high-rise buildings. Because it is impossible in fact to do experiments about fire safety evacuation in high-rise buildings, in this paper, a research framework based on the artificial system, computational experiments, and parallel excution (ACP) theory is proposed. First, an evacuation process is considered to compose of two stages including pre-evacuation stage and evacuation stage. Second, artifical men with recognition functions based agent technology is proposed. Finally, computational experiments are designed by using an orthogonal experiment table, and experiment procedure of pre-evacuation stage is given. The idea of systimatic research about the influence of fire control facilities to evacuation is also proposed.

关键词： Fires Computational modeling Buildings

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Time-varying sliding mode control for a class of uncertain MIMO nonlinear system subject to control input constraint

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Science China(Information Sciences) 2010年第1期53卷 89-100页

作者： JIN YongQiang1,2, LIU XiangDong1, QIU Wei2 & HOU ChaoZhen1 1Department of automatic control, Beijing Institute of Technology, Beijing 100081, China 2Aerospace system engineering Shanghai, Shanghai 201108, China 1. Department of Automatic Control Beijing Institute of Technology Beijing 100081 China2. Aerospace System Engineering Shanghai Shanghai 201108 China

To solve the regulator problem of a class of uncertain MIMO nonlinear systems subject to control input constraint, three types of time-varying sliding mode control laws are proposed. The sliding surfaces pass the initial value of the system at the initial time, and are shifted/rotated towards the predetermined ones. The controller parameters are optimized by genetic algorithm (GA). Lyapunov method is adopted to prove the stability and robustness to the parameter uncertainties and external disturbance. By mean of time-varying sliding mode control law, the reaching phase in the conventional sliding mode control is eliminated, and the system is guaranteed to have robustness from the very beginning. Taking the control of two-link manipulator and attitude tracking of rigid spacecraft as two examples, we illustrate the features of the time-varying sliding mode control. The simulation results show the validity of the control law to a class of uncertain MIMO systems. Better robustness against the uncertainties and external disturbance could be achieved by time-varying sliding mode control without violating the constraint on control input.

关键词： time-varying sliding surface sliding mode control MIMO nonlinear system uncertain control input constraints

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Solution of a multi-agent transport problem by hybrid optimization

Solution of a multi-agent transport problem by hybrid optimi...

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作者： Mangesius, Herbert Sobotka, Marion Stursberg, Olaf Institute of Automatic Control Engineering Technische Universität München Germany Control and System Theory Universität Kassel Germany

ISBN: (纸本)9783902661791

As reported in earlier work, methods for hybrid optimal control can be used for optimal path planning of multi-agent systems. This paper considers a multi-vehicle transport scenario in which a hybrid model is used to represent the continuous dynamics of the vehicle motion and the dynamics arising from the docking-events between vehicles and a transported object. The decisions on the vehicles' heading and speed as well as on the docking sequence are strongly coupled and require a tailored numeric solution. The paper proposes a hierarchical solution strategy with three layers: on the upper layer a discrete event sequencing problem is solved, the middle layer determines docking positions and times, and the lower layer provides optimal vehicle paths. By a combination of graph search and embedded continuous optimal control, the efficiency of obtaining (sub-)optimal solutions is improved. The algorithm is illustrated by a scenario in which three vehicles transport one object.

关键词： Multi agent systems

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Parameter optimization of FES-assisted indoor rowing exercise using MOGA

Parameter optimization of FES-assisted indoor rowing exercis...

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Asia Modelling Symposium 2010: 4th International Conference on Mathematical Modelling and Computer Simulation, AMS2010

作者： Hussain, Zakaria Tokhi, M. Osman Jailani, Rozita Ahmad, Fadzil Faculty of Electrical Engineering Universiti Teknologi MARA Malaysia Department of Automatic Control and System Engineering University of Sheffield United Kingdom

ISBN: (纸本)9780769540627

This paper describes the parameter optimization of fuzzy logic control (FLC) of FES-assisted indoor rowing exercise (FES-rowing) using multi objective genetic algorithm (MOGA). The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities through the application of functional electrical stimulation (FES). FLC is used to control the knee and elbow trajectories for smooth rowing manoeuvre. MOGA is implemented in Matlab with a dynamic simulation model of indoor rowing exercise is developed using Visual Nastran (vN4D) software environment. MOGA is used to optimize the FES-rowing with two objective functions specified that are i) to minimize the mean squared error of knee angle trajectory and ii) to minimize the total electrical stimulation required by the muscles. In view of good results obtained, it is concluded that MOGA is able to obtain the optimal design of FLC for FES-rowing with two conflicting objectives. © 2010 IEEE.

关键词： MATLAB

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