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Robust H ∞ static output feedback controllers

IFAC Proceedings Volumes 1999年第2期32卷 3709-3713页

作者： Alfonso Poncela Dept. Automatic Control and System Engineering Prof. Titular University of Valladolid Spain Paseo del Cauce s/n 47011 Valladolid Spain tel.- + 34 983423355 fax.- + 34 983423358

in this paper a general algorithm to obtain Robust H ∞ Static Output Feedback controllers is derived. The technique used is based on the transformation of the time-varying uncertainty problem into one without uncertainty and then applying the dual-iteration numerical technique of Iwasaki to the problem of determining the optimal parameters for a static H ∞ output feedback controller. To show how the method works, we apply it to a model which contains time-varying structured parameter uncertainty and is subject to external disturbances.

关键词： Robust control H-infinity control Static controllers Uncertainty

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Use of pseudo measurement to real-time target tracking

Use of pseudo measurement to real-time target tracking

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IEEE International Conference on systems, Man and Cybernetics

作者： Yaping Dai K. Hirasawa J. Murata Jinglu Hu Chunzhi Jin Zhen Liu Department of Automatic Control Beijing Institute of Technology China Department of Electrical and Electronic System Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Japan Department of Earth Resource Engineering Graduate School of Engineering Kyoto University Japan

In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and is described by an AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e., there are four measurement data: range r, azimuth /spl theta//sub a/, elevation /spl theta//sub e/ and range rate r/spl dot/). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance can be decoupled. Thus the computing requirement of the algorithm is reduced and can be performed in real time.

关键词： Target tracking Noise measurement Colored noise Coordinate measuring machines Nonlinear equations Motion measurement White noise Electric variables measurement Gain measurement Azimuth

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Interactive on-line evaluation of robot motion control

Interactive on-line evaluation of robot motion control

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Valera A. Robertsson K. Nilsson R. Johansson Department of System Engineering & Automation Valencia Technical University Valencia Spain Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Lund Institute of Technology Department of Computer Science Lund University Lund Sweden

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.

关键词： Robot motion Motion control Robot control Industrial control control systems Electrical equipment industry Service robots Robot sensing systems Safety Logic

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H∞ static output feedback controller for a seeker scan loop system

H∞ static output feedback controller for a seeker scan loop...

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Guidance, Navigation, and control Conference and Exhibit, 1998

作者： Poncela, Alfonso Schmitendorf, William E. Titular Dept. of Automatic Control and System Engineering University of Valladolid Spain Dept. of Mechanical and Aerospace Engineering University of California Irvine United States

In this paper we consider the problem of stabilizing the seeker scan loop mounted in a missile head. The system consist of a spin-stabilizing gyro-optics assembly and its driving signal processor. The model contains time-varying structured parameter uncertainty and is subject to external disturbances. Here we design a H∞ robust static output feedback controller. The technique used is based on the transformation of the time varying uncertainty problem into one without uncertainty and then applying the dual-iteration numerical technique to the problem of determining the optimal parameters for a static H∞ output feedback controller. © 1998, American Institute of Aeronautics and Astronautics, Inc.

关键词： Iterative methods

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Simulation of a component-oriented voter library for dependable control applications

Simulation of a component-oriented voter library for dependa...

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EUROMICRO Conference

作者： G. Latif-Shabgahi J.M. Bass S. Bennett Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

control systems are required to meet increasingly stringent reliability and safety constraints. In many industrial applications, arbitration between redundant subsystems using voting algorithms is popular. Many voting strategies implemented in hardware or software have been proposed, of which majority and median voters have been widely used in real applications. Detailed analysis of voters shows that they can be considered as a combination of independent components, each performing a specific function. The simulation of a component oriented model of voters is addressed. A library of components has been provided and the simulated model of component oriented model of a voter is introduced. The generality of the model supports the analysis of a large number of voter permutations. The paper presents the simulation results of a novel component oriented voter, the smoothing voter, which combines the safety properties of the majority voter with the advantages of mid value selection strategy. This work presents a first step toward the automatic insertion and implementation of voting algorithms using a software design environment.

关键词： Voting Software libraries Safety Application software Independent component analysis control systems Electrical equipment industry Hardware Performance analysis Smoothing methods

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Complete Disagreement in Redundant Real-Time control Applications

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IFAC Proceedings Volumes 1998年第4期31卷 223-228页

作者： G. Latif-shabgahi J.M. Bass S. Bennett Department of Automatic Control and System Engineering The University of Sheffield Mappin Street Sheffield S1 3JD UK

Redundant application algorithm “variants” are used to minimise errors in fault-tolerant real-time control systems. Voting algorithms arbitrate between variant results to select a single, hopefully correct, output. Both variants and voting algorithms can be implemented in either hardware or software. The behaviour of voting algorithms in multiple error scenarios is considered in this paper. Complete disagreement is defined as those cases where no two variant results are the same. A novel algorithm for real-time control applications, the smoothing voter, is introduced and its behaviour compared with previously published algorithms. Software implemented error-injection tests, reported here, show that the smoothing voter achieves a compromise between the result selection capabilities of the median voter and the safety features of the majority voter.

关键词： Fault-tolerance Embedded systems Redundancy Safety-Critical systems

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Behavioral model identification

Behavioral model identification

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IEEE Conference on Decision and control

作者： R. Johansson M. Verhaegen C.T. Chou A. Robertsson Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Department of Electrical Engineering System and Control Engineering Group TU Delft Delft Netherlands

This paper presents theory and algorithms for system identification suitable for the framework of behavioral system theory. An algorithm based on algebraic system theory and realization theory (Ho-Kalman realization) in a subspace model identification framework is presented. The novel approach considered consists of the formulation of input-output data as an impulse response model and the subsequent application of state-space realization. As a special case, behavioral model identification from finite data sequences is demonstrated.

关键词： Power system modeling system identification Context modeling Matrix decomposition control engineering Fitting Mathematical model Data analysis Linear systems Regression analysis

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Adaptivity in Human-Computer Interface systems: Identifying User Profiles for Personalised Support

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IFAC Proceedings Volumes 1998年第26期31卷 407-412页

作者： M. Dimitrova G. Johannsen H.A. Nour Eldin J. Zaprianov M. Hubert Institute of Control and System Research Bulgarian Academy of Sciences PB 79 1113 Sofia Bulgaria Laboratory for Systems Engineering and Human-Machine Systems (IMAT-MMS) University of Kassel D-34109 Kassel Germany Group of Automatic Control and Technical Cybernetics atk D-42097 Wuppertal Germany

Adaptivity for user "personalised" support is viewed as complementary to systems for cognitive support and is related to the following aspects of user modelling: individual user profile, user style/state diagnosis, context of work and mental workload prediction. The paper reports the results of an empirical study revealing a particular kind of contextual influences on user behaviour, namely, the freedom to choose the set of operations to be performed from a larger set of tasks, valid for all users at the basic skill level of performance. Stability of patterns was found on the level of minimal reaction times (RTs), but not on the level of mean RTs. Neural networks successfully generalised the minimal RT profiles across contexts.

关键词： User interfaces human-centered design mental workload interface adaptation monitoring neural networks

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A Rotating Sonar and a Differential Encoder Data Fusion for Map-Based Dynamic Localization

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IFAC Proceedings Volumes 1998年第3期31卷 183-187页

作者： Haeyong Yang Hakyoung Chung KyuCheol Park Jang Gyu Lee LG Industrial System Research & Development Center Anyang-shi Kyongki-do 430-080 Korea Department of Control and Instrumentation Engineering Seoul National Polytechnic University Seoul 139-743 Korea Automatic Control Research Center School of Electrical Engineering Seoul National University Seoul 151-742 Korea

In this paper, a dynamic localization method using a rotating sonar and a map is proposed. The proposed method is implemented by using an extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while a mobile robot is moving continuously. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error.

关键词： Dynamic Position estimation Model-based recognition Ultra sonic transducer Kalman filter

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Genetic Algorithms for Scheduling Optimization on a Multi-Product Batch Processing Machine

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IFAC Proceedings Volumes 1997年第14期30卷 115-120页

作者： L. He N. Mort Department of Automatic Control and System Engineering University of Sheffield UK

This paper describes loading polices for the scheduling problem on a multi - product batching processing machine(BPM) which can process a batch of jobs simultaneously with a known and fixed number of jobs and their ready time. The different jobs are dispatched and sequenced in order to minimize the makespan and maximize the utilization of the servers. As an extension to the basic model of previous work (Fanti et al, 1997)) for BPM scheduling, we build up the model to schedule n jobs on m identical servers in which the optimization procedure results in a complex NP-hard combinatorial problem. Genetic Algorithms(GAs) are applied to solve this scheduling problem where we apply the features of elitist strategy GAs to develop a group of MATLAB functions for solving the BPM scheduling problem. This result is the optimal solution. This experiment demonstrates that GAs can provide a robust search procedure in the optimization of scheduling problem which has high dimensionality, multi-modality, discontinuity and noise (DeJong, 1975).

关键词： Optimization Scheduling Algorithms Batch-Processing Machine Genetic Algorithms

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