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AIAA Guidance, Navigation, and control Conference

作者： Paulino, Nuno Di Sotto, Emanuele Salehi, Sohrab Kron, Aymeric Hamel, Jean-François Wang, Wenfei Menon, Prathyush P. Bates, Declan G. Papachristodoulou, Antonis Maier, Christoph GMV Tres Cantos Madrid Spain Rhea System at ESA-ESTEC Noordwijk Netherlands NGC Aerospace Mouans Sartoux France NGC Aerospace Sherbrooke Canada Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester United Kingdom Department of Engineering Science University of Oxford Oxford United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781600869624

The traditional verification and validation (V&V) process can produce sufficiently safe and reliable systems in the demanding aerospace field. But this comes at great cost and effort, with the necessary simulation of all possible operational conditions for increasingly complex control systems involving substantial autonomy. It is of interest to go beyond the statistical confidence of traditional Monte Carlo methods. New V&V methods need to cope with a large number of mission parameters and mode transitions. They must identify the worst combinations of perturbations, uncertainties and failures. Two classes of frameworks are investigated in the VVAF project: integrated V&V frameworks (IVVF) supported by simulation based analysis techniques, either integrated or with local analysis techniques to establish the global system properties;and enhanced V&V frameworks (EVVF), based on mathematical proof. Two EVVF techniques are explored: Barrier-construction and Reachability-set analysis. These guarantee fulfillment of globally exact safe operation, by the construction of barrier certificates considering nonlinearities, uncertainties and constraints. In addition, two IVVF techniques are developed: Analytical-based (AIVV) and Optimization-based (OIVV). AIVV consists of integrating and embedding frequency domain LFT-based mu-analysis techniques to exclude regions with guaranteed performance and/or identify the most critical areas, within a Monte Carlo simulation based V&V. With as few runs as possible of the non linear time simulator, local analyses can steer the global search towards the worst case. OIVV uses optimization techniques, also linked to the simulator, to identify and characterize the system worst case. Several heuristic techniques are evaluated for global parameters search, which is then refined using local optimization techniques to locate and characterize the worst case. The AIVV can also aid the OIVV by identifying search regions and promising initialization poi

关键词： Monte Carlo methods

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Quadriceps muscle models using fuzzy logic and ANFIS

Quadriceps muscle models using fuzzy logic and ANFIS

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IEEE International Conference on system engineering and Technology

作者： S. M. Salleh R. Jailani M. O. Tokhi Neuromuscular Rehabilitation Research Group Universiti Teknologi MARA Malaysia Shah Alam Selangor Department of Automatic Control and System Engineering University of Sheffied United Kingdom

This paper presents a development of quadriceps muscle models using ANFIS and Fuzzy Logic based on Functional Electrical Stimulation (FES). The models inputs parameter consists of stimulation frequency, pulse width, and sampling time are used to predict quadriceps output torque. The muscle models developed are then validate with the clinical data to evaluate the accuracy of the torque output predicted with the identified parameters. In this study, Fuzzy Logic muscle model gives better performance representing quadriceps muscle model.

关键词： Muscles Fuzzy logic Data models Force Mathematical model Biological system modeling Neuromuscular stimulation

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controllability analysis of multi objective control systems

Controllability analysis of multi objective control systems

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IEEE International Symposium on Computer Aided control system Design (CACSD)

作者： P. Stewart G.W. Jewell R.E. Clark P.J. Fleming The Electrical Machines and Drives Group the Department of Electrical Engineering University of Sheffield Sheffield UK The University of Sheffield Sheffield Sheffield GB The Department of Automatic Control and System Engineering University of Sheffield UK

The performance requirements stated in project specifications often comprise conflicting objectives. These objectives may further be a complex mix of steady state and dynamic performance. control devices such as solenoid actuators are often chosen purely on steady state force characteristics, due to the difficulty of appraising the conflicting and generally non-linear nature of the performance objectives. This can have ramifications in terms not only of the actuator performance, but also in the overall controllability of the system when closed-loop control is implemented. An example automotive application examining the multi objective controllability of electronically actuated valves is presented. Multi objective evolutionary techniques are utilised to derive the optimal force-displacement characteristics and also dynamic characteristics of the desired actuator under the constraint of design performance criteria. The selected actuator is then assessed for its controllability and dynamic performance.

关键词： controllability control system analysis control systems Actuators Vehicle dynamics Steady-state Force control Solenoids Appraisal Automotive applications

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Adaptive Multimodel Estimation for Synthesis of a Robust Stabilizer Under Imperfect Knowledge of the Plant Delay

Adaptive Multimodel Estimation for Synthesis of a Robust Sta...

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Mediterranean Conference on control and Automation (MED)

作者： S. Alonso-Quesada M. de la Sen A. Ibeas Department of Electricity and Electronics University of Basque Country (UPV-EHU) Leioa Spain System Engineering and Automatic Control Group ETSE Universidad Autónoma de Barcelona Bellaterra Spain

This paper deals with a robustly stable adaptive pole-placement based controller for a class of linear time-invariant time-delay systems with possibly locally unknown point delays under unmodeled dynamics and bounded disturbances. A multi-estimation scheme is used to improve the identification error and also to deal with possibly errors between the true basic delay compared to these used in the regression vectors of the adaptive scheme

关键词： Delay estimation Adaptive control Programmable control Uncertainty Noise robustness Adaptive systems Robust control Robust stability Error correction control systems

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Productiveness and Real Time Prices in energy management for HVAC systems

Productiveness and Real Time Prices in energy management for...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Jose Aguero Francisco Rodriguez Maria del Mar Castilla Mario Pereira University of Almeria Agrifood Campus of International Excellence (ceiA3) Automatic Control Electronics and Robotics Research Group University of Seville. Dpt. of Automation and System Engineering

ISBN: (纸本)9781479902255

As people usually perform their daily activities inside buildings, it is very important to achieve a trade-off between users' comfort and energy costs derived from it. This paper presents two novel concepts within the framework of energy-consumption management: productiveness and utility. Therefore, the main objective of this work is to provide an optimal forecast of the power consumption for an office room, as a function of Real-Time Prices (RTP) and Day-Ahead Pricing (DAP). The use of real time energy prices allows a more efficient management of thermal loads networks. In this work, a comfort control system for an office building is developed based on a new interpretation of the concepts of productiveness and utility, and a prediction of energy prices for the following day. In order to test the performance of the proposed control approach, simulation results obtained in a characteristic room of the CDdI-CIESOL-ARFRISOL building are included and discussed in detail. The preliminary results show an energy consumption saving approximately around 12%.

关键词： High Voltage Alternating Current systems Energy management office occupancy energy consumption Energy costs office buildings Power consumption Prices Buildings Daily Activities COMFORT

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ROBUST SPECIFICATION INFLUENCE ON FEEDBACK control STRATEGIES

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IFAC Proceedings Volumes 2002年第1期35卷 425-430页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía 31006 Pamplona SPAIN

The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design.

关键词： Robust control Uncertain dynamical systems Quantitative Feedback Theory

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A robust multiestimation based stable adaptive control scheme for a tandem of master-slave robotic manipulators with force reflection

A robust multiestimation based stable adaptive control schem...

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American control Conference (ACC)

作者： A. Ibeas M. de la Sen S. Alonso-Quesada System Engineering and Automatic Control Group ETSE Universidad Autónoma de Barcelona Bellaterra Spain Department of Electricity and Electronics University of Basque Country (UPV-EHU) Leioa Spain

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of the manuscript is to design a robust control law capable of improving the tracking of each robot to its corresponding reference model in comparison to existing controllers when the slave is interacting with an obstacle while guaranteeing closed-loop stability. In this way, a multiestimation-based adaptive controller is proposed. Thus, the control scheme for each robot is composed of a set of estimation algorithms running in parallel along with a supervisory index proposed with the aim of evaluating the identification performance of each one. Hence, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single estimation based controller is used. Finally, some simulation examples showing the working of the multiestimation scheme complete the paper

关键词： Robust control Adaptive control Master-slave Robots Manipulators Reflection Force control control systems Robust stability Programmable control

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Multiestimation based discrete adaptive control of LTI continuous plants with unknown bounded external time delays

Multiestimation based discrete adaptive control of LTI conti...

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American control Conference (ACC)

This paper addresses the problem of controlling an unknown continuous linear time invariant plant with external point delays using a multiestimation scheme. The plant is supposed to be unknown while the delay is also supposed to be unknown but upper-bounded with known upper bound. The control algorithm is based on a multiestimation scheme. The estimation scheme is composed of a bank of estimation algorithms running in parallel, being each one associated to a discretization of the plant with a different value of the discrete time delay. In this way, a conceptually simple control design for unknown plants with external point delays is presented. Furthermore, the scheme has revealed to be potentially capable of estimating an approximation of the actual delay of the plant as simulation examples have pointed out. This is an important novelty since nowadays there are not effective methods to estimate simultaneously the delay of the continuous plant and its parameters

关键词： Adaptive control Delay effects Delay estimation control systems Upper bound automatic control Sampling methods control design Digital control Delay systems

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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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Multi-source signals guiding swarm robots search

Multi-source signals guiding swarm robots search

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22nd International Conference on Industrial, engineering and Other Applications of Applied Intelligent systems, IEA/AIE 2009

作者： Xue, Songdong Zeng, Jianchao Du, Jing Yang, Xiaomei College of Electrical and Information Engineering Lanzhou University of Technology 85 Langongping Lanzhou Gansu 730050 China Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology 66 Waliu Road Taiyuan Shanxi 030024 China North Automatic Control Technology Institute China North Industries Group Corporation 351 South Sports Road Taiyuan Shanxi 030006 China

ISBN: (纸本)3642025676

Victim search with swarm robots on gas outburst spot in coal mines is investigated. Upon modeling swarm robotic system with extended particle swarm optimization, heterogeneous signals are fused by each robot independently as fitness evaluate. To fuse signals of intermittent sound of call for help, periodic radio frequency waves and continuous gas, concepts of detection-success binary logic and perceptual event are introduced into describing detection process. Based on statistical properties, detectable range, localization type and accuracy, priority is determined with information entropy-based criteria. Then the best-found position is decided in a distributed fashion through election operation. Simulation conducted in closed signal propagation environment indicates the approximate relation between fusion value and distance, i.e., the nearer the robot is far away from target, the higher the fusion of signals. © 2009 Springer Berlin Heidelberg.

关键词： Swarm intelligence

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