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2009 10th European control Conference, ECC 2009

作者： Chamaken, A. Litz, L. Kraemer, M. Gotzhein, R. Institute of Automatic Control Electrical Engineering and Information Technology University of Kaiserslautern Germany Networked Systems Research Group Computer Science University of Kaiserslautern Germany

ISBN: (纸本)9783952417393

A new approach to the cross-layer design of wireless networked control systems under limited computing and energy resources is presented. The idea is to provide a methodology that jointly takes the aspects of control e.g. control algorithms, Communication e.g. communication protocols, and Computation e.g. energy consumption into consideration. The design objective is the predictability and optimization of the control performance for a given control application. The control performance is a complex function of network parameters e.g. delay, packet loss, network throughput and control system parameters e.g. sampling period, control algorithm. control performance predictability and optimization can only be achieved by imposing requirements on the wireless network design. A cross-layer design methodology is shown to be very useful for this purpose. To illustrate the methodology, an inverted pendulum system with low-energy wireless network is used for the cross-layer design of control algorithms and communication protocols under computing and energy constraints. © 2009 EUCA.

关键词： Energy utilization

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A Force-Reflecting Mobile Telepresence System control Issues and Experimental Evaluation *

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IFAC Proceedings Volumes 2009年第16期42卷 407-412页

作者： Günther Schmidt Norbert Nitzsche Interactive Systems and Control Group Institute of Automatic Control Engineering Technische Universität München 80290 München Germany

Abstract This paper gives an overview of control issues of a force-reflecting mobile telepresence system, comprising a mobile haptic user interface and a mobile teleoperator. The system enables a user to walk about freely while interacting intuitively with a spacious but inaccessible remote environment. While the mobile user interface closely follows the user, the motion of the teleoperator is replicating the user's locomotion. Thus an unrestricted workspace for remote haptic interaction is achieved. Besides introducing the basic features of the mobile telepresence system, this article focuses the three level control architecture chosen and a novel scheme for position control of the nonholonomic wheel-based platforms, forming the base of both, the user interface and the teleoperator. Results of an experimental evaluation demonstrate merits and current limitations of the proposed force-reflecting telepresence approach.

关键词： Force-reflection haptic user interface Kalman filter localization mobile platform nonholonomic system position control telemanipulation telepresence

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Analytical H design for a smith-type inverse-response compensator

Analytical H design for a smith-type inverse-response compen...

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2009 American control Conference, ACC 2009

作者： Alcántara, S. Pedret, C. Vilanova, R. Zhang, W.D. Systems Engineering and Automatic Control Group ETSE Universitat Autònoma de Barcelona 08193 Bellaterra Spain Department of Automation Shanghai Jiaotong University Shanghai 200240 China

ISBN: (纸本)9781424445240

In this paper a control configuration for inverseresponse processes is presented. It results in a Smith-type predictor scheme that aims to put the non-minimum phase dynamics out of the feedback loop. The design is carried out analytically by solving an H weighted optimization problem assuming a second order stable process with one positive zero. The performance of the proposed control configuration is compared by simulation with two different approaches to show its applicability. © 2009 AACC.

关键词： Inverse problems

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New fuzzy logic-based arithmetic and visual representations for systems' modelling and optimization

New fuzzy logic-based arithmetic and visual representations ...

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IEEE International Conference on Robotics and Biomimetics

作者： Walaa Ibrahim Mahmoud Gabr Hassen Taher Dorrah Automatic Control and Systems Engineering Group Department of Electric Power and Machines Engineering Faculty of Engineering Cairo University Giza Egypt

This paper is directed towards developing two new fuzzy logic-based representations for systems modelling and optimization using the notion of the normalized fuzzy matrices. The first is the arithmetic type based on dual cell representation, expressed by replacing each parameter with a pair of parentheses, the first is the actual value and the second is corresponding fuzzy level, (value, fuzzy level). The second is the visual type based on coloured cells representation expressed by replacing each parameter by its value and a coded (newly defined negative or positive colours based on the colour Hue circle) corresponding to its fuzzy level. For both cases, the theoretical foundations of the fuzzy logic algebra are presented for various cases of operations.

关键词： Fuzzy logic Fuzzy systems Arithmetic Power engineering and energy Fuzzy control Uncertainty Large-scale systems systems engineering and theory Power system modeling automatic control

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Development of Fuzzy Logic-based Arithmetic and Visual Representations for systems' modelling and optimization of interconnected networks

Development of Fuzzy Logic-based Arithmetic and Visual Repre...

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IEEE International Conference on Robotics and Biomimetics

The foundation of new Fuzzy Logic Level Arithmetic and Visual representations, normalized fuzzy matrices, and the principle of fuzzy logic-based level tracking were developed by Gabr and Dorrah for systems modelling and optimization during all stages of formulation and solution. This new concept has an unlimited scope of generalizations and extensions to many classes of problems and systems in various disciplines. In this paper, further development of the above concept to the modelling and multi-objective linear optimization of multi-stations operating interconnected network in a fully fuzzy environment is presented. The development approach is based on a fuzzy logic-based arithmetic or visual representation incorporated in spreadsheet form with built-in using macros normal Visual Basic Application (VBA) Language. The approach is capable of accommodating an unlimited number of parameters and variables with open scales of fuzzy levels. These fuzzy levels can then be transferred at the end of solution to actual uncertainties. The approach is applied to a Case Study of 8 (eight) interconnected electric operated pump stations irrigation network of El Nasr Region at West of Delta (Egypt). The results demonstrated strongly the applicability and efficacy of the developed techniques to handle medium and large scale interconnected networks operating in a fully fuzzy environment.

关键词： Fuzzy logic Fuzzy systems Arithmetic Power engineering and energy Fuzzy control Algebra Color Power system modeling Power system interconnection automatic control

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Multi-objective linear optimization using fuzzy logic-based arithmetic and visual representations with forward and backward tracking

Multi-objective linear optimization using fuzzy logic-based ...

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IEEE International Conference on Robotics and Biomimetics

作者： Hassen Taher Dorrah Walaa Ibrahim Mahmoud Gabr Automatic Control and Systems Engineering Group Department of Electric Power and Machines Engineering Faculty of Engineering Cairo University Giza Egypt

This paper presents a new formulation of multi-objective linear optimization using the fuzzy logic-based arithmetic (or visual) representations developed originally by Gabr and Dorrah. A modified dual simplex algorithm is proposed as part of the formulation implementation procedure operating in a fully fuzzy environment. Moreover, forward and backward tracking mechanisms are incorporated with the above formulation for fuzzy level management and control. Cognitive mapping is used to describe the interaction between various parameters of the optimization formulation. Applications of the proposed approach to the multi-objective linear optimization of three stand alone electric pump stations of different sizes (Small, Medium and Large) are provided. The implementation is carried out using spread-sheet representation with the suggested optimization algorithms programmed in Visual Basic Applications (VBA). The results demonstrate the high efficacy and applicability of the fuzzy logic-based arithmetic and visual representations for real life problems operating in a fully fuzzy environment.

关键词： Fuzzy logic Arithmetic Fuzzy systems Power engineering and energy systems engineering and theory Fuzzy control automatic control Visual BASIC Robotics and automation Biomimetics

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Robust anti-windup against LTI uncertainty using frequency dependent IQCs

Robust anti-windup against LTI uncertainty using frequency d...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Morales, R.M. Heath, W.P. Li, G. Control and Instrumentation Research Group Department of Engineering University of Leicester University Road Leicester LE1 7RH United Kingdom Control Systems Research Group University of Manchester Sackville St. Manchester M60 1QD United Kingdom Automatic Control Laboratory Department of Mechanical Engineering University of Bristol University Walk Bristol BS8 1TR United Kingdom

ISBN: (纸本)9784907764296

This paper will present a study on the robustness of anti-windup systems where the plant uncertainty can be expressed by LTI norm-bounded operators. The treatment is constructed under the IQC framework of Megretski and Rantzer. Robustness of anti-windup systems against LTI uncertainty using frequency dependent IQCs are less conservative than those where plant uncertainty is addressed by static IQCs. They can however increase significantly the computational burden in the algorithms. The paper shows that sufficient conditions for robustness of anti-windup systems against LTI uncertainty can be, in some circumstances, greatly simplified. They can also be expressed in the frequency domain and interpreted graphically. The test is finally exploited for anti-windup tuning. © 2009 SICE.

关键词： Frequency domain analysis

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Cross-layer design of wireless networked control systems with energy limitations

Cross-layer design of wireless networked control systems wit...

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European control Conference (ECC)

作者： A. Chamaken L. Litz M. Kraemer R. Gotzhein Institute of Automatic Control Electrical Engineering and Information Technology University of Kaiserslautern Networked Systems Research Group Computer Science University of Kaiserslautern

关键词： Quality of service Delays Sensors Wireless sensor networks Wireless communication Protocols Packet loss

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Robust anti-windup against LTI uncertainty using frequency dependent IQCs

Robust anti-windup against LTI uncertainty using frequency d...

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SICE Annual Conference

作者： R. M. Morales W. P. Heath G. Li Control and Instrumentation Research Group Department of Engineering University of Leicester Leicester UK Control Systems Research Group University of Manchester Institute of Science and Technology Manchester UK Automatic Control Laboratory Department of Mechanical Engineering University of Bristol Bristol UK

关键词： Robustness Uncertainty Frequency dependence Robust control automatic control control systems Heat engines Temperature control Sufficient conditions Actuators

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Analytical H_(infinity) design for a Smith-type inverse-response compensator

Analytical H_(infinity) design for a Smith-type inverse-resp...

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2009 American control Conference (ACC 2009)

作者： S. Alcantara C. Pedret R. Vilanova W. D. Zhang Systems Engineering and Automatic Control Group. ETSE. Universitat Autonoma de Barcelona. 08193 Bellaterra Spain Department of Automation Shanghai Jiaotong University Shanghai 200240 P. R. China

ISBN: (纸本)9781424445233

In this paper a control configuration for inverse-response processes is presented. It results in a Smith-type predictor scheme that aims to put the non-minimum phase dynamics out of the feedback loop. The design is carried out analytically by solving an H_(infinity) weighted optimization problem assuming a second order stable process with one positive zero. The performance of the proposed control configuration is compared by simulation with two different approaches to show its applicability.

关键词： Feedback loop Design optimization Transfer functions Three-term control Steady-state Chemical processes Chemical industry Electrical equipment industry Boilers Distillation equipment

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