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IEEE Conference on control Technology and Applications (CCTA)

作者： C. Pedret A. Ibeas M. de la Sen R. Vilanova ETSE Universitat Autònoma de Barcelona Bellaterra Spain ETSE Universitat Autònoma de Barcelona Spain Systems Engineering and Automatic Control Group ETSE Universitat Autònoma Barcelona Bellaterra Spain Department of Electricity and Electronics University of Basque Country Campus of Leioa Bilbao Spain

This paper explores the use of a discretization procedure based on multirate sampling called generalized sample-data hold function (GSHF) for modeling and control purposes. Within this framework, the designer is allowed to use the degrees of freedom provided by the GSHF to deliberately cause stable pole-zero cancellations and, thus, obtaining reduced-order discrete-time models from linear continuous-time ones. This methodology is used for controller design purposes, concretely, proportional-integral-derivative (PID) control. In this way, a continuous-time process that is not suitable for PID control is discretized by means of a GSHF allowing a double benefit: complex dynamics of the continuous-time plant are removed in order to make PID control adequate and, for the reason that the order of the model is reduced, more simple tuning procedures can be used. Simulation examples have shown the applicability of the proposed approach and its usefulness providing good asymptotic tracking and smooth inter-sample behavior both in the perfectly known system and under parametric uncertainty.

关键词： Reduced order systems Three-term control Digital control Sampling methods Pi control Proportional control Stability Adaptive control Process control control system synthesis

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Active security system for an industrial robot based on artificial vision and fuzzy logic principles

Active security system for an industrial robot based on arti...

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ICINCO 2008 - 5th International Conference on Informatics in control, Automation and Robotics

作者： Fevery, B. Wyns, B. Boullart, L. Llata García, J.R. Torre Ferrero, C. Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Control Engineering Group Electronic Technology and Automatic Systems Department University of Cantabria Santander Spain

ISBN: (纸本)9789898111319

An active security system assures that interacting robots don't collide or that a robot operating independently doesn't hit any obstacle that is encountered in the robots workspace. In this paper, an active security system for a FANUC industrial robot is introduced. The active security problem where one robot needs to avoid a moving obstacle in its workspace is considered. An obstacle detection and localization mechanism based on stereoscopic vision methods was successfully developed. To connect the vision system, an operator's pc and the robot environment a real-time communication is set up over Ethernet using socket messaging. We used fuzzy logic for intelligent trajectory planning. A multitask oriented robot application in the KAREL programming language of FANUC Robotics was implemented and tested.

关键词： Fuzzy logic

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A 2DOF H∞ robust tracking design for a special type of observed state feedback controllers

A 2DOF H∞ robust tracking design for a special type of obse...

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IEEE Conference on Decision and control

作者： S. Alcantara C. Pedret R. Vilanova A. Ibeas P. Balaguer Systems Engineering and Automatic Control Group Autonomous University of Barcelona Cerdanyola Spain

ISBN: (纸本)9781424431236

A control configuration for the design of robust controllers in the general context of LTI systems (SISO, MIMO, stable, unstable) is presented. It consists of a two-degree-of-freedom control architecture constituted by a particular observed state feedback controller arising from a right coprime factorization of the plant together with a prefilter block. Before detailing the general design methodology involving the available two degrees of freedom, the feedback part of the scheme is first analyzed by its own in order to establish connections with respect to a conventional state feedback controller with full state observer. A prefilter block is added afterwards and an optimization based design procedure for the resulting two-degree-of-freedom control scheme is suggested. The feedback part is designed in regulator mode to guarantee robust stability and some performance in terms of disturbance rejection whereas the prefilter controller deals with the servo specifications given in terms of a reference model.

关键词： State feedback Open loop systems control systems Robust control Design methodology Design optimization Robust stability MIMO Robustness Transfer functions

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Kinesthetic Telepresent control with Application to Defusing of Mines - Concepts, Implementation and Evaluation

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IFAC Proceedings Volumes 2008年第2期41卷 9180-9185页

作者： G. Schmidt A. Kron Institute of Automatic Control Engineering Interactive Systems and Control Group Technische Universität München 80290 Munich Germany (Tel: + 49-89-28928396

This paper presents a novel approach to support disposal of explosive ordnances by application of bimanual haptic telepresent control techniques. For improved task execution the proposed system enables an operator to perceive multimodal feedback, in particular detailed kinesthetic and tactile feedback, from a remote task environment. Details of the developed experimental setup, comprising stereo vision, a two-handed human system interface and a corresponding two-arm teleoperator, are presented. Furthermore a novel structure adapting scheme for control of the force feedback display and the manipulator arms is introduced. The usability and effectiveness of the bimanual telepresent control system are demonstrated by focusing and evaluating as a most relevant task scenario, the execution of defusing operations in a remote task environment.

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control configuration for inverse response processes

Control configuration for inverse response processes

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Mediterranean Conference on control and Automation (MED)

作者： S. Alcantara C. Pedret R. Vilanova P. Balaguer A. Ibeas Systems Engineering and Automatic Control Group ETSE Universitat Autònoma Barcelona Bellaterra Spain

In this paper we present a control configuration for inverse response processes inspired in the Smith Predictor scheme. It is based on an inner-outer factorization and it is aimed to remove the non-minimum phase dynamics of the feedback loop. Then, the design of the feedback controller is done considering just the minimum phase part of the plant. To show the applicability of the proposed control configuration it is compared by simulation with two common approaches.

关键词： Automation Conferences

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Intelligent control Based on Reinforcement Learning for Batch Thermal Sterilization of Canned Foods

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IFAC Proceedings Volumes 2008年第2期41卷 3568-3573页

作者： S. Syafiie Carlos Vilas Miriam R. Garcia Fernando Tadeo Antonio A. Alonso Ernesto Martinez Department of Systems Engineering and Automatic Control University of Valladolid 47011 Valladolid Spain { Process Engineering Group IIM-CSIC Vigo Spain National Research Council of Argentina Avellaneda 3657 3000-Santa Fe Argentina

A control technique based on Reinforcement Learning is proposed for controlling thermal sterilization of canned food. Without using an a-priori mathematical model of the process, the proposed Model-Free Learning controller (MFLC) aims to follow a temperature profile during two stages of the process: first heating by manipulating the saturated steam valve and then cooling by opening the water valve) by learning. From the defined state-action space, the MFLC agent learns the environment interacting with the process batch to batch and then using a tabular state-action mapping. The results show the advantages of the proposed technique for this kind of processes.

关键词： Reinforcement Learning Intelligent Process control Sterilization Process Batch Process

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Robust H ∞ controller Design for Aircraft Lateral Dynamics using Multi-objective Optimization and Genetic Algorithms

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IFAC Proceedings Volumes 2008年第2期41卷 8834-8839页

作者： M Giacomán-Zarzar R Ramirez-Mendoza PJ Fleming I Griffin A Molina-Cristóbal Center for Innovation in Design and Technology Tecnológico de Monterrey Monterrey Nuevo León México (Tel: 8358-2000 Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield England Electrical Machines & Drives Group Department of Electronic and Electrical Engineering The University of Sheffield Sheffield England

Two techniques are combined during the design of an optimal controller: Linear Matrix Inequalities (LMIs) and Multi-objective Genetic Algorithms (MOGAs). In this paper the LMI optimization technique is used to obtain a single controller while MOGA is used to convert the controller design into a multi-objective optimization procedure. The combination of these techniques is proposed in this document and is shown to be advantageous against independent application of the aforementioned techniques. It is also presented how the sensitivity and complementary sensitivity functions are shaped with the weighting functions, while restricting the magnitude of the control signals by adding them as a hard objective in the MOGA approach.

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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An undergraduate laboratory course on fuzzy controller implementation in FPGAs

An undergraduate laboratory course on fuzzy controller imple...

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2007 Mediterranean Conference on control and Automation, MED

作者： Alcántara, S. Pedret, C. Vilanova, R. Moreno, R. Systems Engineering and Automatic Control Group Autonomous University of Barcelona 08193 Bellaterra Spain

In this paper the guidelines for a lab course consisting of implementing a fuzzy controller in an FPGA are given. The aim is to introduce it at the Autonomous University of Barcelona as an undergraduate lab course on ... 详细信息

ISBN: (纸本)142441282X

关键词： Field programmable gate arrays (FPGA)

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