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Embedded linear model predictive control for 8-bit microcontrollers via convex lifting

IFAC-PapersOnLine 2017年第1期50卷 10697-10704页

作者： Gulan M. Takács G. Anh Nguyen N. Olaru S. Rodriguez-Ayerbe P. Rohaľ-Ilkiv B. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Námestie slobody 17 Bratislava 812 31 Slovakia Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Altenberger Straße 69 Linz A-4040 Austria Laboratory of Signals and Systems CentraleSupélec-CNRS-Univeristé Paris Sud Univeristé Paris-Saclay 3 rue Joliot Curie Gif-sur-Yvette 911 90 France

This paper demonstrates an efficient approach for the implementation of parametric programming solutions to linear model predictive control problems. The emphasis is put namely on embedded hardware applications where feasible size and online evaluation of the controller code can be mission critical. As the explicit solutions are known to become quickly intractable for such a purpose once the amount of problem data grows, we exploit the concept of convex lifting of a given parameter space partition, and use it to avoid its storage and to replace the traditional point location with a significantly less costly procedure. In this light we practically illustrate the deployment of generated code on an 8-bit microcontroller unit, representing the class of low-cost embedded controllers built into mass-produced devices, in an active vibration suppression case study accompanied by a detailed performance, memory and timing analysis. © 2017

关键词： complexity reduction convex lifting explicit solution microcontroller real-time embedded predictive control

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Sliding Mode Control Technique for Multi-switching Synchronization of Chaotic systems

Sliding Mode Control Technique for Multi-switching Synchroni...

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2017 9th International Conference on Modelling, Identification and Control (ICMIC 2017)

作者： Shikha Singh Ahmad Taher Azar Adel Ouannas Quanmin Zhu Weicun Zhang Jing Na Faculty of Natural Sciences Jamia Millia Islamia Faculty of Computers and Information Benha UniversityEgypt and Nile University Laboratory of Mathematics Informatics and Systems (LAMIS) University of Larbi Tebessi Department of Engineering Design and Mathematics University of the West of England School of Automation and Electrical Engineering University of Science and Technology Beijing

In this manuscript,a sliding mode control technique is proposed for multi-switching synchronization of chaotic systems in which state variables of a master system are synchronized with different state variables of a slave *** on the sliding mode control technique and Lyapunov stability theory,the suitable controllers are designed for different *** implement this methodology,Lorenz chaotic system is taken as a master system and Pehlivan chaotic system is taken as a slave *** results are carried out to justify the theoretical results and revealed that the error dynamics tends to zero and required synchronization is obtained.

关键词： Sliding Mode Control Chaos control Lya punov stability Multi-Switching Synchronization

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State feedback H∞ control of switched linear singularly perturbed systems 7

State feedback H∞ control of switched linear singularly per...

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7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016

作者： Chen, Xuan Chen, Jinxiang College of Electric Power Engineering Inner Mongolian Polytechnical University Huhehaote Inner Mongolian Region010080 China State Key Laboratory of Hybrid Process Industry Automation Systems and Equipment Technology Automation Research and Design Institute of Metallurgical Industry China Iron and Steel Research Institute Group 100081 China

ISBN: (纸本)9781467383189

State feedback H∞ control problem for switched linear singularly perturbed systems (SLSPSs) is investigated in this paper. A switched linear singularly perturbed model is constructed to describe uncertain singularly perturbed systems. State feedback H∞ controller gains are obtained by solving a set of linear matrix inequalities (LMIs). A numerical example is presented to illustrate the effectiveness of the proposed approach. © 2016 IEEE.

关键词： State feedback

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Construction of convex liftings based on halfspace representation

Construction of convex liftings based on halfspace represent...

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American Control Conference

作者： N. A. Nguyen S. Olaru P. Rodriguez-Ayerbe M. Gulan the Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria the Laboratory of Signals and Systems (L2S UMR CNRS 8506) CentraleSupélec-CNRS-Université Paris Sud 3 rue Joliot Curie Plateau de Moulon 91192 Gif-sur-Yvette France. Sorin. Olaru the Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781509045839

This paper presents a new algorithm to construct convex lifting for a given polyhedral partition whenever it exists. This algorithm exclusively relies on the halfspace representation of the regions in the respective partition. Also, this algorithm is applicable for the general polyhedral partitions of polyhedra, and thus overcomes the limitation on the polytopic partitions of the existing algorithm based on the vertex representation. Finally, the importance of the proposed algorithm is clarified via some numerical examples, in particular in implementation of piecewise affine controllers. Accordingly, the convex lifting concept is shown to be useful to both avoid storing the state-space partition and to facilitate the online evaluation.

关键词： whenever exists algorithm

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Time-optimal motion planning for n-DOF robot manipulators using a path-parametric system reformulation

Time-optimal motion planning for n-DOF robot manipulators us...

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American Control Conference

作者： Robin Verschueren Niels van Duijkeren Jan Swevers Moritz Diehl Systems Control and Optimization Laboratory Department of Microsystems Engineering University of Freiburg Germany Division of Production engineering Machine design and Automation Department of Mechanical Engineering KU Leuven Belgium

ISBN: (纸本)9781467386838

Time-optimal motion planning for robotic manipulators consists of moving the robot along a path in Cartesian space as fast as possible. In contrast to time-optimal path following, small deviations from a predefined path are acceptable and can be exploited to further reduce the overall motion time. In this paper, we present a new method to compute time-optimal motions around a path. By employing an appropriate change of variables for the robot dynamics to path coordinates, geometric constraints enter the optimal control formulation in a convenient way. The reformulation of the robot dynamics and the path constraints is illustrated with numerical examples.

关键词： Robot kinematics Optimization Manipulators Dynamics Vehicle dynamics Optimal control Robot kinematics robot dynamics Manipulators Optimal control Vehicle dynamics motion planning Robot Manipulator dynamics Byways geometric constraint

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State Feedback H∞ Control of Switched Linear Singularly Perturbed systems

State Feedback H∞ Control of Switched Linear Singularly Per...

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2016 IEEE Chinese Guidance, Navigation and Control Conference (IEEE CGNCC2016)

作者： Xuan Chen Jinxiang Chen College of Electric Power Engineering Inner Mongolian Polytechnical University State Key Laboratory of Hybrid Process Industry Automation Systems and Equipment Technology Automation Research and Design Institute of Metallurgical IndustryChina Iron & Steel Research Institute Group

ISBN: (纸本)9781467383196

State feedback H control problem for switched linear singularly perturbed systems（SLSPSs） is investigated in this paper.A switched linear singularly perturbed model is constructed to describe uncertain singularly perturbed *** feedback H controller gains are obtained by solving a set of linear matrix inequalities（LMIs）.A numerical example is presented to illustrate the effectiveness of the proposed approach.

关键词： State Feedback H Control of Switched Linear Singularly Perturbed systems

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Publisher Correction: The Scales Project, a cross-national dataset on the interpretation of thermal perception scales

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Scientific data 2020年第1期7卷 11页

作者： Marcel Schweiker Amar Abdul-Zahra Maíra André Farah Al-Atrash Hanan Al-Khatri Rea Risky Alprianti Hayder Alsaad Rucha Amin Eleni Ampatzi Alpha Yacob Arsano Montazami Azadeh Elie Azar Bannazadeh Bahareh Amina Batagarawa Susanne Becker Carolina Buonocore Bin Cao Joon-Ho Choi Chungyoon Chun Hein Daanen Siti Aisyah Damiati Lyrian Daniel Renata De Vecchi Shivraj Dhaka Samuel Domínguez-Amarillo Edyta Dudkiewicz Lakshmi Prabha Edappilly Jesica Fernández-Agüera Mireille Folkerts Arjan Frijns Gabriel Gaona Vishal Garg Stephanie Gauthier Shahla Ghaffari Jabbari Djamila Harimi Runa T Hellwig Gesche M Huebner Quan Jin Mina Jowkar Renate Kania Jungsoo Kim Nelson King Boris Kingma M Donny Koerniawan Jakub Kolarik Shailendra Kumar Alison Kwok Roberto Lamberts Marta Laska M C Jeffrey Lee Yoonhee Lee Vanessa Lindermayr Mohammadbagher Mahaki Udochukwu Marcel-Okafor Laura Marín-Restrepo Anna Marquardsen Francesco Martellotta Jyotirmay Mathur Gráinne McGill Isabel Mino-Rodriguez Di Mou Bassam Moujalled Mia Nakajima Edward Ng Marcellinus Okafor Mark Olweny Wanlu Ouyang Ana Ligia Papst de Abreu Alexis Pérez-Fargallo Indrika Rajapaksha Greici Ramos Saif Rashid Christoph F Reinhart Ma Isabel Rivera Mazyar Salmanzadeh Karin Schakib-Ekbatan Stefano Schiavon Salman Shooshtarian Masanori Shukuya Veronica Soebarto Mohammad Tahsildoost Federico Tartarini Despoina Teli Priyam Tewari Samar Thapa Maureen Trebilcock Jörg Trojan Ruqayyatu B Tukur Conrad Voelker Yeung Yam Liu Yang Gabriela Zapata-Lancaster Yongchao Zhai Yingxin Zhu Zahra Sadat Zomorodian Building Science Group Karlsruhe Institute of Technology Englerstr. 7 76131 Karlsruhe Germany. marcel.schweiker@kit.edu. WIN-Kolleg Thermal comfort and pain Heidelberg Academy of Sciences and Humanities Karlstr. 4 69117 Heidelberg Germany. marcel.schweiker@kit.edu. Mechanical Engineering Department University of Technology Iraq Al sinaea 10066 Baghdad Iraq. CTC/Department of Civil Engineering Federal University of Santa Catarina Rua João Pio Duarte Silva s/n. Córrego Grande 88.040-901 Florianópolis SC Brazil. School of Architecture and Built Environment German Jordanian University Darat Othman Bdeir 11180 Amman Jordan. Civil and Architectural Engineering Department Sultan Qaboos University Al-Khod P.O. Box: 33 PC: 123 Muscat Oman. Laboratory of Building Technology Department of Architecture Institut Teknologi Bandung Ganesha 10 40132 Bandung Indonesia. Department of Building Physics Bauhaus-University Weimar Coudraystr. 11A 99423 Weimar Germany. Energy & Climate Change Group Faculty of Engineering & Physical Sciences University of Southampton University Road SO17 1BJ Southampton United Kingdom. Welsh School of Architecture Cardiff University King Edward VII Avenue CF10 3NB Cardiff United Kingdom. Department of Architecture Massachusetts Institute of Technology Massachusetts Ave 02139 Cambridge United States of America. Faculty of Engineering Environment and Computing BNE Research Centre Coventry University Gulson road CV1 2JH Coventry United Kingdom. Industrial and Systems Engineering Khalifa University Masdar Campus Building 1B 54224 Abu Dhabi United Arab Emirates. Architecture University of Tehran Kish International Campus Niyayesh St. Mirmohanna Blvd 79416-55665 Kish Iran. Department of Architecture Ahmadu Bello University Zaria Nigeria Samaru Zaria Nigeria. WIN-Kolleg Thermal comfort and pain Heidelberg Academy of Sciences and Humanities Karlstr. 4 69117 Heidelberg Germany. Department of Cognitive and Clinical Neurosci

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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design of a general resilient robotic system based on axiomatic design theory

Design of a general resilient robotic system based on axioma...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Tan Zhang Dan Zhang Madan M. Gupta Wenjun Zhang Advanced Engineering Design Laboratory University of Saskatchewan Canada Robotics & Automation Laboratory University of Ontario Institute of Technology Canada Intelligent Systems Research Laboratory University of Saskatchewan Canada

Resilient robotic systems are a kind of robotic system that is able to recover their original function after partial damage of the system. This is achieved by making changes on the partially damaged robot. The general resilient robot, which makes sense by including active joints, passive joints, passive links, and passive adjustable links, was proposed in order to explore its resilience. The axiomatic design theory (ADT) is applied to develop the resilient robot. First, a general architecture of robots was proposed, which is characterized as under-actuated robot. Second, a docking system was developed, which is the key part of incorporating the proposed architecture in the design of the mechanical system of the resilient robot, and this thus enables the realization of the proposed architecture.

关键词： Joints Context Robot sensing systems Resilience Redundancy Connectors

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Effect of CNTs alignment on electrical conductivity of PDMS/MWCNTs composites 14

Effect of CNTs alignment on electrical conductivity of PDMS/...

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2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Liu, Fangjun Sun, Weijie Sun, Zhendong Yeow, John T.W. School of Automation Science and Engineering South China University of Technology Guangzhou510641 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Science Beijing100190 China Department of Systems Design Engineering Waterloo Institute for Nanotechnology University of Waterloo ONN2L 3G1 Canada

ISBN: (纸本)9781479956227

A new 3D percolation network model is proposed to analyze the effects of CNTs alignment on electrical conductivity of polydimethylsiloxane (PDMS)/CNTs composites, wherein the polymer-type dependent formula is employed to adjust data in comprehensive experiments. In the Monte Carlo simulation, the percolation threshold of multi-walled CNTs (MWCNTS) filled PDMS composites at each given alignment is compared with existing experiment results. The results show that for a fixed measurement direction, perfectly aligned MWCNTs results in a worse conductivity;while for a fixed volume fraction and partially aligned CNTs, with alignment angle of 30°, can achieve the best electrical conductivity for PDMS/MWCNTs composites. © 2014 IEEE.

关键词： Alignment

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Corrigendum to a Low-Cost, Light-Weight Climbing Robot for Inspection of Glass Curtains

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International Journal of Advanced Robotic systems 2015年第3期12卷 20-20页

作者： Ran Liang Meteb Altaf Eball Ahmad Rong Liu Ke Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China National Robotics & Intelligent Systems center King AbdulAziz City for Science and Technology Saudi Arabia Riyadh Saudi Arabia Arts et Métiers ParisTech Design Manufacturing and Control Laboratory (LCFC) Paris France

Corrigendum, corrigendum

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