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Level-triggered control of a scalar linear system

Level-triggered control of a scalar linear system

引用

2007 Mediterranean Conference on control and automation, MED

作者： Rabi, Maben Baras, John S. Automatic Control Laboratory School of Electrical Engineering Royal Institute of Technology Stockholm 100 44 Sweden Institute for Systems Research Department of Electrical and Computer Engineering University of Maryland College Park MD 20742 United States

ISBN: (纸本)142441282X

In networked control systems, because of limits on communication rates, control waveforms are frequently piece-wise constant with limits on rates at which they can switch levels. It is, therefore, natural to expect event-triggered control switchings to perform more efficiently than time-triggered ones. This article verifies the validity of this supposition. A method for designing good level-triggered control schemes is obtained by reducing the continuous time problem to one in discrete time. Then, by numerical procedures, the performance of the level-triggered scheme is computed for comparison with that of the periodically switched control scheme. © 2007 IEEE.

关键词： Networked control systems

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Fast Computation of Orthogonal Fourier-Mellin Moments Using Modified Direct Method

Fast Computation of Orthogonal Fourier-Mellin Moments Using ...

引用

International Conference on systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell Thessaloniki Institute of Technology Thessaloniki Greece

A novel, modified direct method for Orthogonal Fourier-Mellin Moments (OFMMs) computation, which lacks of any factorial terms, is presented. The proposed algorithm is based on the substitution of the factorial terms by their approximate values, according to Stirling's Approximation formula. In this way, a new set of orthogonal moments, which are approximate versions of the original ones, are extracted. The approximation error introduced by the Stirling's Approximation formula is of low order and thus the resulted moments do not significantly differ from their original values. The resulted formulas are factorial free and therefore the time needed to compute the OFMMs is less than this of the conventional direct method.

关键词： Polynomials automation Pattern recognition Kernel Laboratories Automatic control control systems Feature extraction Approximation algorithms Approximation error

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Highly Compressed Zernike Moments by Smoothing

Highly Compressed Zernike Moments by Smoothing

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International Conference on systems, Signals and Image Processing, IWSSIP

作者： G. A. Papakostas Y. S. Boutalis D. A. Karras B. G. Mertzios Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Automation Chalkis Institute of Technology Chalkida Greece Department of Automation Laboratory of Control Systems. and Computer Intell. Thessaloniki Institute of Technology Thessaloniki Greece

A novel methodology that improves the discrimination capabilities of the compressed feature vectors, used in pattern recognition tasks, is presented in this paper. The Zernike moment signals of some patterns are extracted and are compressed by using a typical wavelet compression technique. In order to increase the compression ratio without loosing a great amount of significant information, the moment signals are smoothed appropriately before the compression. As a result, highly compressed feature vectors that include enough classification information are derived. The resulted improved features are studied for their discriminative power through appropriate experiments.

关键词： Smoothing methods Image coding Polynomials automation Feature extraction Pattern classification Digital images Image reconstruction Laboratories Automatic control

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The model-free learning adaptive control for DC motor rotate speed systems

The model-free learning adaptive control for DC motor rotate...

引用

26th Chinese control Conference, CCC 2007

作者： Cao, Rongmin Hou, Zhongsheng Huang, Jian Department of Computer and Automation Beijing Institute of Machinery Industry Beijing 100085 China Advanced Control Systems Laboratory Beijing Jiaotong University Beijing 100044 China

ISBN: (纸本)7900719229

The model-free learning adaptive control (MFLAC) approach of a class of SISO nonlinear discrete-time systems based on linearization of tight format is applied to DC motor rotate speed systems . The design of controller is model-free, based directly on pseudo-partial-derivatives (PPD) derived on-line from the input and output information of the motor motion system using novel parameter estimation algorithms. Hardware system is implemented by Data Acquisition (DAQ) to control DC motor. Conjuncted general PC to DAQ and controlled DAQ to produce Pulse-Width Modulation(PWM) wave which drive the IGBT circuit to control DC *** effectiveness and the robustness are demonstrated for the DC motor nonlinear systems which are known to be difficult to model and control by simulation and real-time application experiment examples.

关键词： Adaptive control systems

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Vision-based force guidance for improved human performance in a teleoperative manipulation system

Vision-based force guidance for improved human performance i...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chung Hyuk Park Ayanna M. Howard Human-Automation Systems (HumAnS) Laboratory School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

In this paper, we discuss a methodology that employs vision-based force guidance techniques for improving human performance with respect to a teleoperated manipulation system. The primary focus of the approach is to study the effectiveness of guidance forces in a haptic system to enable ease-of-use for human operators performing common manipulation activities necessary for achievement of everyday tasks. By designing force feedback signals constructed only from visual imagery data as input into a haptic device, we show the impact on human performance during the teleoperation sequence. The methodology is explained in detail, and results of implementation on object-centering and object-approaching tasks with our divided force guidance approach are presented.

关键词： Haptic interfaces Human robot interaction Force feedback Orbital robotics Force sensors USA Councils Virtual environment Manipulators Intelligent robots

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Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems

Federated filtering for fault tolerant estimation and sensor...

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Mediterranean Conference on control and automation (MED)

作者： A. Edelmayer M. Miranda Faculty of Engineering Department of Chemical Engineering Laboratory of Unit Operations University de Los Andes Merida Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper discusses the application of the idea of federated filtering to the estimation of intrinsically nonlinear distributed systems by examining its impacts on filtering performance by using the Extended Kalman Filter (EKF) as state estimator. Specifically, the performance of the traditional centralized solution is compared with the filtering structure obtained using the federating idea, and their conceptions, and their ability to balance between fault tolerance and estimation accuracy is examined. Our research demonstrates how successfully the EKF for solving nonlinear estimation problems in federated structures can be used, noting that the idea of federation have only been demonstrated for linear problems previously. In addressing the demands of both fault tolerance and estimation accuracy, it is shown that increased filtering accuracy is relied on the proper choice of sharing of the error covariance information between local filters, while sensor fault tolerance is provided by the utilization of an appropriate resetting policy of the filter.

关键词： Fault tolerant systems Sensor systems Redundancy Nonlinear filters Fault tolerance control systems Information filtering Information filters computer architecture Sensor arrays

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Blind Deconvolution De-noising for Helicopter Vibration Data

Blind Deconvolution De-noising for Helicopter Vibration Data

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American control Conference (ACC)

作者： Bin Zhang Taimoor Khawaja Romano Patrick George Vachtsevanos Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Critical aircraft assets are required to be available when needed, while exhibiting attributes of reliability, robustness and high confidence under a variety of flight regimes, and maintained on the basis of their current condition rather than on the basis of scheduled maintenance practices. New and innovative technologies must be developed and implemented to address these concerns. Condition based maintenance (CBM) requires that the health of critical components/systems be monitored and diagnostics/prognostic strategies be developed to detect and identify incipient failures and predict the failing component's remaining useful life (RUL). Typically, vibration and other key indicators on-board on aircraft are severely corrupted by noise thus curtailing our ability to accurately diagnose and predict failures. This paper introduces a novel blind deconvolution de-noising scheme that employs vibration model in the frequency domain and attempts to arrive at the true vibration signal through an iterative optimization process. Performance indexes are defined and data from a helicopter are used to demonstrate the effectiveness of the proposed scheme.

关键词： Deconvolution Noise reduction Helicopters Maintenance Aircraft Robustness Condition monitoring Frequency domain analysis Signal processing Performance analysis

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A Coordination Method for Multiple Biomimetic Robotic Fish in Underwater Transport Task

A Coordination Method for Multiple Biomimetic Robotic Fish i...

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American control Conference (ACC)

作者： Dandan Zhang Long Wang Junzhi Yu Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Space Technologies College of Engineering Peking University Beijing China Laboratory of Complex Systems and Intelligent Science Institute of Automation Chinese Academy and Sciences Beijing China

This paper gives a coordination method for multiple biomimetic robotic fish in underwater transport task. Considering the inherent kinematic constraints of the robotic fish, and the unstructured and dynamic characteristics of the water environment, the limit cycle approach is utilized to control the posture of the fish, and realize collision avoidance. To control the transport orientation in the particular underwater environment, fuzzy logic method is adopted. Experimental results performed by three robotic fish validate the effectiveness of the proposed method.

关键词： Biomimetics Robot kinematics Marine animals Collision avoidance Propulsion Robotics and automation Fluid flow control Limit-cycles Fuzzy logic Educational institutions

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LPV control for the Air Path System of Diesel Engines

LPV Control for the Air Path System of Diesel Engines

引用

International Conference on control and automation (ICCA)

作者： Lihua Liu Xiukun Wei Xiaohe Liu Department of Computer Science and Automation Beijing Institute of Machinery Beijing China Delft Center for Control and Systems Delft University of Technnology Delft Netherlands

This paper addresses the gain scheduled H infin control issue for the air path system of diesel engines. The air path system is modeled as a linear parameter varying (LPV) system, where the system matrices are dependent on two exogenous variables: the engine speed and the turbine vane position. The open loop frequency property is presented as well as the detailed synthesis procedure of the gain scheduled controller such as the weighting function selection and design. A comparative study between the gain scheduled LPV control and the H infin control is investigated. Simulation results are shown to demonstrate the effectiveness of the gain scheduled LPV controller.

关键词： control systems Diesel engines Job shop scheduling Open loop systems control system synthesis Automatic control automation Nonlinear control systems computer science Machinery

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Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator

Teleoperation System of the Internet-based Omnidirectional M...

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IEEE International Conference on Mechatronics and automation

作者： Dawei Wang Jianqiang Yi Dongbin Zhao Guosheng Yang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Informaion Engineering Henan University Kaifeng China

A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive the live video and environment information measured by sensors. With the help of the remote video and the local simulation, users can easily communicate with the robot. Different modules are proposed and the implementation method of the system is presented. Related experiments are conducted to test the validity of the proposed system.

关键词： Internet Mobile robots Manipulators Robot sensing systems Robot control User interfaces control systems computer interfaces Computational modeling System testing

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