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Proceedings of the 46th IEEE Conference on Decision and control, Pages 1383-1838

作者： Gou Nishida Masaki Yamakita Zhi-wei Luo Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Center RIKEN Nagoya Aichi Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

ISBN: (纸本)9781424414970;1424414970

In this paper, the port-representation of conservation laws is extended to a wider class of symmetries, the infinite-dimensional symmetry expressed by the bi-Hamiltonian system. It is known from Noether's theorem that a conservation law is associated with an invariant property called a symmetry. In certain cases, the symmetry appears in a system as a hidden infinite-dimensional structure. Such a structure can be defined by using a recursive operator consisting of a Hamiltonian pair and is called a bi-Hamiltonian structure. The bi-Hamiltonian structure induces a hierarchical set of conservation laws. This concept can be used for reducing a system possessing a bi-Hamiltonian structure to simpler port-representations of the conservation laws. Finally, a boundary observer for symmetry destruction is shown.

关键词： conservation laws Symmetry

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Field Port-Lagrangian systems with Degenerate Lagrangian and External Forces

Field Port-Lagrangian Systems with Degenerate Lagrangian and...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 1383-1838

作者： Gou Nishida Masaki Yamakita Zhi-wei Luo Bio-Mimetic Control Research Center RIKEN Environment Adaptive Robotic Systems Laboratory Nagoya Aichi Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

ISBN: (纸本)9781424414970;1424414970

The relation between a port-representation and an infinite-dimensional Euler-Lagrange equation has previously been studied before by the authors. The formal form is called a field port-Lagrangian system. However, this system was considered under the condition that the Lagrangian was regular and the case of a degenerate Lagrangian was not explicitly shown. This paper presents a more general framework for the field port-Lagrangian system from the viewpoint of the treatment of degenerate Lagrangian and external forces.

关键词： Lagrangian Degenerate degeneration Force Comment Fields Euler-Lagrange equation Regular Lagrangian equations

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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Covariance matrix repairing in Gaussian based EDAs

Covariance matrix repairing in Gaussian based EDAs

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Congress on Evolutionary Computation

作者： Weishan Dong Xin Yao The Key Laboratory for Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China The Centre of Excellence for Research in Computational Intelligence and Applications (CERCIA) School of Computer Science University of Binningham Birmingham UK

Gaussian models are widely adopted in continuous Estimation of Distribution Algorithms (EDAs). In this paper, we analyze continuous EDAs and show that they don't always work because of computation error: covariance matrix of Gaussian model can be ill-posed and Gaussian based EDAs using full covariance matrix will fail under specific conditions. It is a universal problem that all existing Gaussian based EDAs using full covariance matrix suffer from. Through theoretical analysis with examples of simulated data and experiments, we show that the ill-posed covariance matrix strongly affects those EDAs. This paper proposes a Covariance Matrix Repairing (CMR) method to fix ill-posed covariance matrix. CMR significantly improves the robustness of EDAs. Even some EDA's performance that was previously thought inefficient can be improved surprisingly with the help of CMR. CMR can also guarantee those EDAs to be used with small scale of population (but still should be large enough to find the global optimum) to accelerate the convergence rate while maintaining the quality of solutions.

关键词： Covariance matrix Electronic design automation and methodology Computational modeling Sampling methods Robustness Differential equations Probability distribution Failure analysis Analytical models Acceleration

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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OPTIMAL control FOR TWO-DIMENSIONAL LINEAR systems WITH VARIABLE COEFFICIENTS

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Asian Journal of control 2008年第4期1卷

作者： Jimshone Li Jason Sheng-Hong Tsai Leang-San Shieh Control System Laboratory Department of Electrical Engineering National Cheng Kung University Tainan 701 Taiwan R.O.C. Jim-Shone Li was born in Taiwan R. O.C. on April 20 1967. He received B.S. and M.S. degrees in Electrical Engineering from the Chung-Cheng Institute of Technology Taoyuan Taiwan R.O.C. in 1989 and 1993 respectively. He is currently a Ph.D. student at National Cheng-Kung University Tainan Taiwan R.O.C. His research interests include analysis and design of multidimensional systems and nonlinear system control. Department of Electrical and Computer Engineering University of Houston Houston TX 77004-4793 U.S.A.

An optimal control method for two-dimensional (2-D) linear systems with variable coefficients and free boundary conditions in Roesser's model is proposed in this paper. Based on Roesser's model, an equivalent general 1-D model of the 2-D system is presented, and the problem of minimizing a 2-D linear quadratic (LQ) cost function is solved for the case where complete state information is available. The solution is obtained by using the proposed dynamic programming in 1-D descriptor form to solve the Riccati equation and then arriving at the optimal control law and minimum cost. The proposed control methodology can be applied to discrete-time models of systems described by partial differential equations and can also be used in the field of signal processing.

关键词： Two-dimensional system optimal control Roesser's model Riccati equation

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Polytopic Decomposition of the Linear Parameter-varying Model of the Parallel-type Double inverted Pendulum

Polytopic Decomposition of the Linear Parameter-varying Mode...

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IEEE International Conference on Intelligent Engineering systems (INES)

作者： Szabolcs Nagy Zoltan Petres Peter Baranyi Laszlo Szeidl Pal Michelberger Systems and Control Lab Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Budapest Tech Polytechnical Institution Budapest Hungary Department of Vehicle and Light Weight Structures Analysis Budapest University슠of슠Technology슠and슠Economics Hungary

Most of the formal controller synthesis approaches require conditions like controllability, observability of the systems, however it is still difficult to verify these properties in general. In case of polytopic models these conditions and the feasibility of the linear matrix inequalities (LMI) based design strongly depends on the weighting of the LTI vertex components of the polytopic model. With tensor product (TP) model transformation it is possible to decompose linear parameter-varying (LPV) models into polytopic forms in various ways and also provides the appropriate weighting functions. The objective of this paper is to use this decomposition on the the parallel-type double inverted pendulum control problem.

关键词： Tensile stress Strontium Automatic control control system synthesis Lighting control Linear matrix inequalities Matrix decomposition Concurrent computing automation Electronic mail

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Runtime reconfiguration of a modular mobile robot with serial and parallel mechanisms

Runtime reconfiguration of a modular mobile robot with seria...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： H. X. Zhang S.Y. Chen W. Wang J. W. Zhang G. H. Zong Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Dept of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotic Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

This paper presents a novel field robot JL-I based on a reconfigurable concept for urban search and rescue applications. The robot consists of three identical modules; each module is an entire robotic system that can perform distributed activities. It features three-degrees-of-freedom (DOF) active joints actuated by serial and parallel mechanisms for changing shape and flexible docking mechanism. The docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. DOF analysis, working space analysis and the kinematics of the 3D active joint between connected modules are studied thoroughly. In the end a series of successful tests confirm the principles and the robot's capabilities.

关键词： Runtime Mobile robots Orbital robotics Robotics and automation Space technology Intelligent robots Kinematics Testing Prototypes Accidents

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