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IEEE International Conference on computer-Aided Design

作者： Gabor Rodonyi Jozsef Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

A joint uncertainty model identification and mu-synthesis algorithm is presented for linear time-invariant (LTI) systems. The goal is 1) to construct an uncertainty model set characterized by parameterized weighting functions of dynamic perturbations in the general linear fractional transformation (LFT) form and additive disturbances - customary representation in modern robust control and 2) to select from this set according to closed-loop control objectives. The motivation is to avoid conservatism of physics-based uncertainty modelling yet giving confidence in the model. The algorithm works on sampled, bounded-energy experimental data on the frequency-domain and integrates model invalidation/construction and control synthesis in order to achieve robust performance. Standard D-K iteration steps are combined with an optimization step on a group of selected data. The efficiency and applicability of the method is demonstrated on a vehicle control problem with real experimental data

关键词： Uncertainty Robust control Vehicle dynamics Intelligent vehicles Automatic control control system synthesis Frequency synthesizers Terminology Linear systems control systems

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Nonlinear identification of a PEM fuel cell humidifier using wavelet networks

Nonlinear identification of a PEM fuel cell humidifier using...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Deng, Xian-Rui Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China Computer Department Tangshan Teacher's College Tangshan China

ISBN: (纸本)3540344829

Humidification is a key factor influencing the performance of a Proton Exchange Membrane (PEM) Fuel Cell system. It is important to obtain an accurate temperature model of the humidifier to achieve the optimal humidity by means of some control strategy. Analysis shows that humidification process is nonlinear. To avoid the curse-of-dimensionality problem, a class of wavelet networks proposed by Billings was employed for the identification in this work. An efficient model term selection approach was applied to solve the high dimensional problem. The model was identified based on the experimental data acquired from our test bench. The one-step-ahead predictions and the five-stepahead predictions were compared with the real measurements respectively. It shows that the identified model can effectively describe the real system. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Fuel cells

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Dynamics and Stable control for a Class of Underactuated Mechanical systems

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自动化学报 2006年第3期32卷 422-427页

作者： LIU Dian-Tong GUO Wei-Ping YI Jian-Qiang Institute of Computer Science and Technology Yantai University Yantai 264005 Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080

The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.

关键词：动态系统稳定性控制机械系统起重机

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Robust Model Predictive control for controlling Fast Vehicle Dynamics

Robust Model Predictive Control for Controlling Fast Vehicle...

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Mediterranean Conference on control and automation (MED)

作者： T. Peni J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

This paper proposes a simple robust model predictive algorithm for discrete time uncertain systems having relatively fast dynamics, i.e. the time required to compute the next control action is the multiple of the sampling time. The method is based on the following concept: at time k the set of all possible k+N-th states is determined, and in the next N time steps an appropriate feedback gain is constructed, which is capable of robustly stabilizing the system from time k+N. At time k+N the procedure is then repeated. The method was derived from the robust MPC algorithm proposed by Kothare et al.,(1996)

关键词： Robust control Predictive models Predictive control Vehicle dynamics Sampling methods Robustness Optimal control Prediction algorithms Linear feedback control systems Remotely operated vehicles

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Integrated uncertainty model identification and robust control synthesis for linear time-invariant systems

Integrated uncertainty model identification and robust contr...

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Mediterranean Conference on control and automation (MED)

作者： Gabor Rodonyi Jozsef Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Given a nominal model, an integrated uncertainty model identification and mu-synthesis algorithm is presented for linear time-invariant (LTI) systems. The goal is 1) to construct an uncertainty model set characterized by parameterized weighting functions of dynamic perturbations and disturbances in the general linear fractional transformation (LFT) form - customary representation in modern robust control and 2) to select from this set according to closed-loop control objectives. The motivation is the simultaneous model validation and model optimization with respect to closed-loop requirements. The algorithm works on sampled, bounded-energy experimental data on the frequency-domain and integrates nominal model invalidation, uncertainty model construction and control synthesis in order to achieve robust performance. Standard D-K iteration steps are combined with an optimization step on a group of selected data. The method is demonstrated on a simple numerical example, where the results are comparable with analytic computations

关键词： Uncertainty Robust control control system synthesis control design control systems Automatic control Frequency domain analysis Process design Laboratories automation

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Robust Detection and Estimation of Faults by Exact Fault Decoupling and H /spl infin/ Disturbance Attenuation in Linear Dynamical systems.

Robust Detection and Estimation of Faults by Exact Fault Dec...

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American control Conference (ACC)

作者： A. Edelmayer J. Bokor Z. Szabo Systems and Control Laboratory and Automation Research Institute of the Hungarian Academy of Sciences Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

In this paper a useful combination of the idea of inversion-based direct input (fault) reconstruction and H infin optimal filtering for robust estimation, detection and separation of multiple simultaneous faults in the presence of persistent, non-decouplable disturbances in linear dynamical systems is presented. In particular, it is shown how in a specific filtering structure, relying on the inverse representation of the system, an H infin detection filter can be designed providing detection residuals by exact fault decoupling where the estimation of the inverse dynamics is obtained by means of the optimal filter thus ensuring H infin disturbance attenuation on the residual output. The applicability of the method is demonstrated based on the aircraft monitoring problem that was originally considered in the papers by Douglas and Speyer (1995) and Chung and Speyer (1998)

关键词： Robustness Fault detection Attenuation Filtering State-space methods Nonlinear filters Design methodology Nonlinear dynamical systems control systems Aircraft

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REMOTE DIAGNOSIS OF DISCRETE-EVENT systems WITH ON-BOARD AND OFF-BOARD COMPONENTS

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IFAC Proceedings Volumes 2006年第13期39卷 1467-1472页

作者： Carsten Fritsch Jan Lunze Matthias Schwaiger Volker Krebs Institute of Automation and Computer Control Ruhr-Universität Bochum D-44780 Bochum Germany Control Systems Laboratory Universität Karlsruhe (TH) D-76131 Karlsruhe Germany

This paper describes a scheme of model-based remote diagnosis which decreases the onboard computational costs of the diagnostic algorithm by sending I/O-signals over a data network to an off-board component with sufficient computing power. The concept is based on the decomposition of the fault diagnosis task into fault detection and fault identification. In the proposed scheme, the fault detection task is carried out by the onboard component, whereas fault identification is accomplished by the off-board component. The paper describes an experimental evaluation of typical communication restrictions imposed by the data network, like data losses and transmission delay. For discrete-event systems, a new diagnostic algorithm for the off-board component is proposed, which is tolerant against the loss of transmitted data.

关键词： Fault diagnosis on-board/off-board diagnosis communication network data loss discrete-event system timed automaton

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Efficient computation of orthogonal moments by suppressing the factorial terms

Efficient computation of orthogonal moments by suppressing t...

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IST 2006 - 2006 IEEE International Workshop on Imagining systems and Techniques

作者： Papakostas, G.A. Boutalis, Y.S. Karras, D.A. Mertzios, B.G. Democritus University of Thrace Department of Electrical and Computer Engineering 67100 Xanthi Hellas Chalkis Institute of Technology Automation Department Chalkida Hellas Thessaloniki Institute of Technology Department of Automation Laboratory of Control Sys. and Comp. Intell. Thessaloniki Hellas

ISBN: (纸本)1424402514

A Modified Direct Method for the computation of the Zernike moments is presented in this paper. The presence of many factorial terms, in the direct method for computing the Zernike moments, makes their computation process a very time consuming task. Although the computational power of the modern computers is impressively increasing, the calculation of the factorial of a big number is still an inaccurate numerical procedure. The main concept of the present paper is that, by using Stirling's Approximation formula for the factorial and by applying some suitable mathematical properties, a novel, factorial-free direct method can be developed. The resulted moments are not equal to those computed by the original direct method, but they are a sufficiently accurate approximation of them. The proposed methodology is generic and can be successfully applied to any orthogonal moments having kernel moment functions consisted of factorial terms. ©2006 IEEE.

关键词： Image analysis

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Geometrical probability covering algorithm

Geometrical probability covering algorithm

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2nd International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2005

作者： Zhang, Junping Li, Stan Z. Wang, Jue Shanghai Key Laboratory of Intelligent Information Processing Department of Computer Science and Engineering Fudan University Shanghai 200433 China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing 100080 China

ISBN: (纸本)9783540283126

In this paper, we propose a novel classification algorithm, called geometrical probability covering (GPC) algorithm, to improve classification ability. On the basis of geometrical properties of data, the proposed algorithm first forms extended prototypes through computing means of any two prototypes in the same class. Then Gaussian kernel is employed for covering the geometrical structure of data and used as a local probability measurement. By computing the sum of the probabilities that a new sample to be classified to the set of prototypes and extended prototypes, the classified criterion based on the global probability measurement is achieved. The proposed GPC algorithm is simple but powerful, especially, when training samples are sparse and small size. Experiments on several databases show that the proposed algorithm is promising. Also, we explore other potential applications such as outlier removal with the proposed GPC algorithm. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Algorithms

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Neuro-fuzzy adaptive control and modeling a thruster of autonomous underwater vehicles

Neuro-fuzzy adaptive control and modeling a thruster of auto...

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作者： Palis, F. Tsepkovskiy, Y. Filaretov, V. Ukhimets, D. Magdeburg University Institute of Electric Energy Systems Universitätplatz 2 / Postfach 4120 39106 Magdeburg Germany Robotic Laboratory Institute for Automation and Control Process Nekrasovskaya str 76 105 Vladivostok 690014 Russia

ISBN: (纸本)9783902661173

The paper presents a direct adaptive fuzzy approach for parameter identification and control of unknown nonlinear systems. To prove the performance of the proposed method an autonomous underwater vehicle (AUV) is modeled using an Adaptive Neuro-Fuzzy Inference System (ANFIS). To guaranty high accuracy the model is adapted online using system input and output data. From the model the current process parameters are identified and utilized for controller design. Here, Single Step Ahead Direct Adaptive control and Multi Steps Ahead Direct control schemes are considered. Copyright © 2006 IFAC.

关键词： Autonomous underwater vehicles

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