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ADVANCED PREDICTIVE control BASED ON MULTIMODEL LEARNING TECHNIQUES

IFAC Proceedings Volumes 2005年第1期38卷 7-11页

作者： Nicolae Constantin Ioan Dumitrache Automatic Control and System Engineering Dept. Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania. Tel.40-21-4029974

In this paper a new algorithm for local estimation for approximating a function by means of local models is introduced. The instant or in-time estimation provides an attractive alternative for nonlinear identification, since it requires less structural decisions to be made by the user. It represents a hybrid between local and global modeling. This estimation procedure is combined with a predictive control algorithm with a modification cost function for efficient control. Simulation results are provided to show the results of the proposed approach.

关键词： nonlinear predictive control in-time estimation multimodel optimization

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Self Calibrating Procedure for a 3D Force Observer

Self Calibrating Procedure for a 3D Force Observer

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IEEE Conference on Decision and control

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University. Campus Las Lagunillas Jaen Spain Dept. of Automatic Control Lund University Lund Sweden System Engineering and Automation Department Jaen University Jaen Spain

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Manipulator dynamics Robot sensing systems Service robots Force measurement Torque measurement Wrist End effectors Fuses Accelerometers

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Optimizing the structure of hierarchical mixture of experts using genetic algorithms

Optimizing the structure of hierarchical mixture of experts ...

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2004 2nd International IEEE Conference 'Intelligent systems' - Proceedings

作者： Karras, Dimitrios A. Vlitakis, Constantinos E. Boutalis, Yiannis S. Mertzios, Basil G. Chalkis Institute of Technology Dept. Automation Hellenic Open University Rodou 2 Ano Iliupolis Athens 16342 Greece Democritus University of Thrace Dept. Electrical Engineering 67100 Xanthi Greece Department of Automation Thessaloniki Inst. Technol. Thessaloniki Hellas Democritus University Lab. of Automatic Control System Xanthi Hellas

ISBN: (纸本)0780382781

This study is an effort to give a practical solution in the problem of optimizing the structure of the Hierarchical Mixture of Experts model, which is a natural extension of the Associative Gaussian Mixture of Experts system. We present two novel methods for optimizing such structures using Genetic Algorithms. Special concern is taken for reducing the computational time so as to efficiently allow the structure to "grow" while it evolves with the Genetic Algorithm. The main contribution of the paper lies on the efficient, topologically oriented, representations of such architectures so as to be optimized through involving genetic algorithms.

关键词： Expert systems

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The Analysis of Optimal Budget Allocation for Software Testing Based on the Reliability Growth Model

The Analysis of Optimal Budget Allocation for Software Testi...

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作者： Han, Yongming Wu, Xianglin Yue, Chaoyuan Wu, Huaiyu Institute of System Engineering Automatic Control Department Huazhong Univ. of Sci./Technology Wuhan 430074 China MEMS Lab. Dept. of Precision Instruments Tsinghua University Beijing 100084 China

Software testing is a very important phase for software project process. It is a very difficult job for a software manager to allocate optimally the financial budget to a software project during testing. This article considers the problem of optimal allocation of the software testing cost. There exist several models focused on the development of software costs measuring the number of software errors remaining in the software during testing. The purpose of this paper is to use these models to formulate the optimization problems of resource allocation: Minimization of the total number of software errors remaining in the system;On the condition of assuming that a software project consists of some independent modules, the presented approach extends previous works by defining new goal functions and extending the primary assumption and precondition.

关键词： Software engineering

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Optimizing model of small-scale multi-process job schedule based on SPNs and applications in software process

Optimizing model of small-scale multi-process job schedule b...

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作者： Xianglin, Wu Yongming, Han Chaoyuan, Yue Huaiyu, Wu Institute of System Engineering Automatic Control Department Huazhong Univ. of Sci./Technology Wuhan 430074 China MEMS Lab Dept. of Prec. Instrum./Mechanology Tsinghua University Beijing 100084 China

Multi-process job schedule is a very difficult problem often faced by project managers. This study initially considers the problem of small-scale multi-process job schedule by using Stochastic Petri Nets (SPNs) technique. The SPNs model of multi-process job schedule is come up with in the paper, and then the basic steps of search algorithm for job schedule are put forward successively. On the bases of these works, the multi-process job schedule algorithm is given, and the schedule strategies are discussed at same time. For getting the optimal solution of the small-scale multi-process job schedule, the algorithm based on the random search strategy is proposed and the analysis of result believing rate is also discussed. The example of how using the search algorithm to plan the job based on SPNs is given at the last of paper.

关键词： Job analysis

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Multi-Objective controller Design Using Eigenstructure Assignment Based on LMI

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Chinese Journal of Aeronautics 2001年第1期14卷 44-48页

作者：孙秀霞毛剑琴林岩 Dept. Of Aeronautics Automatic Control Engineering PLA Air Force Engineering University The 7th Division of System Control Beijing University of Aeronautics Astronautics

A new method of applying linear matrix inequalities (LMIs) to multi-objective eigenstructure assignment is put forward. Since there is always a degree of freedom in eigenstructure assignment using state or output feedback, it is available to use this kind of freedom in designing a system to satisfy some additional specializations. With the help of LMI technology, a controller insensitive to pertubation and good in robust stability is realized. And the result of a practical example shows that the method is very useful in flight controller design.

关键词： Degrees of freedom (mechanics) Eigenvalues and eigenfunctions Matrix algebra Optimization State feedback

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Application of the synergetic control approach in energy systems for hybrid electric vehicles

Application of the synergetic control approach in energy sys...

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Proceedings of the 36th Intersociety Energy Conversion engineering Conference, IECEC

作者： Kondratiev, Igor Dougal, Roger A. Kolesnikov, Anatoly A. Veselov, Gennady Department of Electrical Engineering University of South Carolina Swearingen 3A80 Columbia SC 29208 United States Dept. of Automatic Control System Taganrog Stt. Univ. of Radio-Eng. 44 Nekrasovsky St. Taganrog 347928 Russia

Power systems for hybrid electric vehicles, like most autonomous power systems, must fully and effectively utilize internal power resources to ensure the desired performance on one hand and longevity of system components on the other. The optimum solution involves tradeoffs between two often contradictory things. Achieving the optimum depends on the capabilities of design tools used. The Synergetic Approach used in the work described here opens new opportunities to solve this problem more effectively.

关键词： Electric automobiles

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Genetic evolution: a dynamic fuzzy approach

Genetic evolution: a dynamic fuzzy approach

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： S.K. Sharma M.O. Tokhi Dept. of Autom. Control & Syst. Eng. Sheffield Univ. UK Department of Automatic Control and System Engineering University of Sheffield UK

In this paper, a dynamic fuzzy approach is proposed for the selection of an evaluation function for a genetic algorithm (GA). The GA is in turn used to optimise a neural network (NN) architecture. A correctly classified pattern in the presence of error is considered for the fitness function. Fuzzy logic is used to dynamically select the chromosome for evolution. It gives a direction of evolution as well as provides more exploration among most desirable ones in the population, by dynamically changing the range of the membership function. To increase the resolution, different heights of the membership function with increasing heights towards more feasible features are considered. Modelling of a flexible manipulator is used to show the performance of the proposed approach. Results show that dynamic fuzzy logic performs better than fuzzy logic with fixed range and height.

关键词： Genetics Error correction Biological cells Fuzzy logic Neural networks automatic control Manipulator dynamics Algorithm design and analysis Process design Least squares approximation

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Robust H ∞ static output feedback controllers

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IFAC Proceedings Volumes 1999年第2期32卷 3709-3713页

作者： Alfonso Poncela Dept. Automatic Control and System Engineering Prof. Titular University of Valladolid Spain Paseo del Cauce s/n 47011 Valladolid Spain tel.- + 34 983423355 fax.- + 34 983423358

in this paper a general algorithm to obtain Robust H ∞ Static Output Feedback controllers is derived. The technique used is based on the transformation of the time-varying uncertainty problem into one without uncertainty and then applying the dual-iteration numerical technique of Iwasaki to the problem of determining the optimal parameters for a static H ∞ output feedback controller. To show how the method works, we apply it to a model which contains time-varying structured parameter uncertainty and is subject to external disturbances.

关键词： Robust control H-infinity control Static controllers Uncertainty

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H∞ static output feedback controller for a seeker scan loop system

H∞ static output feedback controller for a seeker scan loop...

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Guidance, Navigation, and control Conference and Exhibit, 1998

作者： Poncela, Alfonso Schmitendorf, William E. Titular Dept. of Automatic Control and System Engineering University of Valladolid Spain Dept. of Mechanical and Aerospace Engineering University of California Irvine United States

In this paper we consider the problem of stabilizing the seeker scan loop mounted in a missile head. The system consist of a spin-stabilizing gyro-optics assembly and its driving signal processor. The model contains time-varying structured parameter uncertainty and is subject to external disturbances. Here we design a H∞ robust static output feedback controller. The technique used is based on the transformation of the time varying uncertainty problem into one without uncertainty and then applying the dual-iteration numerical technique to the problem of determining the optimal parameters for a static H∞ output feedback controller. © 1998, American Institute of Aeronautics and Astronautics, Inc.

关键词： Iterative methods

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