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Optimal guaranteed cost control for fuzzy descriptor systems with time-varying delay

Journal of Systems engineering and Electronics 2008年第3期19卷 584-591页

作者： Tian Weihua1,2 & Zhang Huaguang3 1. School of Information Science and engineering, Northeastern Univ., Shenyang 110004, P. R. China 2. dept. of automatic control, Shenyang Inst. of engineering, Shenyang 110136, P. R. China 3. School of Information Science and engineering, Northeastern Univ., Shenyang 110004, P. R. China. (Received December 27, 2006) [a]School of Information Science and Engineering Northeastern Univ. Shenyang 110004 P. R. China [b]Dept. of Automatic Control Shenyang Inst. of Engineering Shenyang 110136 P. R. China [c]School of Information Science and Engineering Northeastern Univ. Shenyang 110004 P. R. China

Based on the delay-independent rule, the problem of optimal guaranteed cost control for a class of Takagi-Sugeno （T-S） fuzzy descriptor systems with time-varying delay is studied. A linear quadratic cost function is considered as the performance index of the closed-loop system. Sufficient conditions for the existence of guaranteed cost controllers via state feedback are given in terms of linear matrix inequalities （LMIs）, and the design of an optimal guaranteed cost controller can be reduced to a convex optimization problem. It is shown that the designed controller not only guarantees the asymptotic stability of the closed-loop fuzzy descriptor delay system, but also provides an optimized upper bound of the guaranteed cost. At last, a numerical example is given to illustrate the effectiveness of the proposed method and the perfect performance of the optimal guaranteed cost controller.

关键词： fuzzy descriptor systems optimal guaranteed cost control time-varying delay linear matrix inequalities （LMIs）.

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An efficient distributed navigation algorithm for mobile robot

An efficient distributed navigation algorithm for mobile rob...

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7th International Symposium on Instrumentation and control Technology: Measurement Theory and Systems and Aeronautical Equipment

作者： Yang, Xiuping Liu, Songyan Liu, Zhen School of Electronic Engineering Heilongjiang University 150080 Harbin China Dept. of Automatic Test and Control Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9780819473622

An efficient distributed algorithm for mobile nodes of wireless sensor network (WSN) is proposed. A smart mobile robot is designed as the special node of WSN, and the nodes of WSN are deployed in the environment as signposts for the robot to follow. We use the RSSI value between the robot and other static nodes as the input of the navigation control system. The mobile robot state and navigation space are denoted by the RSSI potential field. Navigation directions are computed by using fuzzy logic method. To reduce the communication expense, each node within one hop communication range of robot is a distributed navigation unites. Then the fuzzy logic control centre will collect the control outputs from every beacon nodes and calculate the final outputs for mobile robot based on data fusion. The experimental results confirm that the navigation system based on WSN successfully achieved their assigned tasks.

关键词： Mobile robots

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An optimal control method for biped robot with stable walking gait

An optimal control method for biped robot with stable walkin...

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2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

作者： Phuong, Nguyen Thanh Kim, Dae Won Kim, Hak Kyeong Kim, Sang Bong Automatic Control Dept. Ky Thaut Cong Nghe University Vietnam Viet Nam School of Mechanical Engineering Pukyong National University Korea Republic of

ISBN: (纸本)9781424428229

This paper proposes an optimal control method for a 10 degree of freedom (DOF) biped robot with stable walking gait. The biped robot is modeled as a 3D inverted pendulum. From dynamic model of the 3D inverted pendulum and under the assumption that center of mass (COM) of the biped robot moves on a horizontal constraint plane, zero moment point (ZMP) equations of the biped robot depending on the coordinate of the center of the pelvis link obtained from the dynamic model of the biped robot are given based on the D'Alembert's principle. A walking pattern is generated based on ZMP tracking control systems that are constructed to track the ZMP of the biped robot to zigzag ZMP reference trajectory decided by the footprint of the biped robot. An optimal tracking controller is designed to control the ZMP tracking control system. From the trajectory of the COM of the biped robot and an arc reference input of the swinging leg, the inverse kinematics solved by the solid geometry method is used to compute the angles of each joint of the biped robot. The simulation and experimental results show the effectiveness of this proposed control method. © 2008 IEEE.

关键词： Inverted pendulum

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Contourlet Based Interest Points Detector

Contourlet Based Interest Points Detector

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20th IEEE International Conference on Tools with Artificial Intelligence

作者： Saydam, Samer R. El rube', Ibrahim A. Shoukry, Amin A. CS Department Computing and Information Technology College AASTMT Egypt EC Eng. Dept. College of Engineering and Technology AASTMT Egypt Computer Science and Automatic Control Department Faculty of Engineering Alexandria University Egypt

ISBN: (纸本)9780769534404

This paper proposes a robust algorithm for detecting interest points based on the NonsubSampled Contourlet Transform (NSCT). The NSCT provides multiscale decomposition with directional filters at each scale. Furthermore, NSCT is very efficient in extracting the geometric information of images and therefore it has very good feature localization. The NSCT-based point detector is compared to the widely used Harris and Difference of Gaussian (DoG) interest point detectors. The experimental results reveal the robustness of the proposed algorithm to rotation, scale and viewpoint changes.

关键词： Interest point detection corner detector local features nonsubsampled contourlet transform (NSCT)

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Shared Hybrid Virtual-Experimental Laboratory for training in power electronics techniques

Shared Hybrid Virtual-Experimental Laboratory for training i...

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11th IASTED International Conference on Intelligent Systems and control, ISC 2008

作者： Maseda, F. Javier Martija, Itziar Garrido, Aitor Garrido, Izaskun Barambones, Oscar Martija, Irene Dept. Automatic Control and Systems Engineering Basque Country University Plaza de la Casilla3 48012 Bilbao Spain Dept. Mechanical Engineering Basque Country University Plaza de la Casilla3 48012 Bilbao Spain

ISBN: (纸本)9780889867741

This paper analyzes the possibility of using a new philosophy of experimental engineering laboratory for power electronic converters applied to electric machine control. The aim is to develop an environment which, on the one hand, permits the students to design hardware and software blocks that can be incorporated into an electronic power system and, on the other hand, allows the communication and control of this system via the web. The students work in groups, on asynchronous and synchronous software platforms, on the same task and they should look for the best solution for the required design. The drawbacks related to high voltages and currents, waiting for attention from the professor, the high cost of maintenance and updating of an experimental laboratory can be overcome with the use of the Shared Hybrid Virtual-Experimental Laboratory (SHVEL). The validation of the proposed method has been carried out on an experimental system based on the digital signal processor DSP56F807 and on the free software platform FreeMaster from the commercial firm Freescale™.

关键词： Power electronics

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A Neural Networks based variable structure control scheme for induction motors

A Neural Networks based variable structure control scheme fo...

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11th IASTED International Conference on Intelligent Systems and control, ISC 2008

作者： Barambones, Oscar Alkorta, Patxi Garrido, Aitor J. Garrido, Izaskun De La Sen, Manuel Maseda, Francisco J. Martija, Itziar Dept. of Automatic Control and System Engineering University of the Basque Country EUI Nieves cano 12 Vitoria Spain IIDP Facultad de Ciencias University of the Basque Country EUI Nieves cano 12 Vitoria Spain Dept. Mechanical Engineering University of the Basque Country EUI Nieves cano 12 Vitoria Spain

ISBN: (纸本)9780889867741

This paper presents a speed control of an induction motor. The design uses an feedforward Artificial Neural Network (ANN) to implement a rotor speed estimator, and a robust control strategy based on the sliding-mode. The proposed control scheme also make use of the field oriented control theory to simplify the proposed control design. The stability analysis of the presented control scheme is provided using the Lyapunov stability theory. Finally simulated results show that the presented controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances.

关键词： Robust control

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Extraction of fet al ECG signal via adaptive noise cancellation approach

Extraction of fet al ECG signal via adaptive noise cancellat...

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2nd International Conference on Bioinformatics and Biomedical engineering, iCBBE 2008

作者： Zeng, Yanjun Liu, Shijin Zhang, Jianhua Beijing University of Technology Beijing 100022 China Dept. of Mechanics and Electronics Engineering Hubei Professional College of Land Resource Hubei 434002 China Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom

ISBN: (纸本)9781424417483

The non-invasive fet al Electrocardiogram (FECG) can provide reliable information about the fetus'state. The original FECG signal is nevertheless very complex and severely contaminated by external disturbances or noises. It is very hard, even not impossible, to reliably extract the FECG from the abdominal signal using traditional techniques. In this work the recursive least squares (RLS) based adaptive noise canceling (ANC) approach is applied to eliminate the maternal ECG (MECG) and hence to extract the FECG. The experimental results have demonstrated that the developed ANC approach can speed up convergence of the normalized least mean squares (NLMS) algorithm and is able to track non-stationary FECG signal in an adaptive manner.

关键词： Electrocardiograms

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Pole placement approaches for linear and fuzzy systems

Pole placement approaches for linear and fuzzy systems

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6th International Symposium on Intelligent Systems and informatics, SISY 2008

作者： Preitl, S. Precup, R.-E. Clep, P.A. Ursache, I.-B. Fodor, J. Škrjanc, I. Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech. Polytechnical Institution Budapest Hungary Laboratory of Modelling Simulation and Control University of Ljubljana Ljubljana Slovenia

The paper investigates several pole placement methods in the linear case and suggests a new pole placement method by means of fuzzy linear equations. The linear methods concern the constant real part poles, the poles places on a circle, Butterworth configurations without and with the correction of the imaginary part, the pole-zero cancellation, and the poles placed on an ellipse. Low order systems are considered. The pole placement methods are compared by the digital simulation of control systems' behaviors with respect to the modification of the reference input. The conclusions are useful for continuous control systems, and they can be extended easily to digital control systems including quasi-continuous ones. ©2008 IEEE.

关键词： Poles

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An optimal control method for biped robot with stable walking gait

An optimal control method for biped robot with stable walkin...

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IEEE-RAS International Conference on Humanoid Robots

作者： Nguyen Thanh Phuong Dae Won Kim Hak Kyeong Kim Sang Bong Kim Automatic Control Dept. Ky Thaut Cong Nghe University Vietnam School of Mechanical Engineering Pukyong National University South Korea

ISBN: (纸本)9781424428212

This paper proposes an optimal control method for a 10 degree of freedom (DOF) biped robot with stable walking gait. The biped robot is modeled as a 3D inverted pendulum. From dynamic model of the 3D inverted pendulum and under the assumption that center of mass (COM) of the biped robot moves on a horizontal constraint plane, zero moment point (ZMP) equations of the biped robot depending on the coordinate of the center of the pelvis link obtained from the dynamic model of the biped robot are given based on the DdasiaAlembertpsilas principle. A walking pattern is generated based on ZMP tracking control systems that are constructed to track the ZMP of the biped robot to zigzag ZMP reference trajectory decided by the footprint of the biped robot. An optimal tracking controller is designed to control the ZMP tracking control system. From the trajectory of the COM of the biped robot and an arc reference input of the swinging leg, the inverse kinematics solved by the solid geometry method is used to compute the angles of each joint of the biped robot. The simulation and experimental results show the effectiveness of this proposed control method.

关键词： Legged locomotion Optimal control Robot kinematics control systems Equations Pelvis Trajectory Leg Solids Computational geometry

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Robust Predictive PI controller Based on First-Order Dead Time Model

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IFAC Proceedings Volumes 2008年第2期41卷 5808-5813页

作者： F. Arousi U. Schmitz R. Bars R. Haber Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Research group Dept. of Advanced Process Control Shell Rheinland Refinery Köln/Wesseling Germany Inst. of Chemical Process Engineering and Plant Design University of Applied Science Cologne Germany

Predictive control algorithms compute the manipulated variable minimizing a cost function considering expected future errors. PI control algorithms can be equipped with predictive properties. Simple predictive control algorithms are derived using approximation of an aperiodic process by a first-order model with dead time. Applying a noise model the robustness properties of the algorithm are enhanced considering plant-model mismatch. The noise filter is considered as a design parameter. Simulation examples demonstrate the behavior of the predictive PI algorithm and the robustifying effect of the noise filter.

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