Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231577
Yang Yushan, Zhou You, Z. Jingxia, Jin Zhichao, Duan Ran
Due to the large error correction capacity of stochastic and burst errors, Reed-Solomon codes are widely employed as error control codes in various occasions of uplink data control in deep space exploration. This paper investigates one of the decoding techniques of CCSDS RS (255, 223) code based on soft decision adaptive belief propagation algorithm. In order to reduce the complexities and improve decoding efficiency, an improved ABP algorithm with more inner BP iterations is proposed, which deduces the number of outer full iterations. Simulation results, by optimizing the number of outer iterations and inner iterations, show that, the proposed technique gains almost one times in decoding efficiency, while providing close decoding performance.
{"title":"A high reliability error control technique for deep space exploration","authors":"Yang Yushan, Zhou You, Z. Jingxia, Jin Zhichao, Duan Ran","doi":"10.1109/ICMC.2014.7231577","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231577","url":null,"abstract":"Due to the large error correction capacity of stochastic and burst errors, Reed-Solomon codes are widely employed as error control codes in various occasions of uplink data control in deep space exploration. This paper investigates one of the decoding techniques of CCSDS RS (255, 223) code based on soft decision adaptive belief propagation algorithm. In order to reduce the complexities and improve decoding efficiency, an improved ABP algorithm with more inner BP iterations is proposed, which deduces the number of outer full iterations. Simulation results, by optimizing the number of outer iterations and inner iterations, show that, the proposed technique gains almost one times in decoding efficiency, while providing close decoding performance.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128988664","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231700
Y. Teng, Yong Lin
Robustness of output regulation problems for second-order systems with parameter perturbations is studied. Under necessary assumptions, the solvability to robust output regulation problems is given. According to this condition, a feedback regulator is constructed.
{"title":"Solvability of robust output regulation problems for matrix second-order systems","authors":"Y. Teng, Yong Lin","doi":"10.1109/ICMC.2014.7231700","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231700","url":null,"abstract":"Robustness of output regulation problems for second-order systems with parameter perturbations is studied. Under necessary assumptions, the solvability to robust output regulation problems is given. According to this condition, a feedback regulator is constructed.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131720472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231521
Ying Gao, Yanjun Liu
The direct heuristic dynamic programming (HDP) is used to handle the optimal tracking control for the Henon Mapping chaotic system. The fuzzy logic system (FLS) is applied to measure the long-term utility function. Lyapunov analysis approach is utilized to assure the stability of the chaotic system. Results have proven that the tracking error, the adaptation law and the control input of the system retain uniform ultimate boundedness.
{"title":"Adaptive fuzzy control for a class of chaotic discrete-time system","authors":"Ying Gao, Yanjun Liu","doi":"10.1109/ICMC.2014.7231521","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231521","url":null,"abstract":"The direct heuristic dynamic programming (HDP) is used to handle the optimal tracking control for the Henon Mapping chaotic system. The fuzzy logic system (FLS) is applied to measure the long-term utility function. Lyapunov analysis approach is utilized to assure the stability of the chaotic system. Results have proven that the tracking error, the adaptation law and the control input of the system retain uniform ultimate boundedness.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"34 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131738887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231620
Yanhui Li, Qian Shi
In this paper, a robust L1 filtering method is proposed for a class of switched linear parameter varying (LPV) systems in which the state-space matrices and the time delay rely on real-time measured parameter. By using multiple delay-dependent Lyapunov-Krasovskii function, the delay-dependent L1 performance criterion for the switched LPV systems is first established. As there exists coupling between Lyapunov function and system parameter matrices, we utilized a slack matrix variable to decouple it. Because of the dependence on parameter, approximate basis function and gridding technique are utilized, and the solution for the L1 filters can be transformed into finite dimensional convex optimization problem. Based on the switching logic with the minimum average dwell time (ADT) and parameter linear matrix inequalities (PLMIs) technique, the resulting filters guarantee the filtering error systems to be exponentially stable with a prespecified L1 disturbance attenuation level. A numerical example is presented to verify the effectiveness of the proposed method.
{"title":"Robust L1 filtering for switched LPV systems with average dwell time","authors":"Yanhui Li, Qian Shi","doi":"10.1109/ICMC.2014.7231620","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231620","url":null,"abstract":"In this paper, a robust L1 filtering method is proposed for a class of switched linear parameter varying (LPV) systems in which the state-space matrices and the time delay rely on real-time measured parameter. By using multiple delay-dependent Lyapunov-Krasovskii function, the delay-dependent L1 performance criterion for the switched LPV systems is first established. As there exists coupling between Lyapunov function and system parameter matrices, we utilized a slack matrix variable to decouple it. Because of the dependence on parameter, approximate basis function and gridding technique are utilized, and the solution for the L1 filters can be transformed into finite dimensional convex optimization problem. Based on the switching logic with the minimum average dwell time (ADT) and parameter linear matrix inequalities (PLMIs) technique, the resulting filters guarantee the filtering error systems to be exponentially stable with a prespecified L1 disturbance attenuation level. A numerical example is presented to verify the effectiveness of the proposed method.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128795568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231702
Y. Yang, L. L. Lin, Y. Song, B. Nemec, A. Ude, A. Buch, N. Kruger, T. Savarimuthu
Peg-in-Hole actions play an important role in industrial assembly. In this paper, we present a system which performs such actions after learning by human demonstration. Strategies for getting robust human-demonstrated PiH trajectories are investigated, and a number of PiH experiments are conducted to verify the performance of the proposed approach. The results show that our approach leads to a high PiH success rate and allows the robot to fine-tune the PiH trajectories to achieve faster performance.
{"title":"Fast programming of Peg-in-hole Actions by human demonstration","authors":"Y. Yang, L. L. Lin, Y. Song, B. Nemec, A. Ude, A. Buch, N. Kruger, T. Savarimuthu","doi":"10.1109/ICMC.2014.7231702","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231702","url":null,"abstract":"Peg-in-Hole actions play an important role in industrial assembly. In this paper, we present a system which performs such actions after learning by human demonstration. Strategies for getting robust human-demonstrated PiH trajectories are investigated, and a number of PiH experiments are conducted to verify the performance of the proposed approach. The results show that our approach leads to a high PiH success rate and allows the robot to fine-tune the PiH trajectories to achieve faster performance.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116665314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231643
Yan Ming, Yandong Liu, Yezhong Han
For the congestion problem of persecuting Internet, an algorithm is presented by global terminal sliding mode control and fuzzy inference. Uncertain and time-varying delay factors are also considered into the system. A new global terminal sliding surface is designed. The sliding surface can make the system movement possesses global robustness. Moreover, the sliding mode possesses finite convergence time. A novel reaching condition is designed by fuzzy inference. It can adaptively adjust reaching rate, so it can effectively reduce chattering. The controller that meets the reaching condition can make the packets size keep little steady oscillation. Simulation contrasts demonstrate the superiority for this proposed controller.
{"title":"Fuzzy global terminal sliding mode congestion control in Internet","authors":"Yan Ming, Yandong Liu, Yezhong Han","doi":"10.1109/ICMC.2014.7231643","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231643","url":null,"abstract":"For the congestion problem of persecuting Internet, an algorithm is presented by global terminal sliding mode control and fuzzy inference. Uncertain and time-varying delay factors are also considered into the system. A new global terminal sliding surface is designed. The sliding surface can make the system movement possesses global robustness. Moreover, the sliding mode possesses finite convergence time. A novel reaching condition is designed by fuzzy inference. It can adaptively adjust reaching rate, so it can effectively reduce chattering. The controller that meets the reaching condition can make the packets size keep little steady oscillation. Simulation contrasts demonstrate the superiority for this proposed controller.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121676129","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231724
Xianwei Li, J. Lam, K. Cheung
The paper investigates generalized H∞ model reduction for two-dimensional (2-D) systems represented by the Roesser model and the Fornasini-Machesini local state-space model, respectively. The generalized H∞ norm of 2-D systems is introduced to evaluate the approximation error over a specific finite frequency (FF) domain. In light of the 2-D generalized Kalman-Yakubovich-Popov lemmas, sufficient conditions in terms of linear matrix inequalities are derived for the existence of a stable reduced-order model satisfying a specified generalized H∞ level. Several examples are provided to illustrate the effectiveness and advantages of the proposed method. Compared with most of the existing results, the proposed method has the following merits: 1) Both important types of 2-D models are considered in a unified framework, and no structural assumption is made for the plant model. 2) An upper bound on the generalized H∞ error can be obtained, and no weighting function is needed. 3) The proposed method is applicable to multiple FF specifications.
{"title":"Model reduction for two-dimensional systems with generalized H∞ approximation performance","authors":"Xianwei Li, J. Lam, K. Cheung","doi":"10.1109/ICMC.2014.7231724","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231724","url":null,"abstract":"The paper investigates generalized H∞ model reduction for two-dimensional (2-D) systems represented by the Roesser model and the Fornasini-Machesini local state-space model, respectively. The generalized H∞ norm of 2-D systems is introduced to evaluate the approximation error over a specific finite frequency (FF) domain. In light of the 2-D generalized Kalman-Yakubovich-Popov lemmas, sufficient conditions in terms of linear matrix inequalities are derived for the existence of a stable reduced-order model satisfying a specified generalized H∞ level. Several examples are provided to illustrate the effectiveness and advantages of the proposed method. Compared with most of the existing results, the proposed method has the following merits: 1) Both important types of 2-D models are considered in a unified framework, and no structural assumption is made for the plant model. 2) An upper bound on the generalized H∞ error can be obtained, and no weighting function is needed. 3) The proposed method is applicable to multiple FF specifications.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121836678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231654
Yanchao Sun, Chuanjiang Li, Jun Wang, G. Ma, Shuo Sun
For linear time-delay systems containing varying parameters, considering problems in practical industrial process control such as time variation of faults and output disturbances, two kinds of fault diagnosis estimators based on state observer are proposed. Based on the two kinds of fault diagnosis estimators, active fault-tolerant controllers are designed by using dynamic output feedback (DOF) control. For the two schemes proposed, we verify the validity by numerical simulations and compare them on the aspects of robust stability, fault estimation error, overshoot and design conservation.
{"title":"On fault diagnoses and active fault-tolerant control for linear time-delay systems containing varying parameters","authors":"Yanchao Sun, Chuanjiang Li, Jun Wang, G. Ma, Shuo Sun","doi":"10.1109/ICMC.2014.7231654","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231654","url":null,"abstract":"For linear time-delay systems containing varying parameters, considering problems in practical industrial process control such as time variation of faults and output disturbances, two kinds of fault diagnosis estimators based on state observer are proposed. Based on the two kinds of fault diagnosis estimators, active fault-tolerant controllers are designed by using dynamic output feedback (DOF) control. For the two schemes proposed, we verify the validity by numerical simulations and compare them on the aspects of robust stability, fault estimation error, overshoot and design conservation.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122864570","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this work, we deal with a class of uncertain nonlinear plants along with external high-frequency disturbances. A novel controller structure consisting of two neural networks (NNs) and a low-pass filter is proposed. One NN is utilized to approximate an ideal control law and the other one to approximate the derivative of the output of the former NN. The smoothness of the control signal is guaranteed by implementing the low-pass filter. Moreover, the oscillation-like phenomena in traditional NN controllers are largely mitigated. Subsequently, the online learning algorithms of the NNs are presented without the need of a priori knowledge of the system dynamics. The tracking error is proven to be semi-global uniformly ultimately bounded (UUB) and the bound can be made arbitrarily small. Meanwhile, all other signals of the closed-loop system are bounded. Simulation results illustrate the performance of our controller and validate the theoretical outcome.
{"title":"Adaptive neural network control for nonlinear uncertain systems with high-frequency disturbances","authors":"Kuangwei Miao, Sihan Li, Qian Li, Qinmin Yang, Peng Cheng","doi":"10.1109/ICMC.2014.7231745","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231745","url":null,"abstract":"In this work, we deal with a class of uncertain nonlinear plants along with external high-frequency disturbances. A novel controller structure consisting of two neural networks (NNs) and a low-pass filter is proposed. One NN is utilized to approximate an ideal control law and the other one to approximate the derivative of the output of the former NN. The smoothness of the control signal is guaranteed by implementing the low-pass filter. Moreover, the oscillation-like phenomena in traditional NN controllers are largely mitigated. Subsequently, the online learning algorithms of the NNs are presented without the need of a priori knowledge of the system dynamics. The tracking error is proven to be semi-global uniformly ultimately bounded (UUB) and the bound can be made arbitrarily small. Meanwhile, all other signals of the closed-loop system are bounded. Simulation results illustrate the performance of our controller and validate the theoretical outcome.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131370190","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-07-03DOI: 10.1109/ICMC.2014.7231963
Liu Feng, Zhao Hui, Yao Yu, Liu Xiaokun
The advent of a Control Moment Gyro (CMG) system has a significant impact on the valid powerful torque output for a three axis attitude control of a spacecraft. The accurate torque of CMG output is mainly determined by the fluctuation of velocity of gimbal servo motor. In this paper, in order to achieve precise position of gimbal absolute position, the dual-channel rotating transformer is select. A velocity measurement method couple thick channel with thin channel is proposed. The feedback calibration of phase is proposed, which can great reduce nonlinear effect and weaken the parameter sensitive of gimbal servo system. The experiment results show that the velocity ratio can achieve 1:30000, and the lowest velocity can reach 1/10000rad/s.
{"title":"Control moment Gyro gimble motor ultra-low velocity control system design with direct-drive PMSM","authors":"Liu Feng, Zhao Hui, Yao Yu, Liu Xiaokun","doi":"10.1109/ICMC.2014.7231963","DOIUrl":"https://doi.org/10.1109/ICMC.2014.7231963","url":null,"abstract":"The advent of a Control Moment Gyro (CMG) system has a significant impact on the valid powerful torque output for a three axis attitude control of a spacecraft. The accurate torque of CMG output is mainly determined by the fluctuation of velocity of gimbal servo motor. In this paper, in order to achieve precise position of gimbal absolute position, the dual-channel rotating transformer is select. A velocity measurement method couple thick channel with thin channel is proposed. The feedback calibration of phase is proposed, which can great reduce nonlinear effect and weaken the parameter sensitive of gimbal servo system. The experiment results show that the velocity ratio can achieve 1:30000, and the lowest velocity can reach 1/10000rad/s.","PeriodicalId":104511,"journal":{"name":"2014 International Conference on Mechatronics and Control (ICMC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131744227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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