IFAC Proceedings Volumes最新文献

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Decentralized Controller Design by Continuous Pole Placement for Commensurate-Time-Delay Systems 通约时滞系统的连续极点分散控制器设计

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02409

H. Erol, A. Iftar

Abstract Decentralized controller design problem for linear time-invariant retarded commensurate-time-delay systems is considered. The continuous pole placement algorithm, which has recently been introduced for static state vector feedback controller design for retarded time-delay systems, is first extended to design dynamic output feedback controllers. This algorithm is then used in the proposed decentralized controller design algorithm. An example is also presented to demonstrate the proposed approach.

摘要研究了线性定常时滞公约时滞系统的分散控制器设计问题。连续极点放置算法，最近被引入到延迟时滞系统的静态矢量反馈控制器设计中，首次推广到动态输出反馈控制器的设计中。然后将该算法应用于所提出的分散控制器设计算法。最后给出了一个实例来说明所提出的方法。

引用次数: 11

Featureless Visual Tracking Based on Non-vector Space Control Theory 基于非矢量空间控制理论的无特征视觉跟踪

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01147

Hailin Huang, Jianguo Zhao, N. Xi

Abstract This paper proposes a featureless visual target tracking approach based on non-vector space control theory. By considering the image as a set with pixels as its elements, the visual tracking problem could be treated as the mutation control between an initial image set and a prescribed target image set, then the motion of the robot can be reflected in the dynamic of the image set. Based on mutation analysis over sets, a shape functional describing the difference between two dynamic sets is defined, the directional derivative of this shape functional is derived and a Lyapunov function is constructed to design a controller to make an initial image set to track a moving goal image set, thereby steering the robot to follow the motion of the target. A 2-dimensional translation motion case is employed as an example to illustrate the feasibility of the proposed approach.

摘要提出了一种基于非矢量空间控制理论的无特征视觉目标跟踪方法。将图像视为以像素为元素的集合，将视觉跟踪问题视为初始图像集与指定目标图像集之间的突变控制，从而将机器人的运动反映在图像集的动态上。基于对集合的突变分析，定义了描述两个动态集合之差的形状泛函，推导了该形状泛函的方向导数，构造了Lyapunov函数，设计了控制器，使初始图像集跟踪运动目标图像集，从而引导机器人跟随目标的运动。以二维平移运动为例，说明了该方法的可行性。

引用次数: 3

Dynamic Sensor Allocation Framework for Fault Tolerant Flight Control 容错飞行控制动态传感器分配框架

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01597

T. Péni, B. Vanek, Z. Szabó, J. Bokor

Abstract This paper proposes a novel method for sensor allocation based fault tolerant control. Fault tolerance is achieved with optimal combination of healthy sensor sources while the baseline controller remains unchanged. The measurements are subjected to various sensor dynamics, hence the resulting sensor allocation framework is also dynamic. The proposed approach can fit into a hierarchical fault tolerant control framework, where certain sensor faults are handled by the lower level allocation while more severe faults are handled by controller reconfiguration. The decision of which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on the simulation model of the Nasa AirStar test vehicle.

摘要提出了一种基于容错控制的传感器分配方法。在基线控制器保持不变的情况下，通过健康传感器源的最优组合实现容错。测量结果受到各种传感器动态的影响，因此产生的传感器分配框架也是动态的。该方法适用于分层容错控制框架，其中某些传感器故障通过较低层次的分配来处理，而更严重的故障通过控制器重构来处理。在响应故障时，必须启动哪个重新配置级别的决定由主管单位确定。在Nasa AirStar试验飞行器的仿真模型上对该方法进行了验证。

引用次数: 3

Three-Dimensional Consensus Path-Following for Second-Order Multi-Agent Networks 二阶多智能体网络的三维共识路径跟踪

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00699

Zongyu Zuo, Bing Zhu, Ming Xu

Abstract In this paper, we address a new consensus problem of coordinately steering a group of multi-agents under directed information flow along a three-dimensional reference path without temporal constraint. The spatial reference path is newly defined by algebraic implicit expressions and the path-following kinematic-error dynamics are then formulated for each agent using two path-following errors and a speed tracking error. Distinct from the stabilizing feedback control design of the path-following problem for a single agent, the proposed new feedback control algorithm augmented with consensus disagreement terms could achieve both the reference goal seeking and consensus during transition. To show effectiveness of the proposed concept, simulation results are included in the end.

摘要本文研究了一个新的共识问题，即在定向信息流条件下，多智能体沿无时间约束的三维参考路径协调引导。利用代数隐式表达式重新定义空间参考路径，并利用两个路径跟踪误差和一个速度跟踪误差建立了每个agent的路径跟踪运动学误差动力学。与单智能体路径跟随问题的稳定反馈控制设计不同，本文提出的带有共识不一致项的反馈控制算法既能实现参考目标寻求，又能实现过渡过程中的共识。为了证明所提概念的有效性，最后给出了仿真结果。

引用次数: 4

Biexcitability and Bursting Mechanisms in Neural and Genetic Circuits 神经和遗传回路的双兴奋性和爆发机制

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02630

P. Gifani, J. Gonçalves

Abstract This paper compares mechanisms for generating repetitive spikes (bursts) in neural and transcriptional circuits. Neurons generate bursts followed by refractory periods controlled by ion channels in the membrane. In contrast, in gene transcription the bursts occur during a short time period followed by silent periods regulated by sis-regulatory elements. The role of excitability in producing different patterns of bursts is discussed by comparing the topology of a neural model with natural and synthetic transcriptional genetic circuits. In particular, a special bi-excitable architecture which embeds two excitable states are compared in these systems.

摘要:本文比较了神经和转录回路中产生重复尖峰(脉冲)的机制。神经元产生脉冲，随后是不应期，由膜上的离子通道控制。相反，在基因转录中，爆发发生在短时间内，随后是由姐妹调节元件调节的沉默期。通过比较自然和合成转录遗传回路的神经模型拓扑结构，讨论了兴奋性在产生不同模式的脉冲中的作用。特别地，在这些系统中比较了嵌入两个激发态的一种特殊的双可激结构。

引用次数: 1

Extracting Mobile Machine Routes from GPS Traces 从GPS轨迹中提取移动机器路线

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02430

M. Laurikkala, M. Vilkko

Abstract GPS data are available from a large amount of sources. Individuals and vehicles carry their receivers and are often willing to share their locations. These GPS traces are inexpensive compared to dedicated collection techniques. Therefore, using GPS traces in map extraction has attracted a number of researchers in the past decade. In the case of mobile machines, dedicated collection of GPS data is usually even impossible, so one has to confine to the data collected by the machine itself. This paper introduces an algorithm for extracting a map-like graph from mobile machine GPS traces with large uncertainties. The result is a topological map with intersections and route segments. It can be used for operator support instead of displaying the raw GPS traces, or information interchange between operators. In the future, even automatic route optimization is possible with the help of a graph like this.

GPS数据的来源非常广泛。个人和车辆携带他们的接收器，通常愿意分享他们的位置。与专门的收集技术相比，这些GPS痕迹价格低廉。因此，利用GPS轨迹进行地图提取在过去的十年中吸引了大量的研究人员。在移动机器的情况下，专门收集GPS数据通常甚至是不可能的，因此必须限制在机器本身收集的数据。介绍了一种从不确定度较大的移动机器GPS轨迹中提取类地图图形的算法。结果是一个具有交叉点和路由段的拓扑图。它可以用于操作员支持，而不是显示原始GPS跟踪，或操作员之间的信息交换。在未来，借助这样的图表，甚至自动路线优化都是可能的。

引用次数: 0

Intelligent Mesh for Self Reconfigurability of an Exoskeleton Arm 外骨骼臂自重构智能网格

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01180

Cagri Altintasi, A. Erkmen

Abstract This paper presents a new technique for a reconfigurable exoskeleton which consists of a connected network of small sized holonic robots enwrapping the human body limbs and more specifically, in this paper, the human arm. The connection control of the reconfigurable exoskeleton decides upon the necessity of a “disconnect”,” reconnect” for chosen holons so as to balance any new load at the human joints. The intelligent controller carries out its decisions on the evaluation of stress at connections between holons of a previous configuration comparing them for a new actual need. This decision is based on a graph theoretic method, where stress calculations are carried out using finite element method. The paper demonstrates the performance of our approach on a simulation of hyper redundant network of holons wrapping a human arm.

摘要:本文提出了一种可重构外骨骼的新技术，该外骨骼由一个连接网络的小型全息机器人包裹在人体四肢上，更具体地说，包裹在人的手臂上。可重构外骨骼的连接控制决定了所选孔的“断开”或“重新连接”的必要性，以平衡人体关节上的任何新负载。智能控制器对先前配置的孔之间的连接处的应力进行评估，并将其与新的实际需求进行比较，从而执行其决策。这个决定是基于图论方法，其中应力计算是使用有限元方法进行的。本文通过对一个包裹人体手臂的超冗余粒子网络的仿真，验证了该方法的性能。

引用次数: 1

Adaptive Control for Ionic Polymer-Metal Composite Actuator Based on Continuous-Time Approach 基于连续时间方法的离子聚合物-金属复合驱动器自适应控制

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01496

Xinkai Chen

Abstract This paper discusses the model reference adaptive control problem for ionic polymer-metal composite (IPMC) actuators. Firstly, a mathematical model of the IPMC actuator is constructed as a stable second order dynamical system preceded by a hysteresis representation. Then, an adaptive controller is synthesized for the IPMC actuator. The proposed control law ensures the global stability of the controlled IPMC system, and the position error of IPMC actuator can be controlled by choosing the design parameters. Experimental results confirm the effectiveness of the proposed method.

讨论了离子聚合物-金属复合材料(IPMC)作动器的模型参考自适应控制问题。首先，将IPMC作动器的数学模型建立为一个稳定的二阶动力系统，并以滞后表示为前导。然后，对IPMC作动器合成了自适应控制器。所提出的控制律保证了被控IPMC系统的全局稳定性，通过选择设计参数可以控制IPMC作动器的位置误差。实验结果证实了该方法的有效性。

引用次数: 3

Modelling and Control of Ball and Beam System using Coefficient Diagram Method (CDM) based PID controller 基于系数图法(CDM)的球梁系统PID控制器建模与控制

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140313-3-IN-3024.00079

B. Meenakshipriya , K. Kalpana

This paper introduces a design methodology of a PID controller for an unstable ball and beam system based on Coefficient Diagram Method (CDM). Ball and beam system is a non-linear, unstable, double integrating system which is widely used as a bench mark control setup for evaluating various control strategies. Many PID controller design is developed for stable system however it is very less common for double integrating unstable system. Co-efficient Diagram Method (CDM) is one of the recently developed controller design methodology based on algebraic approach. With CDM, it is easy to realize a controller under the conditions of stability, robustness and time domain performance. In this paper, CDM based PID (CDM-PID) controller parameters are computed based on the dynamics of ball and beam system which is developed using Euler – Lagrangian Approach. To evaluate the performance of proposed CDM-PID controller, set-point tracking and disturbance rejection analysis of ball and beam system are carried out through simulation runs in MATLAB-SIMULINK platform. The results are compared with the conventional Ziegler Nicholas – PID (ZN-PID) controller in terms of Error indices (Integral Squared Error (ISE) and Integral Absolute Error (IAE)) and Quality indices (Rise time (t_r), Settling time (t_s) and Maximum peak overshoot (%M_p)). The results reveal that the CDM-PID controller maintains good stability of the ball's position with reduced percentage of error than ZN-PID controller.

介绍了一种基于系数图法(CDM)的不稳定球梁系统PID控制器设计方法。球梁系统是一种非线性、不稳定的双积分系统，被广泛地用作评价各种控制策略的基准控制装置。许多PID控制器的设计都是针对稳定系统进行的，而对于双积分不稳定系统的PID控制器设计却很少。协效图法是近年来发展起来的一种基于代数方法的控制器设计方法。利用CDM可以很容易地实现具有稳定性、鲁棒性和时域性能的控制器。基于欧拉-拉格朗日方法建立的球梁系统动力学模型，计算了基于CDM的PID (CDM-PID)控制器参数。为了评估所提出的CDM-PID控制器的性能，在MATLAB-SIMULINK平台上对球梁系统进行了设定值跟踪和抗干扰分析。结果与传统的Ziegler - Nicholas -PID (ZN-PID)控制器在误差指标(积分平方误差(ISE)和积分绝对误差(IAE))和质量指标(上升时间(t r)，沉降时间(t s)和最大峰值超调(%M p))方面进行了比较。结果表明，CDM-PID控制器与ZN-PID控制器相比，保持了良好的球位置稳定性，误差百分比减小。

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引用次数: 14

Controlling A Motion Platform Beyond Its Anti-Resonance 超越反共振控制运动平台

IFAC Proceedings Volumes

Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00910

E. Ari, E. Kocaoglan

Abstract In controlling motion platforms, the servo motor and the feedback sensor are in general, not co-located. Hence, there usually happens to be a mechanical anti-resonance in controlling the system in velocity mode. This anti-resonance hinders the controller design as the open-loop gain of the system is severely reduced. In this study, a novel approach based on self-recurrent wavelet neural networks (SRWNNs) has been proposed in order to re-shape the anti-resonance behavior of the open-loop plant in a robust manner. The approach has been verified both using simulations and experiments.

摘要在运动平台的控制中，伺服电机和反馈传感器一般是不共存的。因此，在速度模式下控制系统通常会发生机械反谐振。这种反谐振阻碍了控制器的设计，因为系统的开环增益严重降低。在这项研究中，提出了一种基于自循环小波神经网络(SRWNNs)的新方法，以鲁棒方式重新塑造开环对象的反谐振行为。通过仿真和实验验证了该方法的有效性。

引用次数: 0

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