Volume 8, Number 1, 2011
In this paper, a low-dimensional multiple-input and multiple-output (MIMO) model predictive control (MPC) configuration is presented for partial differential equation (PDE) unknown spatially-distributed systems (SDSs). First, the dimension reduction with principal component analysis (PCA) is used to transform the high-dimensional spatio-temporal data into a low-dimensional time domain. The MPC strategy is proposed based on the online correction low-dimensional models, where the state of the system at a previous time is used to correct the output of low-dimensional models. Sufficient conditions for closed-loop stability are presented and proven. Simulations demonstrate the accuracy and efficiency of the proposed methodologies.
This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive c...
In this paper, an adaptive fuzzy robust feedback control approach is proposed for a class of single-input and singleoutput (SISO) strict-feedback nonlinear systems with unknown nonlinear functions, time delays, unknown high-frequency gain sign, and without the measurements of the states. In the backstepping recursive design, fuzzy logic systems are employed to approximate the unknown smooth nonlinear functions, K-filters is designed to estimate the unmeasured states, and Nussbaum gain functions are introduced to solve the problem of unknown sign of high-frequency gain. By combining adaptive fuzzy control theory and adaptive backstepping design, a stable adaptive fuzzy output feedback control scheme is developed. It has been proven that the proposed adaptive fuzzy robust control approach can guarantee that all the signals of the closed-loop system are uniformly ultimately bounded and the tracking error can converge to a small neighborhood of the origin by appropriately choosing design parameters. Simulation results have shown the effectiveness of the proposed method.
This paper concerns the robust stability analysis of uncertain systems with time delays as random variables drawn from some probability distribution. The delay-distribution-dependent criteria for the exponential stability of the original system in mean square sense are achieved by Lyapunov functional method and the linear matrix inequality (LMI) technique. The proposed approach involves neither free weighting matrices nor any model transformation, and it shows that the new criteria can provide less conservative results than some existing ones. Numerical examples are given to demonstrate the effectiveness and the benefits of the proposed method.
In this paper, the stability of iterative learning control with data dropouts is discussed. By the super vector formulation, an iterative learning control (ILC) system with data dropouts can be modeled as an asynchronous dynamical system with rate constraints on events in the iteration domain. The stability condition is provided in the form of linear matrix inequalities (LMIS) depending on the stability of asynchronous dynamical systems. The analysis is supported by simulations.
An efficient critical control system design is proposed in this paper. The key idea is to decompose the design problem into two simpler design steps by the technique used in the classical loop transfer recovery method (LTR). The disturbance cancellation integral controller is used as a basic controller. Since the standard loop transfer recovery method cannot be applied to the disturbance cancellation controller, the nonstandard version recently found is used for the decomposition. Exogenous inputs with constraints both on the amplitude and rate of change are considered. The majorant approach is taken to obtain the analytical sufficient matching conditions. A numerical design example is presented to illustrate the effiectiveness of the proposed design.
In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents track a moving target and to avoid collisions among agents. First, without considering the input constraints, a novel distributed controller can be obtained based on the potential function. Second, at each sampling time, the control algorithm is optimized. Furthermore, to solve the problem that agents cannot effectively avoid the obstacles in dynamic environment where the obstacles are moving, a new velocity repulsive potential is designed. One advantage of the designed control algorithm is that each agent only requires local knowledge of its neighboring agents. Finally, simulation results are provided to verify the effectiveness of the proposed approach.
Recently, various control methods represented by proportional-integral-derivative (PID) control are used for robotic control. To cope with the requirements for high response and precision, advanced feedforward controllers such as gravity compensator, Coriolis/centrifugal force compensator and friction compensators have been built in the controller. Generally, it causes heavy computational load when calculating the compensating value within a short sampling period. In this paper, integrated recurrent neural networks are applied as a feedforward controller for PUMA560 manipulator. The feedforward controller works instead of gravity and Coriolis/centrifugal force compensators. In the learning process of the neural network by using back propagation algorithm, the learning coefficient and gain of sigmoid function are tuned intuitively and empirically according to teaching signals. The tuning is complicated because it is being conducted by trial and error. Especially, when the scale of teaching signal is large, the problem becomes crucial. To cope with the problem which concerns the learning performance, a simple and adaptive learning technique for large scale teaching signals is proposed. The learning techniques and control effectiveness are evaluated through simulations using the dynamic model of PUMA560 manipulator.
Nowadays, more and more field devices are connected to the central controller through a serial communication network such as fieldbus or industrial Ethernet. Some of these serial communication networks like controller area network (CAN) or industrial Ethernet will introduce random transfer delays into the networked control systems (NCS), which causes control performance degradation and even system instability. To address this problem, the adaptive predictive functional control algorithm is derived by applying the concept of predictive functional control to a discrete state space model with variable delay. The method of estimating the networkinduced delay is also proposed to facilitate the control algorithm implementing. Then, an NCS simulation research based on TrueTime simulator is carried out to validate the proposed control algorithm. The numerical simulations show that the proposed adaptive predictive functional control algorithm is effective for NCS with random delays.
Exploiting mobile elements (MEs) to accomplish data collection in wireless sensor networks (WSNs) can improve the energy efficiency of sensor nodes, and prolong network lifetime. However, it will lead to large data collection latency for the network, which is unacceptable for data-critical applications. In this paper, we address this problem by minimizing the traveling length of MEs. Our methods mainly consist of two steps: we first construct a virtual grid network and select the minimal stop point set (SPS) from it; then, we make optimal scheduling for the MEs based on the SPS in order to minimize their traveling length. Different implementations of genetic algorithm (GA) are used to solve the problem. Our methods are evaluated by extensive simulations. The results show that these methods can greatly reduce the traveling length of MEs, and decrease the data collection latency.
The typical model, which involves the measures: support, confidence, and interest, is often adapted to mining association rules. In the model, the related parameters are usually chosen by experience; consequently, the number of useful rules is hard to estimate. If the number is too large, we cannot effectively extract the meaningful rules. This paper analyzes the meanings of the parameters and designs a variety of equations between the number of rules and the parameters by using regression method. Finally, we experimentally obtain a preferable regression equation. This paper uses multiple correlation coeficients to test the fitting efiects of the equations and uses significance test to verify whether the coeficients of parameters are significantly zero or not. The regression equation that has a larger multiple correlation coeficient will be chosen as the optimally fitted equation. With the selected optimal equation, we can predict the number of rules under the given parameters and further optimize the choice of the three parameters and determine their ranges of values.
Supervisory control is a very popular paradigm for computer-controlled systems. Knowledge and tracking the control effect of every control operation is crucial to the control tasks. In the paper, we present a message-array-based mechanism to track control effects in supervisory control software. A novel data type, message array, is designed to efficiently support this tracking mechanism. The operation algorithms, adding algorithm (AA), removing algorithm (RA), and scheduler algorithm (SA) are proposed to operate the tracking messages in message array, which forms the special first input X output (FIXO) strategy of message array. Automatically tracking, recording, and rolling back are the characteristics of our tracking mechanism. We implement this messagearray-based mechanism on the famous human machine interface (HMI) software platform-proficy iFix, and construct experiments to evaluate the performance of the mechanism in various cases. The results show our mechanism can be well satisfied with supervisory control software.
According to the B-spline convolution mask, first, the contrast sensitiveness (CS) is computed and then is viewed as a noise sensitiveness coeficient (NSC) to adaptively determine a noise-recognized threshold value. Based on the noise density function (NDF) in a 33 window, the filtering window size is adaptively adjusted, and then a median filter is used to eliminate the noise-marked pixels. The experiment results show that the proposed algorithm can preserve image detail information well and effectively remove the noises, particularly the impulse noises that is also called salt-and-pepper noises superimposed on the computed tomography (CT) and magnetic resonance imaging (MRI) medical images.
Suitable rescue path selection is very important to rescue lives and reduce the loss of disasters, and has been a key issue in the field of disaster response management. In this paper, we present a path selection algorithm based on Q-learning for disaster response applications. We assume that a rescue team is an agent, which is operating in a dynamic and dangerous environment and needs to find a safe and short path in the least time. We first propose a path selection model for disaster response management, and deduce that path selection based on our model is a Markov decision process. Then, we introduce Q-learning and design strategies for action selection and to avoid cyclic path. Finally, experimental results show that our algorithm can find a safe and short path in the dynamic and dangerous environment, which can provide a specific and significant reference for practical management in disaster response applications.
A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.
The frequency domain analysis of systems is an important topic in control theory. Powerful graphical tools exist in classic control, such as the Nyquist plot, Bode plots, and Nichols chart. These methods have been widely used to evaluate the frequency domain behavior of system. A literature survey shows that various approaches are available for the computation of the frequency response of control systems under different types of parametric dependencies, such as affine, multi-linear, polynomial, etc. However, there is a lack of tools in the literature to construct the Bode envelopes for the general nonlinear type of parametric dependencies. In this paper, we address the problem of computation of the envelope of Bode frequency response of a non-rational transfer function with nonlinear parametric uncertainties varying over a box. We propose two techniques to compute the Bode envelopes:first, based on the natural interval extensions (NIE) combined with uniform subdivision and second, based on the existing Taylor model combined with subdivision strategy. We also propose the algorithms to further speed up both methods through extrapolation techniques.
Integrated guidance and control for homing missiles utilizing adaptive dynamic surface control approach is considered based on the three channels independence design idea. A time-varying integrated guidance and control model with unmatched uncertainties is first formulated for the pitch channel, and an adaptive dynamic surface control algorithm is further developed to deal with these unmatched uncertainties. It is proved that the proposed feedback controller can ensure not only the accuracy of target interception, but also the stability of the missile dynamics. Then, the same control approach is further applied to the control design of the yaw and roll channels. The 6-degree-of-freedom (6-DOF) nonlinear missile simulation results demonstrate the feasibility and advantage of the proposed integrated guidance and control design scheme.
This paper deals with the stability of static recurrent neural networks (RNNs) with a time-varying delay. An augmented Lyapunov-Krasovskii functional is employed, in which some useful terms are included. Furthermore, the relationship among the timevarying delay, its upper bound and their difierence, is taken into account, and novel bounding techniques for 1(t) are employed. As a result, without ignoring any useful term in the derivative of the Lyapunov-Krasovskii functional, the resulting delay-dependent criteria show less conservative than the existing ones. Finally, a numerical example is given to demonstrate the effectiveness of the proposed methods.
In this paper, a robust model predictive control approach is proposed for a class of uncertain systems with time-varying, linear fractional transformation perturbations. By adopting a sequence of feedback control laws instead of a single one, the control performance can be improved and the region of attraction can be enlarged compared with the existing model predictive control (MPC) approaches. Moreover, a synthesis approach of MPC is developed to achieve high performance with lower on-line computational burden. The effectiveness of the proposed approach is verified by simulation examples.
In this paper, we consider the problem of robust stability for a class of linear systems with interval time-varying delay under nonlinear perturbations using Lyapunov-Krasovskii (LK) functional approach. By partitioning the delay-interval into two segments of equal length, and evaluating the time-derivative of a candidate LK functional in each segment of the delay-interval, a less conservative delay-dependent stability criterion is developed to compute the maximum allowable bound for the delay-range within which the system under consideration remains asymptotically stable. In addition to the delay-bi-segmentation analysis procedure, the reduction in conservatism of the proposed delay-dependent stability criterion over recently reported results is also attributed to the fact that the time-derivative of the LK functional is bounded tightly using a newly proposed bounding condition without neglecting any useful terms in the delay-dependent stability analysis. The analysis, subsequently, yields a stable condition in convex linear matrix inequality (LMI) framework that can be solved non-conservatively at boundary conditions using standard numerical packages. Furthermore, as the number of decision variables involved in the proposed stability criterion is less, the criterion is computationally more effective. The effectiveness of the proposed stability criterion is validated through some standard numerical examples.
A Survey on 3D Visual Tracking of Multicopters
Qiang Fu, Xiang-Yang Chen, Wei He
Toolpath Interpolation and Smoothing for Computer Numerical Control Machining of Freeform Surfaces: A Review
Deep Learning Based Hand Gesture Recognition and UAV Flight Controls
Bin Hu, Jiacun Wang