2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)最新文献

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Controller synthesis for stabilizing oscillations in tapping-mode atomic force microscopes 攻模原子力显微镜稳定振荡的控制器合成
M. Basso, G. Bagni
{"title":"Controller synthesis for stabilizing oscillations in tapping-mode atomic force microscopes","authors":"M. Basso, G. Bagni","doi":"10.1109/CACSD.2004.1393905","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393905","url":null,"abstract":"The atomic force microscope operating in tapping-mode can be properly described by a sinusoidally forced second order mechanical oscillator, which is nonlinearly interacting with the sample. Due to interaction forces, which strongly depend on the separation between the AFM tip and the sample profile, the cantilever oscillations may present chaotic behaviors, rising when the separation decreases. The stabilization of such periodic solutions is critical for achieving the correct sample topography. In this work, an LMI-based synthesis technique is proposed for determining the controller which guarantees stability of the cantilever oscillation for a wider range of tip-sample separations, thus eliminating unwanted complex dynamics","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122267757","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}
引用次数: 10
Ant colony optimization for designing of PID controllers 蚁群优化PID控制器设计
Y. Hsiao, Cheng-Long Chuang, Cheng-Chih Chien
{"title":"Ant colony optimization for designing of PID controllers","authors":"Y. Hsiao, Cheng-Long Chuang, Cheng-Chih Chien","doi":"10.1109/CACSD.2004.1393896","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393896","url":null,"abstract":"This work presents an optimum approach to design PID controllers. The primary design goal is to obtain good load disturbance response by minimizing the integral absolute control error. At the same time, the transient response is guaranteed by minimizing the maximum overshoot, settling time, rise time of step response. This study proposes a solution algorithm based on the ant colony optimization technique to determine the parameters of the PID controller for getting a well performance for a given plant. Simulation results demonstrate that better control performance can be achieved in comparison with known methods","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134025772","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}
引用次数: 79
State feedback control of networked systems via periodical switching 基于周期交换的网络系统状态反馈控制
S. Mu, T. Chu, Long Wang, G. Xie
{"title":"State feedback control of networked systems via periodical switching","authors":"S. Mu, T. Chu, Long Wang, G. Xie","doi":"10.1109/CACSD.2004.1393902","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393902","url":null,"abstract":"This paper considers the problem of state feedback control of networked systems with an uncertain plant. The signal for feedback switches periodically between the plant state which is available via the communication network and the state of a model of the plant that is used to generate control signal when the plant state is not available from the network. A necessary and sufficient condition and a sufficient condition for the robust exponential stability of the closed loop system are derived in terms of the network dwell time and the system parameters. The results suggest a simple procedure for designing the state feedback controller of the system. Numerical simulations show the feasibility and efficiency of the proposed methods","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"28 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132723596","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}
引用次数: 6
COSMAD: a Scilab toolbox for output-only modal analysis and diagnosis of vibrating structures COSMAD:一个用于振动结构输出模态分析和诊断的Scilab工具箱
M. Goursat, L. Mevel
{"title":"COSMAD: a Scilab toolbox for output-only modal analysis and diagnosis of vibrating structures","authors":"M. Goursat, L. Mevel","doi":"10.1109/CACSD.2004.1393861","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393861","url":null,"abstract":"Modal analysis of vibrating structures is a usual technique for design and monitoring in many industrial sectors: car manufacturing, aerospace, civil structures. We present COSMAD a software environment for in-operation situation without any measured or controlled input. COSMAD is an identification and detection Scilab toolbox. It covers modal identification with visual inspection of the results via a GUI or fully automated modal identification and monitoring. The toolbox offers a complete package for signal visualization, filtering and down-sampling, the tracking of frequency and damping over time, mode-shape visualization, MAC computation, etc. The detection part is also a comprehensive toolbox for modal diagnosis and physical localization of faulty components","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131013818","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}
引用次数: 3
On the design of robust controllers using the interval Diophantine equation 基于区间丢番图方程的鲁棒控制器设计
A. Lordelo, E. A. Juzzo, P. Ferreira
{"title":"On the design of robust controllers using the interval Diophantine equation","authors":"A. Lordelo, E. A. Juzzo, P. Ferreira","doi":"10.1109/CACSD.2004.1393871","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393871","url":null,"abstract":"In this paper the design of pole placement feedback controllers for interval plants is addressed within an interval analysis framework. Three main topics connected by the concept of interval Diophantine equation are treated: a relatively straightforward investigation about robust coprimeness of interval polynomials, a reliable computing approach for the design of pole placement controllers in the presence of inaccuracies of the interval type, and the design of robust controllers with regional pole placement specifications. After explicitly characterizing a convex subset of robust controllers, the problem of designing non-fragile controllers is formulated as a centering problem, which is then solved by a global optimization algorithm. Numerical examples illustrate the main characteristics of the approach proposed","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134507192","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}
引用次数: 12
Formal approach to compute hybrid automata models for linear physical systems with switches 计算带开关的线性物理系统混合自动机模型的形式化方法
J. Buisson, H. Cormerais, M. Zainea, H. Guéguen, E. Godoy
{"title":"Formal approach to compute hybrid automata models for linear physical systems with switches","authors":"J. Buisson, H. Cormerais, M. Zainea, H. Guéguen, E. Godoy","doi":"10.1109/CACSD.2004.1393849","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393849","url":null,"abstract":"This paper considers the computation of a hybrid automaton that models the behaviour of a switching linear physical system using energy considerations. The system is represented in a compositional way with bond graphs that include switches. In a first step the switches are considered from a functional point of view. This allows to determine the locations that are associated to consistent configuration of switches, the continuous activities and the jumps. In a second step elementary models of switches are introduced and allow to determine the invariants and the guards of transitions. The approach is exemplified with a simple electronics circuit","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122330882","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}
引用次数: 16
Application of polynomial method in control of time delay systems 多项式方法在时滞系统控制中的应用
Petr Dostil, V. Bobil, Martin TomaStik
{"title":"Application of polynomial method in control of time delay systems","authors":"Petr Dostil, V. Bobil, Martin TomaStik","doi":"10.1109/CACSD.2004.1393856","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393856","url":null,"abstract":"The paper deals with design of controllers for time delay systems. The method is developed for stable, unstable and integrating time delay systems in conjunction with the approximation of the time delay term. The 2DOF control system configuration is considered. To derive of controllers, the polynomial approach and the pole assignment method are applied. The procedure is proposed for two choices of the characteristic polynomial of the closed-loop. The resulting controller obtained via polynomial Diophantine equations is stable and proper. The simulation results document a usability of the proposed method providing stable control responses of a good quality also for a higher ratio between the time delay and the time constant of the controlled system","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125940214","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}
引用次数: 6
Algorithmic verification of logic controllers given as sequential function charts 逻辑控制器的算法验证以顺序功能图的形式给出
M. Remelhe, S. Lohmann, O. Stursberg, S. Engell, N. Bauer
{"title":"Algorithmic verification of logic controllers given as sequential function charts","authors":"M. Remelhe, S. Lohmann, O. Stursberg, S. Engell, N. Bauer","doi":"10.1109/CACSD.2004.1393850","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393850","url":null,"abstract":"The a-posteriori analysis of logic controllers can be a suitable means to detect design flaws if the controller was not developed by a synthesis algorithm that correctly considered all relevant requirements. This paper advocates the verification of logic controllers with a special focus on the following three issues: (a) the control code is given as a sequential function chart (SFC), a description language becoming increasingly popular for industrial controllers; (b) the cyclic operation mode of the hardware on which the controllers is implemented is taken into account; (c) specifications of the control logic that include timers and the real-time behavior of the controlled plant are considered. We propose an approach in which the SFC controller is first translated into a timed automaton using an algorithm that explores a special graph grammar. The automaton can then be composed with a timed automaton modeling the plant behavior, and model-checking of the composition reveals whether a given set of requirements is fulfilled. All steps of the procedure are illustrated for the example of a controlled evaporation system","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129012994","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}
引用次数: 23
A multi-paradigm modeling approach for hybrid dynamic systems 混合动力系统的多范式建模方法
Jin-Shyan Lee, Mengchu Zhou, P. Hsu
{"title":"A multi-paradigm modeling approach for hybrid dynamic systems","authors":"Jin-Shyan Lee, Mengchu Zhou, P. Hsu","doi":"10.1109/CACSD.2004.1393854","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393854","url":null,"abstract":"In the past years, modeling and simulation of hybrid dynamic systems (HDS) have attracted much attention. However, since simultaneously dealing with the discrete and continuous variables is very difficult, most of the models result in a unified, but more complicated and unnatural format. Moreover, design engineers cannot be allowed to use their preferred domain models. Based on the multi-paradigm modeling (MPaM) concept, this paper proposed a Petri net (PN) framework with associated state equations to model the HDS. In the presented approach, modeling schemes of the hybrid systems are separated, but combined in a hierarchical way through specified interfaces. Designers can still work in their familiar domain-specific modeling paradigms and the heterogeneity is hidden when composing large systems. An application to a rapid thermal process (RTP) in semiconductor manufacturing is provided to demonstrate the practicability of the developed approach","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123732373","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}
引用次数: 7
Heterogeneous modeling for automotive electronic control units using a CASE-tool integration platform 基于case工具集成平台的汽车电子控制单元异构建模
K. Muller-Glaser, C. Reichmann, P. Graf, M. Kuhl, K. Ritter
{"title":"Heterogeneous modeling for automotive electronic control units using a CASE-tool integration platform","authors":"K. Muller-Glaser, C. Reichmann, P. Graf, M. Kuhl, K. Ritter","doi":"10.1109/CACSD.2004.1393855","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393855","url":null,"abstract":"Up to 70 electronic control units (ECU's) serve for safety and comfort functions in a car. Communicating over different bus systems most ECU's perform close loop control functions and reactive functions and have to fulfill hard real time constraints. Some ECU's controlling on board entertainment/office systems are software intensive, incorporating millions of lines of code. The challenge for the design of those distributed and networked control units is to define all requirements and constraints, understand and analyze those manifold interactions between the control units, the car and the environment (driver, road, weather) in normal as well as stress situations (crash). To design within a development process which is concurrent and distributed between the automotive manufacturer and several suppliers requires a well understood life-cycle model, a strictly controlled design methodology and using computer aided engineering tools to its largest extent. We have developed the CASE-tool integration platform \"generalstore\" to support the design of automotive ECU's, however, generalstore is also used for the design of industrial automation systems and biomedical systems","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121902301","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}
引用次数: 10
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