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Remarks on a Recurrent Quaternion Neural Network with Application to Servo Control Systems 递归四元数神经网络在伺服控制系统中的应用
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606573
Kazuhiko Takahashi
{"title":"Remarks on a Recurrent Quaternion Neural Network with Application to Servo Control Systems","authors":"Kazuhiko Takahashi","doi":"10.1109/ANZCC.2018.8606573","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606573","url":null,"abstract":"This paper investigates the control system application of a fully connected recurrent neural network in which all network parameters and signals are expressed in quaternion numbers, and the training of the network is conducted using a real–time recurrent learning algorithm. The recurrent quaternion neural network (RQNN), which synthesises the control input to track the outputs of the non–linear system to the desired outputs, assumes the role of an adaptive–type servo controller in the control system. A feedback error learning method is used to train the RQNN using an online method in the control system. Numerical simulations for controlling discrete–time non–linear plants are performed to evaluate the characteristics of the RQNN–based adaptive–type controller. The simulation results demonstrate the feasibility and effectiveness of the proposed controller.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124305233","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: 4
Towards one nonconvex connected Markov chain control problem. An approach to numerical solution 一个非凸连通马尔可夫链控制问题。数值解的一种方法
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606576
B. Miller, K. Stepanyan, A. Miller, A. Popov
{"title":"Towards one nonconvex connected Markov chain control problem. An approach to numerical solution","authors":"B. Miller, K. Stepanyan, A. Miller, A. Popov","doi":"10.1109/ANZCC.2018.8606576","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606576","url":null,"abstract":"The control problems for Markov chains in continuous time usually can be reduced to the solution of a system of ordinary differential equations, which is an analog of the dynamic programming equation. This system contains, as an obligatory element, the solution of the minimization problem on the set of admissible controls at each instant of time and the success in obtaining a numerical solution depends on how effective this optimization procedure is, because it must be performed for all MC states at any time. Actually, afterward the problem of integrating a system of differential equations is not difficult, since it does not require the extra high accuracy. In one of our previous works, we tried to obtain a solution to the problem of managing the dams system, however even with a small number of dams an increase in the number of states leads to a serious increase in the time of the program performance with usage of standard computational means. In this paper, we propose to divide the minimization procedures on the right-hand side for which an analytical solution has been obtained and the integration procedures, which made it possible to radically increase the number of states and thereby, to raise the accuracy of the solution of the problem as a whole.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124964939","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: 1
An Indirect-Direct event-triggered mechanism for networked control system against DoS attacks 网络控制系统抗DoS攻击的间接-直接事件触发机制
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606604
Zihao Cheng, D. Yue, Songlin Hu, Tianbao Yang, Lei Chen
{"title":"An Indirect-Direct event-triggered mechanism for networked control system against DoS attacks","authors":"Zihao Cheng, D. Yue, Songlin Hu, Tianbao Yang, Lei Chen","doi":"10.1109/ANZCC.2018.8606604","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606604","url":null,"abstract":"H∞ control problem of linear discrete time system under DoS attacks is concerned. To cope with the failure of primary communication channel, a redundant transmission line is configured in feedback channel. An Indirect-Direct event-triggered mechanism (IDET) is first proposed to implement the function that redundant channel starts up automatically for measurements transmission when primary channel has been shut down by DoS attacks. Then, Lyapunov stability method and LMI technique are adopted to analysis system stability and H∞ disturbance attenuation performance. And feedback control gain and trigger parameters of IDET are designed simultaneously. Finally, numerical simulations are given to illustrated the effectiveness of our proposed IDET under three classical types of DoS attacks.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126596066","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: 0
Location Measurement and Path Control for Stack-Room Robot in Narrow Passages* 窄通道堆垛机器人位置测量与路径控制*
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606579
Li-Na Tang, H. Su, Baolin Zhang
{"title":"Location Measurement and Path Control for Stack-Room Robot in Narrow Passages*","authors":"Li-Na Tang, H. Su, Baolin Zhang","doi":"10.1109/ANZCC.2018.8606579","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606579","url":null,"abstract":"This paper deals with the problems of location and moving path control for the stack-room management robot in narrow passages. First a measuring approach of the location and the attitude for the stack-room management robot based on the radio frequency identification technology is proposed. Then a linear decomposition path control approach has been presented, which decomposes the motion of the stack-room management robot into a straight line motion and a rotational motion. Finally according to the linear decomposition models, the desired path control output and path planning algorithms are designed based on the electronic map of the stack-room, respectively. A simulation example is conducted to illustrate the effectiveness of the design algorithms.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"594 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132710889","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: 0
Robust Control Synthesis for Linear Differential Systems with Parametric Uncertainty 参数不确定性线性微分系统的鲁棒控制综合
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606600
Yitao Yan, Ruigang Wang, J. Bao
{"title":"Robust Control Synthesis for Linear Differential Systems with Parametric Uncertainty","authors":"Yitao Yan, Ruigang Wang, J. Bao","doi":"10.1109/ANZCC.2018.8606600","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606600","url":null,"abstract":"This paper presents a robust control synthesis method for linear time-invariant (LTI) differential systems with parametric uncertainty. The uncertain dynamics is described by a parametric kernel representation. We use parametric quadratic differential forms (QDF) to represent the dissipativity properties (both storage function and supply rate) of the uncertain system. The control design utilizes sum-of-squares (SOS) programming to search for a QDF supply rate for the controller such that the supply rate of the closed-loop system satisfies robust stability and performance conditions. Such a supply rate is then applied for control synthesis based J-factorization.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134406570","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: 2
Extended Dissipativity Analysis of Delayed Memristive Neural Networks Based on A Parameter-Dependent Lyapunov Functional 基于参数相关Lyapunov泛函的延迟记忆神经网络扩展耗散分析
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606585
Chengda Lu, Xianming Zhang, Min Wu, Q. Han, Yong He
{"title":"Extended Dissipativity Analysis of Delayed Memristive Neural Networks Based on A Parameter-Dependent Lyapunov Functional","authors":"Chengda Lu, Xianming Zhang, Min Wu, Q. Han, Yong He","doi":"10.1109/ANZCC.2018.8606585","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606585","url":null,"abstract":"This paper is concerned with extended dissipativity analysis of memristive neural networks with time-varying delays. Using the characteristic function technique, a tractable model of a memristive neural network is obtained. This model is similar to a neural network with polytopic uncertain synaptic weights, enabling us to construct a parameter-dependent Lyapunov functional. By combining this functional and some integral inequalities, a novel extended dissipativity criterion is obtained in terms of linear-matrix-inequalities, where different Lyapunov matrices are used for each form of the memristive neural network. Through a numerical example, this criterion is shown to be less conservative than the one based on a common Lyapunov functional.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121951834","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: 0
Nonovershooting Bipartite Output Regulation of Linear Multi-Agent Systems 线性多智能体系统的非超调二部输出调节
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606568
Hassan Dehghani Aghbolagh, Robert Schmid, M. Zamani, Zhiyong Chen
{"title":"Nonovershooting Bipartite Output Regulation of Linear Multi-Agent Systems","authors":"Hassan Dehghani Aghbolagh, Robert Schmid, M. Zamani, Zhiyong Chen","doi":"10.1109/ANZCC.2018.8606568","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606568","url":null,"abstract":"We consider the problem of output regulation for linear multi-agent systems over signed digraphs. A design method is presented that solves the bipartite output regulation problem and also ensures that all agents track the desired reference signal without overshoot in their transient response. Finally, the results are validated via a numerical example.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115493249","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: 0
Stochastic Controller Design for multi-rotor UAV under Intermittent Localization 间歇定位下多旋翼无人机随机控制器设计
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606617
J. W. A. V. D. Meijdenberg, L. Totu, H. Schiøler, J. Leth
{"title":"Stochastic Controller Design for multi-rotor UAV under Intermittent Localization","authors":"J. W. A. V. D. Meijdenberg, L. Totu, H. Schiøler, J. Leth","doi":"10.1109/ANZCC.2018.8606617","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606617","url":null,"abstract":"This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi-rotor type, where global positioning is only intermittently available. The developed controllers are of state-space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic ϵ-moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU), is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132022589","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: 1
Robustness Evaluation of Internal Model Principle-based Controller in a Magnetically Actuated Surgical System 磁驱动手术系统中基于原理的内模控制器鲁棒性评价
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606572
F. Leong, A. Mohammadi, Ying Tan, D. Thiruchelvam, P. Valdastri, D. Oetomo
{"title":"Robustness Evaluation of Internal Model Principle-based Controller in a Magnetically Actuated Surgical System","authors":"F. Leong, A. Mohammadi, Ying Tan, D. Thiruchelvam, P. Valdastri, D. Oetomo","doi":"10.1109/ANZCC.2018.8606572","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606572","url":null,"abstract":"The local magnetic actuation (LMA) surgical method has gained popularity among medical practitioners and researchers in the field of abdominal surgery. The procedure requires the use of magnets on both sides of the abdominal cavity to anchor devices onto abdominal wall while magnetic sources on the external side generate actuation signals to drive robotic manipulators inside the cavity. Due to the transmission of magnetic fields across the abdominal wall and the interactions among multiple LMA units within the vicinity, magnetic interference will affect the performance of the intended rotor driving the degree-of-freedom (DOF) on the robotic manipulator. Since the disturbances due to the neighbouring magnetic sources are found to be sinusoidal signals with a known frequency, they can be rejected by using the internal model principle (IMP) technique. The disturbance due to the abdominal wall tissue dynamics during magnetic actuation causes oscillations on the internally anchored surgical device, which has generally been ignored in the implementation of LMA application. The focus of this paper is to provide a model that incorporates tissue dynamics in the LMA system. Moreover, the robustness of IMP controller in the presence of tissue dynamics is discussed. Simulations are performed and the results demonstrate effective rejection of both disturbances when they are taken into account in the IMP disturbance model.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123555885","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: 1
A Method of Failure Causes Analysis Based on Combination of Metering Abnormal Events* 基于计量异常事件组合的故障原因分析方法*
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606578
Jing Li, Pei Yang, Jian Dou, Weifeng Wang, Qian Guo, Ying Wang
{"title":"A Method of Failure Causes Analysis Based on Combination of Metering Abnormal Events*","authors":"Jing Li, Pei Yang, Jian Dou, Weifeng Wang, Qian Guo, Ying Wang","doi":"10.1109/ANZCC.2018.8606578","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606578","url":null,"abstract":"The existing abnormal electrical behavior analysis is based on single metering abnormal event. It has limitations such as heavy workload and low accuracy. In order to improve the utilization of abnormal data and the accuracy of abnormity diagnosis, this paper proposes a method to analyze the fault causes based on the combination of abnormal events. Firstly, a correlation degree calculation method is determined based on the intervals of failure occurrence date. Next, thresholds are set to identify concurrent abnormal events (CAE). Finally, a method to analyze the fault causes has been proposed by combining the correlation degree with the probability of the fault causes. The results indicate that this method can improve the accuracy of fault diagnosis.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114687027","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: 1
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