Towards pattern‐based architectures for event processing systems

Recently, event processing (EP) has gained considerable attention as an individual discipline in computer science. From a software engineering perspective, EP systems still lack the maturity of well‐established software architectures. For the development of industrial EP systems, generally accepted software architectures based on proven design patterns and principles are still missing. In this article, we introduce a catalog of design patterns that supports the development of event‐driven architectures (EDAs) and complex EP systems. The design principles originate from experiences reported in publications as well as from our own experiences in building EP systems with industrial and academic partners. We present several patterns on different layers of abstractions that define the overall structure as well as the building blocks for EP systems. Architectural patterns that determine the top‐level structure of an EDA can be distinguished from design patterns that specify the basic mechanisms of EP. The practical application of the catalog of patterns is described by the pattern‐based design of a sample EDA for a sensor‐based energy control system. Finally, we propose a coherent and general reference architecture for EP derived from the proposed patterns.Copyright © 2013 John Wiley & Sons, Ltd.     

网络控制系统的分析与建模

本文论述了网络控制系统的复杂性及当前网络控制系统建模中存在的主要缺点.在考虑系统噪声、控制器动态及输出反馈的情况下,提出了多包传输、单包传输有数据包丢失及多包传输有数据包丢失时网络控制系统的离散随机模型的统一的建模方法,并给出了网络诱导时延合并定理．     

An Intelligent Robust Tracking Control for a Class of Electrically Driven Mobile Robots

This paper addresses the problem of designing robust tracking control for a class of uncertain wheeled mobile robots actuated by brushed direct current motors. This class of electrically‐driven mechanical systems consists of the robot kinematics, the robot dynamics, and the wheel actuator dynamics. Via the backstepping technique, an intelligent robust tracking control scheme that integrates a kinematic controller and an adaptive neural network‐based (or fuzzy‐based) controller is developed such that all of the states and signals of the closed‐loop system are bounded and the tracking error can be made as small as possible. Two adaptive approximation systems are constructed to learn the behaviors of unknown mechanical and electrical dynamics. The effects of both the approximation errors and the unmodeled time‐varying perturbations in the input and virtual‐input weighting matrices are counteracted by suitably tuning the control gains. Consequently, the robust control scheme developed here can be employed to handle a broader class of electrically‐driven wheeled mobile robots in the presence of high‐degree time‐varying uncertainties. Finally, a simulation example is given to demonstrate the effectiveness of the developed control scheme.     

基于 QPC状态机的温度控制方案设计

QPC（Quantum Platform C）是一套软件框架,提供状态机和事件驱动编程功能。首先从编码角度研究了QPC应用编程,然后设计了一套温度控制方案,展示Q PC状态机、事件驱动在嵌入式软件设计中的应用。最后将该方案在一套硬件平台进行了编码实现,达到了良好的温控效果。     

Event‐driven actuators: to zero or to hold?

This paper investigates networked control systems where a number of actuators are involved but only a subset of them is assigned to be active at a time. The assignment of actuators is driven by a random event modeled as a Markov chain. When an actuator is not assigned access to the current control signal, either a zero or the output of a zero‐order hold (ZOH) is used as the control signal. For both cases, a stability analysis and control design framework dependent on the states of the Markov chain is established for linear discrete systems. It is shown that the resulted sufficient and necessary stability condition for the zero‐based system is more easily solvable than that of the ZOH‐based case. Numerical examples have shown that the use of zero control may yield better performance than the ZOH strategy. Copyright © 2013 John Wiley & Sons, Ltd.     

Model Based Robust Control Law for Linear Event‐Triggered System

This paper proposes a framework to design an event‐triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event‐triggering approach to reduce the computation and communication usages. Proposed control strategies ensure stability in the presence of bounded matched and mismatched system uncertainties. Derivation of event‐triggering rule with a non‐zero positive inter‐event time and corresponding stability criteria for uncertain event‐triggered system are the key contributions of this paper. The efficacy of proposed algorithm is carried out through a comparative study of simulation results.     

基于参考模型的扰动观测器控制系统

为了补偿控制系统的未知动态和外部扰动,论文提出一种基于参考模型的扰动观测器控制系统.首先,分析了二阶理想参考模型控制系统的设计,并通过闭环传递函数证明了参考模型控制系统的稳定性.然后,设计了二阶系统扰动观测器和基于参考模型的扰动观测器控制律,分析了二阶闭环控制误差系统收敛性.并推广到n阶控制系统,证明了n阶闭环控制误差...