Time-optimal control of kinematically redundant manipulators with limit heat characteristics of actuators

In this study, we present a time-optimal control scheme for kinematically redundant manipulators to track a predefined geometric path, subject to the limit heat characteristics of actuators (a DC motor was assumed to be the actuator used). Constraints due to the rated torque and the rated velocity of the motor would not be valid for continuous use of manipulators, since the required mechanical output of the actuator (DC motor) exceeds its maximum power capacity and far more exceeds its heat-converted power limit. The heat-converted power limit of the DC motor is thus considered as the actuation bound of the actuator and the time-optimal trajectories are generated by using the phase-plane analysis and the linear programming technique subject to this bound. Computer simulation was also executed on a three-link planar rotary manipulator to demonstrate the effectiveness of the proposed scheme.     

REGIONAL STABILITY AND H∞ PERFORMANCE CONTROL OF AN INPUT‐SATURATED INDUCTION MOTOR VIA LMI APPROACH

In this paper, the robust speed control of an induction motor is investigated, and a parameter‐dependent model is addressed. The proposed scheme includes the feedback of states and the integral of the tracking error. In practice, considering the specification of the drive circuit, the saturation phenomenon of control signals is addressed. It is noted that the saturated signal is represented as a perturbed signal, which can be further investigated to determine the achieved robustness. Regional stability and H_∞ performance are discussed in this paper, where the derivations of feedback gains are formulated in terms of linear matrix inequalities (LMIs). To evaluate the control performances, a DSP‐based scheme for an induction motor was set up. Experimental results, associated with versatile command profiles and load conditions, show that the proposed system achieves satisfactory performance from the viewpoint of tracking accuracy and disturbance rejection.     

Hybrid Model Predictive Power Management of A Fuel Cell‐Battery Vehicle

This paper considers optimal power management of a fuel cell‐battery hybrid vehicle (FCHV) powertrain having three distinct modal configurations (modes): electric motor propelling/battery discharging, propelling/charging, and generating/charging. Each mode has a distinct set of dynamics and constraints. Using component dynamical/algebraic models appropriate to power flow management, the paper develops a supervisory‐level switched system model as an interconnection of subsystems. Given the model, the paper sets forth a hybrid model predictive control strategy based on a minimization of a performance index (PI) that trades off tracking and fuel economy in each operational mode. Specifically, the PI trades off velocity tracking error, battery state of charge variance, and electric drive and hydrogen fuel usages while penalizing frictional braking to encourage regenerative braking. The optimization is performed using an embedded system model and collocation with matlab 's fmincon to compute mode switches and continuous time controls. The methodology avoids the computational complexity of alternate approaches based on, e.g., mixed integer programming. Projection methods for approximating the switched system solution from the embedded solution are empirically evaluated. To demonstrate the methodology, an example of a FCHV is simulated using three standard velocity driving profiles: a sawtooth profile with a hill climb, the EPA urban dynamic driving schedule, and the New European Driving Cycle. Also, drive cycle fuel usage is compared to that from the Equivalent Consumption Minimization Strategy.     

Analysis of pulse width modulation controlled systems based on a piecewise affine description

The problem of assuring the asymptotic stability of a pulse width modulation (PMW) control scheme is a classical topic in control engineering, where a continuous‐time control signal is approximated by a piecewise constant signal. This paper proposes a general framework that either shows the local asymptotic stability of the closed‐loop PWM system or proves the convergence of the state to an invariant set, which is the case in the presence of limit cycles. The proposed method is based on a piecewise affine representation of the closed‐loop system in discrete time, and it uses semidefinite programming both to find a Lyapunov‐like function and to determine an estimate of the region of attraction. This is an important feature since the desired continuous‐time control action at some instants may be larger than the magnitude of the PWM signals, leading to saturation of the applied control action, a well‐known source of performance degradation and even instability. Two academic examples of applications are shown, in the domain of spacecraft positioning control and electric direct current (DC) motor servoing.     

Control method of biped locomotion giving asymptotic stability of trajectory

This paper deals with a control method of a dynamic biped locomotion by utilizing a dynamical system having a stable limit cycle. The control method is discussed for a walking model having four degrees of freedom and separately studied for the double support phase and the single support phase. The control strategy makes use of the bifurcation of a set of coupled van der Pol's equations, which is one of the dynamical systems having a stable limit cycle. Analysis and computer simulations have proved the validity of the control method.     

A method for exact reliability of consecutive2-out-of-(r, r)-from-(n, n):F systems

A new reliability model, consecutive 2‐out‐of‐(r, r)‐from‐(n, n):F model, is proposed. The consecutive 2‐out‐of‐(r, r)‐from‐(n, n):F system consists of a square grid of side n (containing n² components) such that the system fails if and only if there is at least one square of side r which includes among them at least two failed components. For i.i.d. case an algorithm is given for computing the reliability of the system. The reliability function can be expressed by the number of 0–1 matrices having no two or more 0s at any square of side r.     

The oscillations killer: a mechanism to eliminate undesired limit cycles in a class of nonlinear systems

In this paper, we present a mechanism, called oscillation killer, intended to eliminate limit cycles that may occur as a consequence of unexpected external disturbances, interactions with the environment, changes in systems set‐points, physical parameters, and so on. Examples range from controlled systems with friction to electrical networks with varying loads and impedances. The proposed mechanisms is shown to be particulary appropriate for nonlinear systems displaying a locally asymptotically equilibrium point surrounded by a locally asymptotically stable limit set outside this local domain. Copyright © 2012 John Wiley & Sons, Ltd.     

Adaptability mechanisms for autonomic system implementation with AAOP

This paper presents a new approach to implementing an adaptability loop in Autonomic Computing (AC) systems, which is based on adaptable aspects. The approach utilizes the concept of adaptable aspect‐oriented programming (AAOP) in which a set of AOP aspects is used to run an application in the manner specified by its adaptability strategy. We present a model execution environment based on this concept, enabling the execution of applications with applied adaptability strategies. In the AAOP‐based AC system, the application is instrumented with aspects selected by the system from a set of all available aspects (sensors, effectors, and goal aspects) in such a way that the system can monitor and manage the application. This model can be used to implement systems that are able to monitor an application and its execution environment, and perform actions such as changing the current set of non‐functional constraints in response to changes in the application or its environment. The model can be used for various types of non‐functional goals, in various programming languages, both in centralized and distributed environments. This paper describes its Java‐based implementation and non‐functional goals referring to resource management. As a consequence, the application uses resources in a way specified in its adaptability strategy. Resource consumption management logic is transparent for the application, meaning that no modifications in the application source code are needed. Copyright © 2010 John Wiley & Sons, Ltd.     

A Novel Robust Constraint Force Servo Control for Under‐actuated Manipulator Systems: Fuzzy and Optimal

We consider the control design for under‐actuated manipulator systems. The task is to drive the system to be close to a prescribed constraint. The system contains uncertainty. It is bounded where the bounding information is prescribed by a fuzzy set (e.g., the bound is close to 1). The initial condition is also prescribed by a fuzzy set. A class of robust control is proposed, which guarantees a deterministic performance. On top of that, the choice of a control design parameter is cast into a fuzzy‐theoretic setting. A performance index, consisting of accumulated fuzzy‐based system performance and control cost, is proposed. The optimal control design parameters, which minimize the performance index, can be obtained by solving two algebraic quartic (fourth‐order) equations. As a result, the control design problem, which addresses both fuzzy and optimal characteristics, is completely solved.     

Event‐triggered dissipative synchronization for Markovian jump neural networks with general transition probabilities

In this paper, dissipative synchronization problem for the Markovian jump neural networks with time‐varying delay and general transition probabilities is investigated. An event‐triggered communication scheme is introduced to trigger the transmission only when the variation of the sampled vector exceeds a prescribed threshold condition. The transition probabilities of the Markovian jump delayed neural networks are allowed to be known, or uncertain, or unknown. By employing delay system approach, a new model of synchronization error system is proposed. Applying the Lyapunov‐Krasovskii functional and integral inequality combining with reciprocal convex technique, a delay‐dependent criterion is developed to guarantee the stochastic stability of the errors system and achieve strict (Q,S,R)?α dissipativity. The event‐triggered parameters can be derived by solving a set of linear matrix inequalities. A numerical example is presented to illustrate the effectiveness of the proposed design method.     

Minkowski‐type distance measures for generalized orthopair fuzzy sets

The generalized orthopair fuzzy set inherits the virtues of intuitionistic fuzzy set and Pythagorean fuzzy set in relaxing the restriction on the support for and support against. The very lax requirement provides decision makers great freedom in expressing their beliefs about membership grades, which makes generalized orthopair fuzzy sets having a wide scope of application in practice. In this paper, we present the Minkowski‐type distance measures, including Hamming, Euclidean, and Chebyshev distances, for q‐rung orthopair fuzzy sets. First, we introduce the Minkowski‐type distances of q‐rung orthopair membership grades, based on which we can rank orthopairs. Second, we propose several distances over q‐rung orthopair fuzzy sets on a finite discrete universe and subsequently discuss their applications to multiattribute decision‐making problems. Then we extend these results to a continuous universe, both bounded and unbounded cases are considered. Some illustrative examples are employed to substantiate the conceptual arguments.     

On Constrained MMVC of Discrete‐Time First‐Order Linear Stochastic Systems with PSI I: The Critically Stable Case

This paper is devoted to the study of the modified minimal variance control (MMVC) of discrete‐time first‐order linear critically stable stochastic systems with prospective strong intervention (PSI) and control input constraints. Due to different evolutionary characteristics of systems with PSI, that is, the two modes of tending to infinity and having bounded oscillations, the discrete‐time first‐order linear critically stable systems can be partitioned into two types regarding the signs of a key system parameter a. A necessary and sufficient condition for the state mean convergence of a system with a = 1 is derived and the corresponding design of MMVC is formulated. For the critical stable system with a =? 1, its oscillation amplitudes of state means can be effectively suppressed or the means can converge under control. Finally, the effectiveness and advantages of the proposed control strategies comparing with MVC are confirmed by numerical simulations.     

EVOLUTIONARY SEARCH FOR LIMIT CYCLE AND CONTROLLER DESIGN IN MULTIVARIABLE NONLINEAR SYSTEMS

A feature of many practical control systems is a Multi‐Input Multi‐Output (MIMO) interactive structure with one or more gross nonlinearities. A primary controller design task in such circumstances is to predict and ensure the avoidance of limit cycling conditions followed by achieving other design objectives. This paper outlines how such a system may be investigated using the Sinusoidal Input Describing Function (SIDF) philosophy quantifying magnitude, frequency and phase of any possible limit cycle operation. While Sinusoidal Input Describing function is a suitable linearization technique in the frequency domain for assessment of stability and limit cycle operation, it can not be employed in time domain. In order to be able to incorporate the time domain requirements in an overall controller design technique, the appropriate linearization technique suggested here is the Exponential Input Describing Function (EIDF). First, an evolutionary search based on a multi‐objective formulation is employed for the direct solution of the harmonic balance system matrix equation. The search is based on Multi‐Objective Genetic Algorithms (MOGA) and is capable of predicting specified modes of theoretically possible limit cycle operation. Second, the design requirements in time as well as frequency domain are formulated by a set of constraint inequalities. A numerical synthesis procedure also based on Multi‐Objective Genetic Algorithm is employed to adjust the initial compensator parameters to meet the imposed constraints. Robust stability and robust performance are investigated with respect to linearization uncertainty within the context of multiobjective formulation. In order to make the Genetic Algorithm (GA) search more amenable to design trade‐off between different and often contradictory specifications, a weighted sum of the functions is introduced. This criterion is subsequently optimized subject to the nonlinear system dynamics and a set of design requirements. Examples of use are given to illustrate the effectiveness of the proposed approach.     

Polynomial filtering for nonlinear stochastic systems with state‐ and disturbance‐dependent noises

This article is concerned with the polynomial filtering problem for a class of nonlinear stochastic systems governed by the Itô differential equation. The system under investigation involves polynomial nonlinearities, unknown‐but‐bounded disturbances, and state‐ and disturbance‐dependent noises ((x,d)‐dependent noises for short). By expanding the polynomial nonlinear functions in Taylor series around the state estimate, a new polynomial filter design method is developed with hope to reduce the conservatism of the existing results. In virtue of stochastic analysis and inequality technique, sufficient conditions in terms of parameter‐dependent linear matrix inequalities (PDLMIs) are derived to guarantee that the estimation error system is input‐to‐state stable in probability. Moreover, the desired polynomial matrix can be obtained by solving the PDLMIs via the sum‐of‐squares approach. The effectiveness and applicability of the proposed method are illustrated by two numerical examples with one concerning the permanent magnet synchronous motor.     

Multi‐view 3‐D display employing a flat‐panel display with slanted pixel arrangement

Abstract— A flat‐panel display with a slanted subpixel arrangement has been developed for a multi‐view three‐dimensional (3‐D) display. A set of 3M × N subpixels (M × N subpixels for each R, G, and B color) corresponds to one of the cylindrical lenses, which constitutes a lenticular lens, to construct each 3‐D pixel of a multi‐view display that offers M × N views. Subpixels of the same color in each 3‐D pixel have different horizontal positions, and the R, G, and B subpixels are repeated in the horizontal direction. In addition, the ray‐emitting areas of the subpixels within a 3‐D pixel are continuous in the horizontal direction for each color. One of the vertical edges of each subpixel has the same horizontal position as the opposite vertical edge of another subpixel of the same color. Cross‐talk among viewing zones is theoretically zero. This structure is suitable for providing a large number of views. A liquid‐crystal panel having this slanted subpixel arrangement was fabricated to construct a mobile 3‐D display with 16 views and a 3‐D resolution of 256 × 192. A 3‐D pixel is comprised of 12 × 4 subpixels (M = 4 and N = 4). The screen size was 2.57 in.     

一种环境自适应控制的直流电机控制系统设计

针对智能家居、智慧农业等应用领域对直流电机的环境自适应控制需求,设计了一种基于单片机小系统(AT89C51)的环境自适应控制的直流电机控制系统;该系统由直流电机控制系统由限位开关、复位按钮模块、无线遥控模块、水滴感应模块、直流电机控制模块、蜂鸣器报警模块、光线检测模块和单片机最小系统模块等组成;可实现2种模式的直流电机控制模式,一是根据光线强度、雨滴等环境因素自适应控制直流电机正/反转,另一种是利用按键功能模块手动控制直流电机的正/反转;经测试发现,当环境的光照强度的感知幅度值在10～600 lx之间变化时,该控制系统能够按照设定值实现直流电机的自动控制或者手动控制;同时,通过水滴感应模块,判断雨滴的有无和大小,实现直流电机的自动控制或者手动控制;因此,该环境自适应控制的直流电机控制系统具有响应特性好、可靠性高、成本合理等优点,可广泛应用于智能家居、智慧农业等领域.     

Exponential H∞ Filtering for Discrete‐Time Switched State‐Delay Systems Under Asynchronous Switching

The exponential H_∞ filtering problem of discrete‐time switched state‐delay systems under asynchronous switching is considered in this paper. The objective is to design a full‐order or reduced‐order switched filter guaranteeing the exponential stability with the weighted H_∞ performance of the filtering error system. A sufficient condition for the exponential stability with the weighted H_∞ performance of the filtering error system is provided based on delay‐dependent multiple Lyapunov‐Krasovskii functionals. The gains of the filter can be obtained by solving a set of linear matrix inequalities. A numerical example is presented to demonstrate the effectiveness of the developed results.     

Finite‐time H∞ bumpless transfer control for switched systems: A state‐dependent switching approach

This paper addresses the finite‐time H_∞ bumpless transfer control problem for switched systems. The main idea lies in designing a state‐feedback controller with amplitude limitation and a state‐dependent switching law to reduce control bumps caused by switching. First, a local bumpless transfer condition is proposed to limit the amplitude of switching controllers at switching points. Second, by introducing a state‐dependent switching law, a prescribed finite‐time H_∞ bumpless transfer control performance is attained even if it does not hold for each subsystem or system state remaining on a switching surface. Third, a sufficient condition verifying the solvability of finite‐time H_∞ bumpless transfer control problem is established by resorting to multiple Lyapunov function method. Finally, the effectiveness of developed method is illustrated by a numerical example.     

S‐H OWA Operators with Moment Measure

Step‐like or Hurwicz‐like ordered weighted averaging (OWA) (S‐H OWA) operators connect two fundamental OWA operators, step OWA operators and Hurwicz OWA operators. S‐H OWA operators also generalize them and some other well‐know OWA operators such as median and centered OWA operators. Generally, there are two types of determination methods for S‐H OWA operators: One is from the motivation of some existed mathematical results; the other is by a set of “nonstrict” definitions and often via some intermediate elements. For the second type, in this study we define two sets of strict definitions for Hurwitz/step degree, which are more effective and necessary for theoretical studies and practical usages. Both sets of definitions are useful in different situations. In addition, they are based on the same concept moment of OWA operators proposed in this study, and therefore they become identical in limit forms. However, the Hurwicz/step degree (HD/SD) puts more concerns on its numerical measure and physical meaning, whereas the relative Hurwicz/step degree (rHD/rSD), still being accurate numerically, sometimes is more reasonable intuitively and has larger potential in further studies and practical applications.