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.     

Input‐to‐state stability of min‐max MPC scheme for nonlinear time‐varying delay systems

This paper studies the robustness problem of the min–max model predictive control (MPC) scheme for constrained nonlinear time‐varying delay systems subject to bounded disturbances. The notion of the input‐to‐state stability (ISS) of nonlinear time‐delay systems is introduced. Then by using the Lyapunov–Krasovskii method, a delay‐dependent sufficient condition is derived to guarantee input‐to‐state practical stability (ISpS) of the closed‐loop system by way of nonlinear matrix inequalities (NLMI). In order to lessen the online computational demand, the non‐convex min‐max optimization problem is then converted to a minimization problem with linear matrix inequality (LMI) constraints and a suboptimal MPC algorithm is provided. Finally, an example of a truck‐trailer is used to illustrate the effectiveness of the proposed results. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

A new anti‐windup strategy for PID controllers with derivative filters

This paper presents a new strategy for suppressing the windup effect caused by actuator saturation in proportional–integral–derivative (PID) controlled systems. In the proposed approach, the windup effect is modeled as an external disturbance imported to the PID controller and an observer‐based auxiliary controller is designed to minimize the difference between the controller output signal and the system input signal in accordance with an H‐infinite optimization criterion. It is shown that the proposed anti‐windup (AW) scheme renders the performance of the controlled system more robust toward the effects of windup than conventional PID AW schemes and provides a better noise rejection capability. In addition, the proposed PID AW scheme is system independent and is an explicit function of the parameters of the original PID controller. As a result, the controller is easily implemented using either digital or analog circuits and facilitates a rapid, on‐line tuning of the controller parameters as required in order to prevent the windup effect. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Intelligent control of doubly‐fed induction generator systems using PIDNNs

An intelligent control for a stand‐alone doubly‐fed induction generator (DFIG) system using a proportional‐integral‐derivative neural network (PIDNN) is proposed in this study. This system can be applied as a stand‐alone power supply system or as the emergency power system when the electricity grid fails for all sub‐synchronous, synchronous, and super‐synchronous conditions. The rotor side converter is controlled using field‐oriented control to produce 3‐phase stator voltages with constant magnitude and frequency at different rotor speeds. Moreover, the grid side converter, which is also controlled using field‐oriented control, is primarily implemented to maintain the magnitude of the DC‐link voltage. Furthermore, the intelligent PIDNN controller is proposed for both the rotor and grid side converters to improve the transient and steady‐state responses of the DFIG system for different operating conditions. Both the network structure and online learning algorithm are introduced in detail. Finally, the feasibility of the proposed control scheme is verified through experimentation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Hysteresis Compensation and Adaptive Controller Design for a Piezoceramic Actuator System in Atomic Force Microscopy

This paper presents an indirect adaptive controller combined with hysteresis compensation to achieve high accuracy positioning control of piezoceramic actuators and illustrates the results with an atomic force microscope (AFM) application. A dynamic model of a piezoceramic actuator system in AFM is derived and analyzed. A feedforward controller based on the Preisach model is proposed to compensate for the nonlinear hysteresis effects. Then an indirect adaptive controller is designed to achieve desired tracking performance as well as deal with the uncompensated nonlinearity from hysteresis and the system parameter variation due to creep. Experimental results indicate that the proposed controller can significantly improve the positioning control accuracy of the piezoceramic actuator as well as achieve high image quality of the AFM system. The maximum scanning error was reduced from 2µm to 0.3µm in comparison with a proportional‐integral‐derivative (PID) controller. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

An SVD-based image watermarking in wavelet domain using SVR and PSO

The paper presents a novel blind watermarking scheme for image copyright protection, which is developed in the discrete wavelet transform (DWT) and is based on the singular value decomposition (SVD) and the support vector regression (SVR). Its embedding algorithm hides a watermark bit in the low–low (LL) subband of a target non-overlap block of the host image by modifying a coefficient of U component on SVD version of the block. A blind watermark-extraction is designed using a trained SVR to estimate original coefficients. Subsequently, the watermark bit can be computed using the watermarked coefficient and its corresponding estimate coefficient. Additionally, the particle swarm optimization (PSO) is further utilized to optimize the proposed scheme. Experimental results show the proposed scheme possesses significant improvements in both transparency and robustness, and is superior to existing methods under consideration here.     

协调的分布式决策虚拟企业风险管理模型

虚拟企业要取得预期的利润,就必须成功规避运行中的风险.考虑虚拟企业的分布性以及联盟成员之间关系多样性的特点,根据非合作完全信息静态博弈理论,采用分布式决策的思想对虚拟企业风险进行管理.针对各盟员构成非团队关系,并且不存在机会主义行为的虚拟企业,探讨了其风险管理的特点,以及在风险管理问题上各盟员之间可能达成的协作;建立了协调的分布式虚拟企业风险管理模型,给出了模型的求解方法,同时设计了相应算法对模型进行求解,并对解的不同情况进行了分析;另外还比较了不同协调原则下联盟总利润以及各盟员利润的变化情况.仿真分析表明,所提出的模型和算法,能在虚拟企业各盟员风险管理中起到协调控制的作用,达到“双赢”的目的.     

基于Ajax的智能RSS聚合系统研究

RSS存在信息过载问题,为了解决该问题,设计了一个基于Ajax的智能聚合系统,使用户可以高效、及时、准确地获取到自己感兴趣的新闻。综合了内容过滤和协作过滤的优缺点,提出了一个改进的过滤算法,提高了过滤性能和准确度。对用户的行为和特征进行建模,系统可以依据用户模型过滤掉用户可能不感兴趣的信息。并将信息过滤技术与RSS聚合技术结合,使用户可以通过RSS聚合系统获取到自己感兴趣的内容,降低信息冗余。