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2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
In this paper the source recovery of nonlinear mixtures in the complex domain is addressed by an independent component analysis (ICA) approach. Extending the well-known real PNL mixtures, source recovery is performed by a complex INFOMAX approach. Nonlinear complex functions involved in the learning process are realized by pairs of spline neurons called "splitting functions", working on...
In this paper, we present a classroom tool set for graphical editing, simulation, analysis and synthesis of deadlock free Petri net for automated manufacturing systems. Because of the discrete event nature of modern manufacturing systems, Petri nets have been widely applied in the modeling, control and performance analysis of such systems. The tool set consists of a graphical Petri net editor and...
Motivated by the fact that linear controllers can stabilize the rotational motion of a rigid body, we propose in this paper a control strategy that exploits graph theoretic tools for cooperative control of multiple rigid bodies. The control objective is to stabilize the system to a configuration where the rigid bodies will have a common orientation and common angular velocity. The control law respects...
In this paper we present a methodology to drive the end effector of a robotic manipulator, to which is attached a human hand, in order to follow the human's intention of movement. This set-up is inspired from a neuro-robotics scenario in order to develop systems for restoring motor functionalities in injured and disabled people. Three typical tasks are considered, namely the robot not to interfere...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace. Three typical tasks are considered, namely stabilization of the end effector over the object's surface, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and...
We discuss ways of approximating optimal control sequences by neural networks in complex automotive systems. Our systems include engines and exhaust aftertreatment modules. Our goal is to minimize both emissions and fuel consumption. As our baseline, we use open-loop solutions based on dynamic programming (DP). First, we consider the case of a recurrent neural network trained directly on a DP solution,...
Innovative automotive gasoline engines are equipped with new actuators, such as the variable valve timing (VVT), besides the traditional electronic throttle (ETC) and exhaust gas recirculation (EGR). All these actuators can be used to optimize the engine performance in terms of reduced fuel consumption and pollutant emissions. In turn, their presence makes the control of the engine a difficult task...
Current vehicle control strategies aim at the integration of several actuator algorithms of the vehicle. This means a combination of the available actuators according to multiple optimization criteria due to several targets. One goal is the comfort of the driver for cruising, another objective of the optimization is the agility and stability of the vehicle during cornering. Both targets require different...
Temperature control is very important for combustion engines as temperature is a critical factor both for chemical reactions and mechanical stresses. Traditionally, temperature control is performed by feedback of a global quantity, the coolant temperature, which however is a poor indicator of specific temperatures. The use of electrical pumps opens new possibilities for thermal control, in particular...
This paper considers the problem of designing a fault detection scheme for a distributed nonlinear dynamic system. A network of distributed estimators is constructed where an adaptive estimator based on an on-line neural approximation model is embedded into each estimation agent. The local detection decision is made on the basis of the knowledge of the local dynamic model and on an on-line-learned...
This paper proposes a case study in which we address the challenging task of controlling a real-world synchronous generator. An experiment is designed to identify the generator model using the subspace state space identification method. Two controllers are designed using two different approaches, the first is based on the characteristic loci method, and the other is based on the H∞ loop shaping technique...
At the Technical University Munich a new powertrain for cars, that enables a maximum of energy saving and drivability at low complexity is under development in cooperation with the companies Epcos AG, GM Powertrain Europe, ZF Friedrichshafen AG and ZF Sachs AG. It mainly consists of a mild-hybrid structure and a wide spread CVT gearbox. To improve driveability the start of the internal combustion...
A control system can be designed either by applying a mathematical design method (the system theory approach) or by using a controller design tool (the CAD-approach). Graphical visually-interactive Computer Aided Design methods are nowadays quite attractive, especially for non-experts in control engineering. Matlab offers currently a controller design tool based on the root locus technique; time-delay...
This paper discusses the use of a parameter estimation approach for the calibration of electronic engine control software from an industrial perspective. Many functions in the software of automotive electronic engine control units are based on lookup tables. Calibrating, that is, tuning the entries of these lookup tables, is a crucial step in the process of automotive software engineering. At first...
In this paper, Grid technologies are introduced to build e-Learning environments for control education. Service-oriented Grids open new fields of applications, the Learning Grids. The learning services concept and their deployment through Grid technologies are excellent means to integrate virtual control laboratories into e-Learning environments for control education. An example application from a...
The ability to change model structure during simulation runtime is a key aspect to capture the dynamic nature of many complex systems. We present the Heterogeneous Flow System Specification (HFSS) a modeling formalism designed to describe hierarchical dynamic structure hybrid systems. HFSS is a unification formalism that can model sampled-based and discrete event systems. We show that adaptive step-size...
The paper describes a diagnosis method for detecting and identifying faults that occur in a discrete-event system described by a stochastic timed automaton. The proposed diagnosis algorithm is based whether the measured event time sequences are consistent with a stochastic timed discrete event model. The degree of this consistence is given by a continuous diagnosis function. The diagnosis which consists...
This paper presents a dynamic routing method for supervisory control of multiple laser guided vehicles (LGVs) that are traveling within a layout of a given warehouse. In dynamic routing a calculated path particularly depends on the number of currently active LGVs' missions and their priorities. In order to solve the shortest path problem dynamically, the proposed routing method uses the string matrix...
This paper proposes a new synthesis of a gain scheduling controller based on approximation of Lyapunov solutions with spline functions. Using the proposed synthesis, scheduled controllers, which do not require large programs when implemented in an actual control system, can be derived by setting the number of "knots" (i.e. grid points) of the controller as small as possible. Scheduled controllers...
This contribution addresses the control design for the three-spacecraft formation flying interferometry mission Pegase. The operational mode considered is the high-precision nulling phase. The control design has as major objective the minimization of the standard deviation of the controlled outputs, e.g. the optical path difference. The payload performance demands are shown to be fulfilled in spite...
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