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Control Conference (ASCC), 2011 8th Asian

Date 15-18 May 2011

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Displaying Results 1 - 25 of 253
  • [Title page]

    Publication Year: 2011 , Page(s): 1
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  • Table of contents

    Publication Year: 2011 , Page(s): 2
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  • Welcome from the ACA President

    Publication Year: 2011 , Page(s): 3 - 4
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  • Advisory Committee

    Publication Year: 2011 , Page(s): 5
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  • Organizing Committee

    Publication Year: 2011 , Page(s): 6 - 9
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  • Keynote address I: Glocal control: Realization of global functions by local measurement and control

    Publication Year: 2011 , Page(s): 10 - 12
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  • Plenary panel discussion: Trend in control system design and applications

    Publication Year: 2011 , Page(s): 13 - 25
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (226 KB)  

    It is our great pleasure to hold a plenary panel session at ASCC 2011. The theme of the panel is Trend in Control System Design and Applications. We are honored that Professor Li-Chen Fu, Editor-in-Chief of Asian Journal of Control will chair this panel and five distinguished control professors will join this panel and share their visions and experiences in control research and education. This panel will give the audience a direct contact with world-renowned scholars. You are cordially invited to participate in this plenary panel discussion on Tue 5/17 16:00∼17:40, right before the conference banquet. View full abstract»

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  • Fusion of CSP-derived features and Time-Domain Parameters for mind robotics control

    Publication Year: 2011 , Page(s): 79 - 84
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (196 KB) |  | HTML iconHTML  

    In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement imagery. This fusion method is aiming at improving the performance of Brain-Computer Interface (BCI) systems in translating human thoughts into command to control certain robots, e.g. rehabilitation robots. In the BCI system applied in this paper, a Human-Friendly Interactive Bear Robot is implemented, whose bear-like appearance and interactive actions can alleviate the frustration and anxiety on the part of the user in the experiment. Moreover, off-line experiments are conducted to demonstrate the efficiency of the fusion method using both well-known open-source data and data obtained by the BCI system mentioned before. View full abstract»

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  • Minimum-time task assignment algorithm for multiple-vehicle systems

    Publication Year: 2011 , Page(s): 85 - 89
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (243 KB) |  | HTML iconHTML  

    An algorithm to generate minimum-time paths and trajectories multiple-vehicle systems is presented. The algorithm is used to solve the problem of planning paths and trajectories of all the vehicles such that the longest traversing time among them is minimized. The generated paths and trajectories are collision-free. We utilize 3-degree Bezier curves as the basic forms of the paths. We consider linear velocity and tangential and radial accelerations to figure out the trajectories of each vehicle. A Particle Swarm Optimization (PSO) technique is utilized to figure out the Bezier path with minimum traversing time. The algorithm is utilized in a simplified scenario of task-assignment problem, that is, a goal achievement problem given the goal configurations to achieve by all vehicles. Simulation results that show the trajectories of all the vehicles that is presented. View full abstract»

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  • A robust and accurate color-based global vision recognition of highly dynamic objects in real time

    Publication Year: 2011 , Page(s): 90 - 95
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (779 KB) |  | HTML iconHTML  

    A color-based global vision system used to recognize 23 highly dynamic objects of interest using a firewire camera mounted at about 2.7m above a 2.8m × 2.3m field is presented. The developed algorithm used to identify the eleven home robots which was first shown to work on a webcam implementation by the authors' previous work is further evaluated in this paper using more testing experiments like identifying the home robots under intentionally varied illumination, shadow influence, object rotation, fast motion, collision and prolonged system operation. It is found that despite the 2.08 pixels per centimeter ratio versus the 3.8 of the webcam implementation, the eleven home robots were still accurately identified in all of these experiments while also identifying the ball and the eleven opponent robots. View full abstract»

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  • Experimental studies of balancing and driving control of a single wheeled mobile robot: GYROBO II

    Publication Year: 2011 , Page(s): 96 - 100
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (1599 KB) |  | HTML iconHTML  

    This paper presents control and implementation of a single wheeled mobile robot, called GYROBO II which is the second version of GYROBO I. GYROBO II is a one wheel structure that has three actuators in it. Gyro effects can be induced by the fast rotating flywheel and the tilting of the flywheel and used for balancing. Mechanical structure and control hardware are modified to improve balancing and navigation control performances. Major modifications of GYROBO II are 1) Replacement with new motors, 2) Relocation of batteries, and 3) Addition of a yaw control loop. Linear control algorithms are applied to control the robot. Experimental studies of balancing and driving control of GYROBO II are presented. View full abstract»

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  • Consensus of second-order multi-agent systems under time-varying communication networks

    Publication Year: 2011 , Page(s): 101 - 106
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (172 KB) |  | HTML iconHTML  

    The connectivity of information exchange network plays a key role in consensus-seeking for multi-agent systems. However, the absence of connectivity often occurs in practical application circumstances. In this paper, consensus problem of a class of second-order multi-agent systems under time-varying communication networks is considered, where the different connectivity conditions are discussed in detail. Sufficient and/or necessary conditions, based on the concept Integral Connectivity, are proposed to guarantee consensus. The simulation is also given to demonstrate the results. View full abstract»

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  • Consensus of multi-agent systems with intrinsic nonlinear dynamics and sampled-data information

    Publication Year: 2011 , Page(s): 107 - 112
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (264 KB) |  | HTML iconHTML  

    This paper is concerned with the problem of consensus in directed networks of multiple agents with intrinsic nonlinear dynamics and sampled-data information. The new protocol is induced from a class of continuous-time linear consensus protocols by implementing data-sampling technique and a zero-order hold circuit. By appropriately constructing a Lyapunov-Krasovskii functional and using Finsler's lemma, it is theoretically proved that consensus with asymptotic time-varying velocities in strongly connected directed networks can be achieved over some suitable sampled-data intervals. Particularly, several feasible linear matrix inequalities are established to estimate the maximal allowable upper bound of sampling intervals. The results are then extended to switching systems with balanced topologies. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results. View full abstract»

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  • Consensus of multi-agent systems subject to impulsive perturbations

    Publication Year: 2011 , Page(s): 113 - 118
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (262 KB) |  | HTML iconHTML  

    This paper is concerned with the consensus problem of multi-agent systems with a time-invariant communication topology. Each agent under consideration is described by general linear time-invariant dynamics. Based on the relative output measurements of neighboring agents, both static output feedback consensus protocol subject to impulsive perturbations and dynamic output feedback consensus protocol are presented, where the dynamic output feedback consensus protocol is based on an observer subject to impulsive perturbations. By utilizing the Lyapunov function method and linear matrix inequality technique, sufficient conditions for solving the consensus problem are derived. Illustrated examples have been given to show the effectiveness of the proposed consensus protocols. View full abstract»

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  • Consensus problem for multi-agent systems: A distributed receding horizon approach

    Publication Year: 2011 , Page(s): 119 - 124
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (160 KB) |  | HTML iconHTML  

    This paper considers the problem of consensus for multi-agent systems. Based on receding horizon approach, a distributed control algorithm is proposed. And this algorithm is formulated such that it solves as solving the optimal control problem, in which the cost functions are coupled the dynamic of each interacting agent. The communication requirements between agents are that each agent should obtain the previous optimal control states of its neighbors to each update time. The receding horizon approach stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to the optimal control problem. Finally, simulation results are provided to verify the effectiveness of the proposed approach. View full abstract»

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  • Adaptive rendezvous of multiple mobile agents with nonlinear dynamics and preserved network connectivity

    Publication Year: 2011 , Page(s): 125 - 130
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (449 KB) |  | HTML iconHTML  

    This paper investigates rendezvous of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. It is assumed that only a fraction of agents in the group have access to the information on the position and velocity of the virtual leader. To avoid fragmentation, a bounded connectivity-preserving rendezvous algorithm is proposed for the multi-agent systems. Under the assumption that the initial network is connected, local adaptation strategies for the rendezvous algorithm are introduced that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics. Simulation results on an example are given to numerically verify the theoretical results. View full abstract»

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  • Decentralized H quantized dynamic output feedback control for uncertain interconnected networked systems

    Publication Year: 2011 , Page(s): 131 - 136
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (158 KB) |  | HTML iconHTML  

    This paper addresses the problem of dynamic output feedback controllers and quantizers for uncertain interconnected H decentralized feedback networked systems. Since the networked systems are controlled by the computers, the signals need to be quantized by general quantizers before they are passed to the controllers and the systems. For this purpose, under the assumption that a decentralized dynamic output feedback controller has been designed, a quantized control strategy is proposed which is dependent not only on the controller states but also on the system measurement outputs so that the quantized closed-loop system is asymptotically stable and with the same H disturbance attenuation level as on no quantizers circumstance. Both the designed controllers and the quantizers' parameters are constructed in a decentralized manner, depending on local information. View full abstract»

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  • Adaptive fault-tolerant H power and rate control for wireless networks via state feedback

    Publication Year: 2011 , Page(s): 137 - 142
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (224 KB) |  | HTML iconHTML  

    This paper is concerned with adaptive fault-tolerant power and rate control for wireless networks. Based on the new joint power and rate control model, an adaptive fault-tolerant controller via state feedback is presented for transmitter fault compensations. The adaptive H∞ performance of the closed-loop system is analyzed based on the linear matrix inequality (LMI) Simulation results are given to illustrate the effectiveness of the proposed controller. View full abstract»

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  • Robust H tracking control of networked control systems with random delays and data dropouts

    Publication Year: 2011 , Page(s): 143 - 148
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (139 KB) |  | HTML iconHTML  

    This paper discusses the trajectory tracking problem of discrete-time networked control systems with time-varying interval-bounded uncertainties, random network-induced delays, and data dropouts. A dynamic predictive feedback linearization controller is proposed to compensate for the delays and data dropouts. The augmented system is analyzed for closed-loop stability and tracking performance is guaranteed in the H sense. View full abstract»

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  • H power and rate control for wireless networks with random communication delays

    Publication Year: 2011 , Page(s): 149 - 154
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (205 KB) |  | HTML iconHTML  

    This paper considers the problem of H power and rate control for wireless networks with random communication delays. The random communication delays are modeled as a function of stochastic variables satisfying Bernoulli distributed white sequence. A joint power and rate control algorithm is presented, and H performance is analyzed via linear matrix inequalities (LMIs). Simulation results are given to illustrate the effectiveness of the proposed algorithm. View full abstract»

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  • Nonlinear high-gain observer for a three-pole active magnetic bearing system

    Publication Year: 2011 , Page(s): 155 - 159
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (484 KB) |  | HTML iconHTML  

    This study is to design an observer for the rotor position of a voltage-controlled 3-pole active magnetic bearing (AMB) system. The observer will be based on the input voltages and coil currents that drive the magnetic poles. Such an observer can be utilized in the sensorless control of the AMB system. Due to the strong nonlinearity in the dynamics of 3-pole AMB system, the theory of nonlinear high-gain observer is adopted to design the observer. The obtained observer is verified numerically and experimentally. View full abstract»

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  • High altitude air defense with intelligent fuzzy terminal guidance law by taking turning rate and radome error slope into consideration

    Publication Year: 2011 , Page(s): 160 - 164
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (249 KB) |  | HTML iconHTML  

    This research provides a missile PD-type as well as PID-type fuzzy terminal guidance laws design for high altitude air defense. Both the missile turning rate time constant and radome slope error are taken into consideration. Comparisons with the traditional proportion navigation method are also made; the miss distances obtained by the proposed methods are lower. View full abstract»

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  • Speed adaptation of a rotational pendulum vibration absorber

    Publication Year: 2011 , Page(s): 165 - 170
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (499 KB) |  | HTML iconHTML  

    The rotational pendulum absorber (RPA) has the flexibility of an active vibration absorber and the energy efficiency of a passive device. In this paper on-line adaptation of the rotational speed is explored. The objective is to automatically tune the rotational speed of the RPA in order to minimize the vibration of the primary structure which is subject to a harmonic disturbance of uncertain frequency. The nominal speed of the RPA is adjusted according to the measured phase angle between the acceleration of the primary structure and the acceleration of the pendulum absorber. It is shown that convergence of the nominal speed depends on the relative magnitude between the initial value and the excitation frequency. The allowable ranges of the initial value of speed versus excitation frequency are derived. Effectiveness of the adatation scheme is verified by real-time experiments. View full abstract»

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  • Embedded temperature and vibration sensing system for monitoring ball screw preload

    Publication Year: 2011 , Page(s): 171 - 174
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (791 KB) |  | HTML iconHTML  

    In this paper we present a developed sensing system for precisely measuring the acceleration and temperature of the interest point on the ball screw structure. Core sensors of MEMS-type accelerometer and SMD-type PT-100 are integrated into a circuit board (<; 1cm2) and then packaged as a sensor module. The developed sensing system, including the sensor module and signal processing unit has been applied to a designed preload-adjustable single-axis ball screw stage for experiment. The sensing module is embedded into the ball screw stage and attached to the ball nut for signal acquisition. With different ball screw preload settings, the temperature and vibration signals are synchronously obtained. Results show vibration spectrum of the signals obtained from the sensing system can effectively monitor the preload of ball screw. Also, different preload level related to temperature variation is studied. View full abstract»

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  • Control of mechatronics systems: Ball bearing fault diagnosis using machine learning techniques

    Publication Year: 2011 , Page(s): 175 - 180
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (243 KB) |  | HTML iconHTML  

    Ball bearing fault is one of the main causes of induction motor failure. This paper investigates in the fault diagnosis of ball bearing of three phase induction motor using random forest algorithm and C4.5 decision tree. The bearing conditions are classified to four categories: normal, bearing with inner race fault, bearing with ball fault and bearing with outer race fault. The statistical features used for classification are extracted from mechanical vibration signal in time domain and frequency domain. Principal component analysis (PCA) and linear discriminent analysis (LDA) are used to reduce the dimension and complexity of the feature set. The classification accuracy of random forest algorithm and C4.5 decision tree are analyzed and compared. The experimental results show that the random forest algorithm not only works better than the C4.5 decision tree but also can classify the ball bearing condition effectively. View full abstract»

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