By a switched system, we mean a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. The article surveys developments in three basic problems regarding stability and design of switched systems. These problems are: stability for arbitrary switching sequences, stability for certain useful classes of switching sequences, and construction of stabilizing switching sequences. We also provide motivation for studying these problems by discussing how they arise in connection with various questions of interest in control theory and applications.

Basic problems in stability and design of switched systems

This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

System Identification I

Formation and control of optimal trajectory in human multijoint arm movement : minimum torque-change model

The aim of this paper is to review the state-of-the-art of Field Programmable Gate Array (FPGA) technologies and their contribution to industrial control applications. Authors start by addressing various research fields which can exploit the advantages of FPGAs. The features of these devices are then presented, followed by their corresponding design tools. To illustrate the benefits of using FPGAs in the case of complex control applications, a sensorless motor controller has been treated. This controller is based on the Extended Kalman Filter. Its development has been made according to a dedicated design methodology, which is also discussed. The use of FPGAs to implement artificial intelligence-based industrial controllers is then briefly reviewed. The final section presents two short case studies of Neural Network control systems designs targeting FPGAs.

https://hal-centralesupelec.archives-ouvertes.fr/hal-01337007/document

FPGAs in Industrial Control Applications

Air source heat pump systems (ASHPS) are particularly useful for most commercial air-conditioning and refrigeration applications. Currently, such systems can be regarded as products that satisfy the air-conditioning system demands for small and medium sized buildings, thereby reducing electric power demand peaks in summer and saving electric energy in general. To accomplish out temperature control of ASHPS, this paper presents a cascaded fuzzy control strategy which retains the merits of both fuzzy control and cascade control structures. The cascade fuzzy control strategy is designed without accurate models of ASHPS, and it is shown effective and powerful in achieving temperature tracking. Simulation results are conducted to compare the proposed cascaded fuzzy control with a cascaded PI (proportional and integral) control strategy, and the results reveal that the cascade fuzzy control strategy gives superior performance, reduced reaction time and smaller temperature overshoots.

Cascaded fuzzy control for air source heat pumps

This paper presents a global pose localization method using decentralized extended information filter (DEIF) for an autonomous omnidirectional mobile robot (AOMR) driven by omnidirectional Mecanum wheels in indoor environments by fusing measurements from one KINECT sensor, one laser scanner and four encoders mounted on the omnidirectional Mecanum wheels. The KINECT sensor is used to recognize two landmarks in the working environments of the robot, and then obtain the azimuth angles and distances between these two landmarks and the robot. Based on these measured information, a static global pose initialization algorithm is applied to estimate both start-up position and orientation of the robot. Once the initial pose is determined, a DEIF approach is proposed to fuse the measurements from the four encoders, Kinect and laser scanner, in order to continuously keep track of the accurate moving poses of the robot at slow speeds less than 100 cm/sec. Simulations are conducted to show that the proposed methods provides accurate estimation of both unknown initial and continuous moving poses of the robot.

Decentralized EIF-based global localization using dead-Reckoning, KINECT and laser scanning for autonomous omnidirectional mobile robot

This article focuses on realizing an object tracking and image capture system on a FPGA. The system processes each picture with size of 640×480 pixels which is coming from input image data captured by an external CCD camera. Firstly, the RGB format of input image data is transformed to HSV format through color space transformation. Secondly, the value (also called intensity) of HSV format image is adjusted by the histogram equalization process to enhance the image brightness. Thirdly, skin color detection and binarization process is employed on the resulting HSV image. Fourthly, the system dilates the binary image to make up the flaws on the image. Finally, the image is checked to determine if there is any possible skin color area which its horizontal width is larger than a threshold. If so, then the area is qualified to be a suspected object and the surveillance system controls a 2-dimentional rotation machinery to track the object. Meanwhile, the captured object image is synchronously displayed on a VGA screen and saved into a SD card. Designed under hardware and software co-design methodology, the resulting system has been experimentally proved that it satisfies the goal of real-time detecting and tracking of suspected objects.

FPGA implementation of a real-time image tracking system

This paper presents techniques and methodologies for design and experimental evaluation of both robust PID and PI-PD temperature controllers for oil cooling machine systems. The process of oil cooling machine can be experimentally described as a second-order model with time delay. A robust PID controller with sensitivity specifications is proposed to achieve set point tracking, disturbance rejection, and robustness against time-dependent parameter variations. With the obtained three-term parameters of the robust PID controller, a PI-PD controller is constructed in order to control more general industrial processes or plants. Computer simulations are performed to illustrate the superior performance and merit of the proposed PID and PI-PD controllers in comparison with conventional ones. The applicability and usefulness of the proposed control scheme are well exemplified by conducting experiments on a physical high-speed oil cooling machine. Both simulations and experimental results reveal that the proposed PID and PI-PD scheme outperforms the conventional PID and PI-PD controllers.

Design and experimental evaluation of robust PID and PI-PD temperature controllers for oil-cooling machines

In this paper, a novel but simple control method using command feedforward and feedback PID control, or called two degrees-of-freedom (Two-DOF) control, is presented for temperature control of a stretch polyethylene terephthalate (PET) blow molding machine To achieve required temperature control of PET bottle performs passing through both heating ovens, our proposed controller consists of a digital command-feedforward controller designed to improve the transient performance and track quickly temperature set-points, and a digital feedback proportional-integral-derivative (PID) controller proposed to eliminate temperature errors and accomplish disturbances rejection Such a controller not only carries out precise temperature setpoint tracking under any arbitrary ambient environment, but also uses the practical expertise of the control practitioners working for PET blow molding machines Excellent set-point tracking and disturbance rejection of the proposed control method are well illustrated by computer simulations and experimental results The results also clearly show applicability and superiority of the proposed method in comparison with other existing controllers

Ching-Chih Tsai

Papers

Cascaded fuzzy control for air source heat pumps

Decentralized EIF-based global localization using dead-Reckoning, KINECT and laser scanning for autonomous omnidirectional mobile robot

FPGA implementation of a real-time image tracking system

Design and experimental evaluation of robust PID and PI-PD temperature controllers for oil-cooling machines

Digital command feedforward and PID temperature control for PET stretch blow molding machines