Communication plays a crucial role in the operation of many large decentralized and distributed systems. In the classical formulation of the decentralized discrete-event control problem, there are no communication channels between controllers. Recall that decentralized controllers have only a partial observation of system behavior, and thus, for each controller, there is some uncertainty as to the precise state of the system.

关键词：控制器；同步通信；分散；离散事件系统

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In the first part of the chapter, the general features of MPC were presented. Then the basic theory of GPC was described. The method has been easily implemented on a computer. The GPC algorithms have been programmed using MATLAB?. Simulations of simple systems have confirmed that the results are consistent with others presented in papers from the literature [136, 141]. The unconstrained and constrained cases of GPC were reviewed. This chapter also has shown a method for optimum adjustment of the parameters of the GPC controller, where the selection of the appropriate values of these parameters yields an improved response of the linear SISO model of the hydroelectric plant.

关键词：控制器；模型；预测

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Defuzzification has long been a bottleneck for fast implementations of fuzzy logic controllers, due to the large number of computationally expensive multiplication and division operations that are required. In this paper, we report a high-speed fuzzy inferential system based on log-domain arithmetic, which only requires addition, subtraction and multiplexing operations. The system is implemented on a Xilinx Virtex-II FPGA with a processing speed of 67.6 MFLIPS and a maximum combinational path delay of 4.2 ns. A pipelined version of the controller is also implemented, which achieves a speed of 248.7 MFLIPS. Although a small approximation error is introduced, software simulation and hardware implementation on FPGA confirm high similarity of the outputs for typical and log-domain control surfaces and a number of second-order plants.

关键词：控制器；现场可编程门阵列；快速模糊控制；对数域

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Flapping wing micro air vehicles (FWMAV) have been a growing field in the research of micro air vehicles, but little emphasis has been placed on control theory. Research is ongoing on how to power FWMAVs where mass is a major area of concern. However, there is little research on the power requirements for the controllers to manipulate the wings of a FWMAV. A novel control theory, BABM, allows two actuators to produce forces and moments in five of the FWMAV's six DOF. Several FWMAV prototypes were constructed and tested on a six-component balance. Data was collected for varying control parameters and the generated forces were measured. The results mapped control parameters to different degrees of freedom. The force required to generate desirable motion and power required to generate that motion was plotted and evaluated. These results can be used to generate a minimum power controller in the future. The results showed that BABM control required a 26increase in power in order to increase lift by 22. The lift increase was accomplished by increasing the amplitude by 10over the established baseline. The data also showed that varying some parameters actually decreased the power requirements, allowing other parameters to increase which in turn would enable more complex maneuvers. For instance, an asymmetric change in split-cycle shift of + or - 0.25 decreased the power required by 14and decreased the lift by 25. Changing the stroke bias to + or - 0.75 had a negligible effect on power but decreased the lift by 27. Furthermore, the data identified certain parameter combinations which resulted in other forces and moments. These results identified how BABM be used as a control theory for the control of FWMAVs.

关键词：控制器；二次谐波；微型扑翼飞行器；偏置调制控制

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Digital remote manual control systems are no less complicated than automatic control. Engineers have to overcome number of unique problems. Mechanical parts have to respond to digital signals transferred through wireless connection. Digital control algorithms have to correctly translate the movement of controls at remote station to signals in a way that a operator has a proper feeling of control. The Master Control System presented connects the features of a Drive-By-Wire control system with wireless connection. Main focus is put on the Master controller and its algorithms of input - output translation, that give finer control for an operator. In addition, computer controlled intervention algorithms are proposed that can increase safety of the subject vehicle. All that is done on basis of a small two-wheeled robot and a closed environment of small playground with radio interface allowing wireless connection with the robot, and a vision interface equipped with a camera serving as a visual feedback. Is it a great environment for theoretical considerations, testing and implementation. Modular design of the environment additionally allows the control of whole Mobile Robot Group, not only one robot subject. Moreover sented results can be applied more widely in controllers for cars or other wheeled or tracked vehicles.

关键词：控制器；视觉系统；有限区域；分布式控制系统；移动机器人

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It has the better ability of global searching and has been successfully applied in many areas of engineering and science. Simulations are presented assessing the performance of the proposed fractional algorithms.

关键词：控制器；PSO算法；热扩散系统；分数阶控制器；调谐

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The results have shown how MLD-GPC can be applied to a hydroelectric pumped-storage station to improve its fast-response characteristics. The direct transient responses are improved compared with CGPC, when the multivariable nature of the plant is taken explicitly into account. In particular, selecting different values of X and different predictive models, depending on the number of units active, allows MLD- GPC to produce a fast response across the operational range. Inclusion of rate and saturation constraints in both GPC controllers yields a fast, well-damped response in the common case when only a single unit is in operation, without compromising stability when multiple units are online.

关键词：控制器；混合逻辑动态系统；预测控制器

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This paper discusses the problem of robust H∞ control for a class of nonlinear uncertain singular systems with time delays.Considering the nonlinear disturbance link to uncertain singular systems with time delays effects,the design idea of robust H∞ controller is presented.Using Lyapunov stability theory and linear matrix inequality (LMI) method,a robust H∞ controller design example of such nonlinear uncertain singular systems with time delays both in state and output is given.Under nonlinear uncertain functions satisfying Lipschitz condition,a sufficient condition of such nonlinear uncertain singular systems which are asymptotically stable and satisfy the robust H∞ performance is obtained.Finally,a numerical example is given to show the applicability of the proposed method.

关键词：控制器；时滞；非线性；奇异系统

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In many real world scenarios, the model of the controlled process changes over time. Clearly in such situations the parameters of the controller need to be adjusted to give an acceptable level of control system performance. Many adaptive control techniques exist to cope with such changes in system dynamics. Traditionally since PID controllers have been extensively used in industrial processes, the adaptation laws looked at changing the proportional, integral and derivative gains of the controllers. With the use of Fractional order PID controllers, both the gains and the differentiation and integration orders may be fine-tuned online, to achieve a better system performance. This chapter looks at integration of computational intelligence paradigms with fractional order adaptive control and the various advantages that this synergism can offer.

关键词：控制器；分数阶；增益调度；整序

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X-ray diffraction (XRD) is a powerful analysis method that allows researchers to noninvasively probe the crystalline structure of a material. This includes the ability to determine the crystalline phases present, quantify surface residual stresses, and measure the distribution of crystallographic orientations. The Structures and Materials Division at the NASA Glenn Research Center (GRC) heavily uses the on-site XRD lab to characterize advanced metal alloys, ceramics, and polymers. One of the x-ray diffractometers in the XRD lab (Bruker D8 Discover) uses three different x-ray tubes (Cu, Cr, and Mn) for optimal performance over numerous material types and various experimental techniques. This requires that the tubes be switched out and aligned between experiments. This alignment maximizes the x-ray tube s output through an iterative process involving four set screws. However, the output of the x-ray tube cannot be monitored during the adjustment process due to standard radiation safety engineering controls that prevent exposure to the x-ray beam when the diffractometer doors are open. Therefore, the adjustment process is a very tedious series of blind adjustments, each followed by measurement of the output beam using a PIN diode after the enclosure doors are shut. This process can take up to 4 hr to perform. This technical memorandum documents an in-house project to motorize this alignment process. Unlike a human, motors are not harmed by x-ray radiation of the energy range used in this instrument. Therefore, using motors to adjust the set screws will allow the researcher to monitor the x-ray tube s output while making interactive adjustments from outside the diffractometer. The motorized alignment system consists of four motors, a motor controller, and a hand-held user interface module. Our goal was to reduce the alignment time to less than 30 min. The time available was the 10-week span of the Lewis' Educational and Research Collaborative Internship Project (LERCIP) summer internship program and the budget goal was $1200. In this report, we will describe our motorization design and discuss the results of its implementation.

关键词：控制器；X射线衍射仪；机动光束对准

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