This paper is concerned with the problem of robust fault-tolerance tracking control on the omni-directional rehabilitative training walker. The nonlinear robust fault-tolerance method is proposed when one wheel actuator stuck is happened. The aim is to design an asymptotically stable controller which can guarantee the safety of walker and can ensure tracking the training path planned by a physical therapist when one actuator is faulted. The controller which can satisfy asymptotic stability is obtained by constructing the energy storage function and the γ dissipation inequality. The evaluation signal is designed which has verified the nonlinear L_2 gain performance index. Finally, the simulation results confirm the feasibility and effectiveness of the designed scheme.

关键词：控制器；全向康复训练；容错跟踪控制

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A contents authoring software with device management for interactive shows and performances is proposed. The proposed system allows user to register and to manage various stagerelated devices such as lighting system, fog generator, robots or multimedia players. In this paper, we describe software architecture, XML specification for unified protocol description, and user interface of the proposed system. The system can control multiple devices of heterogeneous protocols in timely manner. Once devices are registered, user can browse commands of each device and can organize commands to stepbased list according to the performance scenario. Unlike current commercialized products, the system allows to manipulate authored list of commands during the show instantly.The proposed system also supports to control playback of authored commands by sensor inputs so that a player can trigger devices to execute according to events. The contributions of this paper can be summarized to three points; (1) define unified protocol description with XML structures for simplicity (2) give sensor triggering capability to control devices, and (3) implement fast and instant manipulation user interface during the show.

关键词：控制器；统一性创作工具；异构设备

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This paper proposes a vision-based force controller for a haptic bilateral control system. According to the particular objects movement, a haptic bilateral system can be navigated in a specific direction by the proposed vision-based force controller. The generated force is treated as a disturbance in the bilateral control strategy. In the paper, the scaling effect which involves the distance between the object and the manipulator is considered as a key feature to be studied. The same magnification factor of vertical movement will be used for the horizontal displacement. The performance of this scaling effect produced by the visual force to the bilateral control system will be examined and analyzed through the actual experiments.

关键词：控制器；触觉；双边控制系统；视觉力；缩放

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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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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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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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