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Backstepping-based direct adaptive fuzzy formation control of uncertain mobile robots 基于backstepping的不确定移动机器人直接自适应模糊编队控制
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524029
Kong-Yi Wu, W. Huo
{"title":"Backstepping-based direct adaptive fuzzy formation control of uncertain mobile robots","authors":"Kong-Yi Wu, W. Huo","doi":"10.1109/ICCA.2010.5524029","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524029","url":null,"abstract":"The Leader/Follower formation control of mobile robots with uncertain dynamical models is investigated in this paper and adaptive shape tracking and trajectory tracking controllers are developed for the follower and leader, respectively. Firstly, a kinematic shape tracking controller is presented for the follower based on the formation equation, then the shape tracking error equation is derived with backstepping technology and a direct adaptive dynamical shape tracking controller is constructed by using fuzzy systems (FSs) to approximate the uncertainties. Furthermore, an adaptive trajectory tracking controller is also presented for the leader. It is proved that both shape tracking errors of the follower and adaptive parameters of the FSs are uniformly ultimately bounded (UUB), while the tracking error of the leader tends to zero asymptotically. Numerical simulations demonstrate the effectiveness of the proposed control strategies.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"256 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122261667","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Modeling and analysis for passive dynamic walker with controlled flat feet 可控平足被动动态步行器建模与分析
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524345
Hong-Shuai Chen, Yantao Tian, Jianfei Li, Xiaoliang Huang
{"title":"Modeling and analysis for passive dynamic walker with controlled flat feet","authors":"Hong-Shuai Chen, Yantao Tian, Jianfei Li, Xiaoliang Huang","doi":"10.1109/ICCA.2010.5524345","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524345","url":null,"abstract":"In this paper, we focus on the study of the simple Compass-like biped robot with controlled flat feet which can improve the stability of the dynamic walking under complex road conditions. A hybrid dynamic mathematical model of this biped robot based on the passive dynamic walking is modeled. Particularly, the hip-locked strike is proposed from the bionic perspective. The dynamics and energy efficiency of this kind of biped locomotion are analyzed. Then the energy consumption affected by foot length and slope angle during stable walking is analyzed to obtain the optimum ratio of foot length to leg length. It is proved by simulations that, in certain extent, the walking efficiency is proportional to the length of foot.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"197 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121730838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Synchronization in networked mass-spring-damper oscillator systems 网络质量-弹簧-阻尼振荡器系统的同步
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524382
Shan Cheng, L. Xiang, Jin Zhou
{"title":"Synchronization in networked mass-spring-damper oscillator systems","authors":"Shan Cheng, L. Xiang, Jin Zhou","doi":"10.1109/ICCA.2010.5524382","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524382","url":null,"abstract":"This brief paper considers synchronization dynamics in networked mass-spring-damper (MSD) oscillator systems with nonlinear spring interaction. Based on stability theory on dynamical system, algebraic graph theory, and some matrix theory, an exact solution of synchronization state for such networked oscillator systems is derived analytically. It is shown that the networked MSD oscillator systems can be synchronized to a simple harmonic motion, even if the isolated oscillator is chaotic or others complex dynamics. Finally, the results are applied to a typical chain networked mechanical systems composing of six MSD oscillators and numerical simulations are given to verify the correctness of the theoretical results.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132030010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A new fuzzy logic road detector for antilock braking system application 一种用于防抱死制动系统的新型模糊逻辑道路检测器
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524203
Mehran Habibi, A. Yazdizadeh
{"title":"A new fuzzy logic road detector for antilock braking system application","authors":"Mehran Habibi, A. Yazdizadeh","doi":"10.1109/ICCA.2010.5524203","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524203","url":null,"abstract":"Antilock braking system (ABS) is capable of stopping a vehicle wheel without locking while decreasing the stopping distance. In this paper, fuzzy logic is applied in two different ways. In the first strategy, a hybrid controller is proposed which is a combination of a sliding mode controller (SMC) with a novel fuzzy controller to improve sliding mode controller efficiency. A Conventional SMC design is improved by using a saturation function in control input to reduce chattering and then it is combined with the new fuzzy controller to increase controller performance by eliminating the time responses oscillation. As a second application, a new fuzzy road detector is designed to detect three different road conditions. Simulations under these selected road conditions are performed to demonstrate the effectiveness of the proposed hybrid controller. Simulation results show good performance of the proposed controller in different road detected states.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132083600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Fisher information matrix-based nonlinear system conversion for state estimation 基于Fisher信息矩阵的非线性系统状态估计转换
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524066
Ming Lei, C. Baehr, P. Moral
{"title":"Fisher information matrix-based nonlinear system conversion for state estimation","authors":"Ming Lei, C. Baehr, P. Moral","doi":"10.1109/ICCA.2010.5524066","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524066","url":null,"abstract":"In practical target tracking, a number of improved measurement conversion techniques have been developed and proofed to be superior to the standard (extended) Kalman filtering (KF) in Cartesian coordinates. The framework of conversion technique exhibits fundamental pros and cons and therefore associated with different performance as pointed out in [1]. In this paper, we show that, based on the Fisher information matrix (FIM) which can be evaluated approximately using state estimates online, instead of the usual measurement conversion, an equivalent linear dynamics can be reconstructed from a general nonlinear form, thus even the standard KF can be applied theoretically. The proposed approach is explicitly free of the fundamental limitations of traditional measurement conversion. Simulation results are provided by comparison with a state-of-art conversion method with the so-called optimal linear unbiased estimate presented in [1].","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132212745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Vibration analysis: Optimization of parameters of the two mass model based on Kelvin elements 振动分析:基于开尔文元的两质量模型参数优化
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524271
A. Kuznetsov, M. Mammadov, I. Sultan, Ibrahim Hajilarov
{"title":"Vibration analysis: Optimization of parameters of the two mass model based on Kelvin elements","authors":"A. Kuznetsov, M. Mammadov, I. Sultan, Ibrahim Hajilarov","doi":"10.1109/ICCA.2010.5524271","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524271","url":null,"abstract":"In this paper we consider the problem of finding optimal parameters of the two mass model that represents vehicle suspension systems. The analysis of the problem is based on finding analytical solution of the system of coupled Ordinary Differential Equations (ODE). Such a technique allows us to generate optimization problem, where an objective function should be minimized, in accordance with ISO 2631 standard formula of admissible acceleration levels. That ensures maximum comfort for a driver and passenger in a moving vehicle on the considered highways.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130150278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
More than Newton iterations generalized from Zhang neural network for constant matrix inversion aided with line-search algorithm 由张氏神经网络推广的多牛顿迭代法，在线性搜索算法的辅助下求解常矩阵反演
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524442
Yunong Zhang, Dongsheng Guo, Chenfu Yi, Lingfeng Li, Zhende Ke
{"title":"More than Newton iterations generalized from Zhang neural network for constant matrix inversion aided with line-search algorithm","authors":"Yunong Zhang, Dongsheng Guo, Chenfu Yi, Lingfeng Li, Zhende Ke","doi":"10.1109/ICCA.2010.5524442","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524442","url":null,"abstract":"Since 12 March 2001, Zhang et al have proposed a special class of recurrent neural networks for online time-varying problems solving, especially for matrix inversion. For possible hardware (e.g., digital-circuit) realization, such Zhang neural networks (ZNN) could also be reformulated in the discrete-time form, which incorporates Newton iteration as a special case. In this paper, for constant matrix inversion, we generalize and investigate more discrete-time ZNN models (which could also be termed as ZNN iterations) by using multiple-point backward-difference formulas. For fast convergence to the theoretical inverse, a line-search algorithm is employed to obtain an appropriate step-size value (in each iteration). Computer-simulation results demonstrate the efficacy of the presented new discrete-time ZNN models aided with a line-search algorithm, as compared to Newton iteration.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128954512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Optimization of manufacturing systems using Genetic Search and Muti-resolution simulation 基于遗传搜索和多分辨率仿真的制造系统优化
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524439
Z. Guan, Chuangjian Wang, Jinguo Huang, Lizhi Wan, X. Shao
{"title":"Optimization of manufacturing systems using Genetic Search and Muti-resolution simulation","authors":"Z. Guan, Chuangjian Wang, Jinguo Huang, Lizhi Wan, X. Shao","doi":"10.1109/ICCA.2010.5524439","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524439","url":null,"abstract":"This paper presents a method for the optimization of manufacturing systems by using Genetic Search and Multi-level Modeling Multi-resolution Simulation. The method can realize genetic optimization for manufacturing systems by using multi-resolution simulation which is based on the multi-level modeling. This paper focuses on the design of the genetic optimization searching algorithm and the optimization of a complex manufacturing system, through the comprehensive use of relevant methods in order to optimize in parallel the target system's structure parameters and operational behaviors with a reasonable time-effectiveness performance.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133659235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Lead/lag compensator design for unstable processes based on gain and phase margin specifications 基于增益和相位裕度规范的不稳定过程引线/滞后补偿器设计
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524358
Zhuo‐Yun Nie, Qing‐Guo Wang, Min Wu, Yong He
{"title":"Lead/lag compensator design for unstable processes based on gain and phase margin specifications","authors":"Zhuo‐Yun Nie, Qing‐Guo Wang, Min Wu, Yong He","doi":"10.1109/ICCA.2010.5524358","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524358","url":null,"abstract":"This paper describes lead/lag compensators tuning method based on gain and phase margin specifications for two kinds of unstable processes. A simple and effective graphic method is used to solve a set of nonlinear coupled equations. The solutions are determined from the intersections of the two kinds of curves constructed from gain and phase margin specifications. The results are applied to the tuning of the lead/lag compensator. Examples are provided for illustration.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133194134","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
A stability theorem and applications in control designs 稳定性定理及其在控制设计中的应用
IEEE ICCA 2010 Pub Date : 2010-06-09 DOI: 10.1109/ICCA.2010.5524389
C. Xie, Yi Lin
{"title":"A stability theorem and applications in control designs","authors":"C. Xie, Yi Lin","doi":"10.1109/ICCA.2010.5524389","DOIUrl":"https://doi.org/10.1109/ICCA.2010.5524389","url":null,"abstract":"A stability theorem is established via the notion of weak Lyapunov functions. Result is applied to control designs of robust strict-feedback system and output strict-feedback system. Simulations support the result established.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133217924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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