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Proceedings IEEE International Symposium on Intelligent Control 1988最新文献

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A learning scheme for open-loop and closed-loop control 一种开环和闭环控制的学习方案
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65486
R. Su, N. Kermiche
{"title":"A learning scheme for open-loop and closed-loop control","authors":"R. Su, N. Kermiche","doi":"10.1109/ISIC.1988.65486","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65486","url":null,"abstract":"The problem of control design for systems to perform repetitive tracking is considered. The control structure combines open-loop control and closed-loop control. The specific organization is designed on the philosophy that open-loop control should be used to take full advantage of a priori knowledge and feedback control should be used for regulation against modeling uncertainties and disturbances. With this control structure learning takes place in the open-loop controller. In each iteration the share of the open-loop control in the total control input increases, while that of the closed-loop control decreases. Convergence theorems are established as design guidelines for learning algorithms. Numerical examples are given.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125341703","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 variable structure controller for robot manipulators 一种新型的机器人机械手变结构控制器
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65472
J. Machado, J.L.M. de Carvalho
{"title":"A new variable structure controller for robot manipulators","authors":"J. Machado, J.L.M. de Carvalho","doi":"10.1109/ISIC.1988.65472","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65472","url":null,"abstract":"A novel variable-structure control algorithm for robot manipulators is reported. Second-order linear system sliding curves and a new control law eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. The results show a remarkable improvement over conventional variable-structure controllers, maintaining, however, a low computational complexity which makes the present controller well suited for microcomputer implementation. Furthermore, the well-known standard heuristic procedures of controller adjustment can be used in the proposed scheme. This is of utmost importance when considering its implementation in an industrial environment.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116032364","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: 10
Autonomous planning in time-varying environments: a case study 时变环境中的自主规划:一个案例研究
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65456
R. M. Wheeler
{"title":"Autonomous planning in time-varying environments: a case study","authors":"R. M. Wheeler","doi":"10.1109/ISIC.1988.65456","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65456","url":null,"abstract":"A simulation of a specific example of an intelligent control system is described. The simulation includes a rich description of the environment in which the intelligent controller operates, including dynamic models of the physical systems under control. The primary goal of the modeling effort is to evaluate alternative real-time resource algorithms needed for certain planning tasks in stressing time-varying environments. The simulation permits investigation into high-level plan generation (e.g. object sequencing), which relies on a rather rich internal description of the operational environment. Simple sequencing algorithms have been developed and evaluated using the simulation. The model provides a tool suitable for addressing the interdependence of platform engineering parameters (acceleration, refire rate, field of view, range) and platform management (e.g. sequencing algorithm) and the resulting overall effectiveness.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122314529","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: 0
Control of a 5-link biped robot for steady walking 五连杆双足机器人稳定行走控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65480
T. Lee, P. Jeng, W. Gruver
{"title":"Control of a 5-link biped robot for steady walking","authors":"T. Lee, P. Jeng, W. Gruver","doi":"10.1109/ISIC.1988.65480","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65480","url":null,"abstract":"Trajectory planning methods and control algorithms for biped robot steady walking are discussed. The model following plus variable structure systems technique is developed for the control of dynamic walking in the sagittal plane. The nonlinear feedback plus modified alpha -computed torque technique is introduced for walking in the frontal plane. simulation results are provided for level walking and ascending on staircases for a five-link biped robot. These results indicate that the proposed algorithms could achieve robust trajectory tracking even in the presence of system modeling errors. Specifically, simulation results show that, even in the presence of disturbances, gait stability can be achieved within two steps after the start of walking. In addition, the biped robot can walk with prespecified patterns.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121917479","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
Applications of symbolic manipulation in control system analysis and design 符号操作在控制系统分析与设计中的应用
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65442
H. K. Eldeib, S. Tsai
{"title":"Applications of symbolic manipulation in control system analysis and design","authors":"H. K. Eldeib, S. Tsai","doi":"10.1109/ISIC.1988.65442","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65442","url":null,"abstract":"A review of the applications of symbolic manipulation in computer-aided control system analysis and design (CACSAD) is given. The research reviewed includes applications of symbolic manipulation languages, such as Macsyma and REDUCE, of logic programming (Prolog) and of Lisp. Application areas reviewed include nonlinear and optimal control, robotics, aircraft control, and spacecraft control. A computer program that combines symbolic manipulation and interactive graphics into a user-interface for control system analysis and design software is presented. The program serves as a tool for research on the integration of symbolic, graphical, and numerical computation for CACSAD on a microcomputer. Elements of the program include a graphical user interface, a model structure editor, a transfer function editor, a symbolic transfer function finder, and an output formatter.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122160140","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: 9
Modeling, model interpretation and intelligent control 建模，模型解释和智能控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65403
J. Sztipanovits, G. Karsai, C. Biegl
{"title":"Modeling, model interpretation and intelligent control","authors":"J. Sztipanovits, G. Karsai, C. Biegl","doi":"10.1109/ISIC.1988.65403","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65403","url":null,"abstract":"The authors analyze the abstract properties of system architectures supporting structural adaptivity and describe a programming and execution environment (the Multigraph architecture) developed for this system category. The main focus of the Multigraph environment is to facilitate the modeling process on different application domains, such as instrumentation, process control, simulation, and robotics. It is shown that the problems in modeling, model interpretation, and execution environment are closely related in intelligent controllers.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"274 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129940656","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
Pattern generation in cellular robotic systems 蜂窝式机器人系统中的模式生成
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65406
J. Wang, Gerardo Beni
{"title":"Pattern generation in cellular robotic systems","authors":"J. Wang, Gerardo Beni","doi":"10.1109/ISIC.1988.65406","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65406","url":null,"abstract":"A computational model of cellular robotic systems (CRSs) is introduced. It employs a large (but finite) number of autonomous robots operating on a cellular space under distributed control. No synchronous clock or shared memory is assumed. Robots in such systems have to cooperate to accomplish prespecified global tasks under the government of a protocol. The problem of robots in a CRS spatially rearranging themselves to form desired patterns within the field of operation is discussed. Example protocols that generate alternating and arbitrarily predefined patterns in one-dimensional linear arrangements and protocols that make robots seal one side or all sides of two-dimensional grids are presented. Mathematical proofs of the correctness of these protocols have been obtained. A Sun-Unix based simulation platform has been implemented upon which the pattern forming protocols are exercised.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124070086","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: 37
Software design of distributed manufacturing control systems 分布式制造控制系统的软件设计
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65506
H. Gomaa
{"title":"Software design of distributed manufacturing control systems","authors":"H. Gomaa","doi":"10.1109/ISIC.1988.65506","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65506","url":null,"abstract":"How a software design method for distributed real-time applications can be used to design distributed manufacturing control systems which consist of several concurrent tasks executing on multiple modes supported by a local area network is described. The application is a manufacturing control system which controls part manufacturing in a high-volume, low-flexibility assembly plant. The method addresses the needs of distributed real-time manufacturing applications by providing criteria for structuring subsystems into concurrent tasks. The method leads to a design which is primarily message based.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127718060","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
Multisensor integration in biological systems 生物系统中的多传感器集成
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65421
J. Gelfand, J. Pearson, C. Spence, W. E. Sullivan
{"title":"Multisensor integration in biological systems","authors":"J. Gelfand, J. Pearson, C. Spence, W. E. Sullivan","doi":"10.1109/ISIC.1988.65421","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65421","url":null,"abstract":"The authors discuss the integration of sensory information in biological systems. In particular, they consider the structure in vertebrate animals that utilizes multiple sensory inputs to orient the sensor platform, i.e. the body or the head, toward objects of interest. This structure is known as the optic tectum in lower vertebrates and the superior colliculus in mammals. The representation of the various sensory modalities on the tectum follows the maplike image format of the retina. This requires in some cases a considerable transformation from the original representation of the sensory input available from the other sensors. As an example, the authors present a detailed discussion of the visual/acoustic object localization system of the barn owl along with a model for the adaptive coregistration of the coordinate systems of the visual and acoustic maps on the tectum.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"14 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125703324","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: 16
Constrained manipulator dynamic models and hybrid control 约束机械臂动力学模型与混合控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65469
J. Mills
{"title":"Constrained manipulator dynamic models and hybrid control","authors":"J. Mills","doi":"10.1109/ISIC.1988.65469","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65469","url":null,"abstract":"Dynamic models which correctly describe the constrained motion of robotic manipulators during contact with rigid work environments are given. The existing hybrid control law is rewritten in terms of the state of these constrained dynamic models. The hybrid control law is shown to be a linear feedback of the deviation from the nominal state of the constrained manipulator dynamic equations of motion. This result is illustrated through reformulation of the generalized force due to contact in terms of the Lagrange multipliers, which properly account for the constraints imposed on the manipulator through contact with a rigid work environment. Thus, while it appears that the hybrid control scheme utilizes feedback of the generalized contact force, this feedback is shown to be more compactly written in terms of the Lagrange multipliers, leading to a reformulation of the hybrid feedback control law.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127994543","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: 9
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