{"title":"Nonlinear stabilizing control based on particle swarm optimization with controlled mutation","authors":"A. Ishigame","doi":"10.1109/ISIC.2007.4450962","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450962","url":null,"abstract":"In this paper, a new approach based on Particle Swarm Optimization (PSO) and Lyapunov method is presented to construct nonlinear stabilizing controller using a neural network. The procedure to learn the value of neural network is formulated as min-max problem. And the problem is solved by the co-evolutionary PSO with a controlled mutation that is newly proposed. The PSO is able to generate an optimal set of parameters for neural controller. Then, the proposed neural controller can be satisfied the Lyapunov stability condition and is validated through numerical simulations of stabilizing control problem.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123931675","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}
{"title":"Control System of an Automated Nanohandling Robot Cell","authors":"C. Stolle, S. Fatikow","doi":"10.1109/ISIC.2007.4450964","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450964","url":null,"abstract":"Current research work on the development of a nanohandling cell in a scanning electron microscope (SEM) is presented. An experimental setup is shown, in which two microrobots operate in the vacuum chamber of an SEM. In order to enable automatic nanohandling, a modular control system architecture is proposed. Different microrobots can be integrated in a flexible manner using a common control interface. The system easily scales up for more complex robot and sensor setups. Parallel execution of open and closed-loop control tasks can be performed. The functionality of the robot cell is exemplified by handling and mechanical characterization of carbon nanotubes (CNT).","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125057946","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}
{"title":"Verification of Biochemical Processes Using Stochastic Hybrid Systems","authors":"D. Riley, X. Koutsoukos, K. Riley","doi":"10.1109/ISIC.2007.4450868","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450868","url":null,"abstract":"Modeling and analysis of biochemical systems are critical problems because they can provide new insights into systems which can not be easily tested with real experiments. One such biochemical process is the formation of sugar cataracts in the lens of an eye. Analyzing the sugar cataract development process is a challenging problem due to the highly-coupled chemical reactions that are involved. In this paper we model sugar cataract development as a stochastic hybrid system. Based on this model, we present a probabilistic verification method for computing the probability of sugar cataract formation for different chemical concentrations. Our analysis can potentially provide useful insights into the complicated dynamics of the process and assist in focusing experiments on specific regions of concentrations. The verification method employs dynamic programming based on a discretization of the state space and therefore suffers from the curse of dimensionality. To verify the sugar cataract development process we have developed a parallel dynamic programming implementation that can handle large systems. Although scalability is a limiting factor, this work demonstrates that the technique is feasible for realistic biochemical systems.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116719379","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}
{"title":"Construction of Expanded Input Space for Modeling Hysteretic Systems","authors":"Yonghong Tan, Xinlong Zhao","doi":"10.1109/ISIC.2007.4450916","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450916","url":null,"abstract":"A neural model for hysteresis based on expanded input space is proposed in this article. In this method, the behavior of hysteresis is considered as a dynamic system that can be described by a nonlinear state space equation containing hysteretic state. In order to transfer the multi-valued mapping of hysteresis into a one-to-one mapping, an expanded input space involving the original input variable and a so-called Duhem operator is constructed. Thus, the neural networks can be employed to approximate the relation between the hysteretic state and the output of the system that is also the output of hysteresis. The proposed model has a simple architecture that can be easily implemented for on-line adaptation for the model in case of the unexpected change of operating environment. Furthermore, the dynamic performance of the model is improved because of the existence of Duhem operator. Finally, the method is used to the modeling of hysteresis in a piezoelectric actuator.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117024377","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}
{"title":"Robust Stabilizability of linear uncertain switched systems : a computational algorithm","authors":"C. Yfoulis","doi":"10.1109/ISIC.2007.4450869","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450869","url":null,"abstract":"The problem of robust stabilizability of linear uncertain systems with unstable modes has recently attracted increased interest. Given a number of unstable linear uncertain subsystems, the problem is to determine stabilizing switching sequences resulting in asymptotically stable behavior or to ascertain the absence of such laws. In a number of recent publications, necessary and sufficient conditions for the stabilizability problem have been sought. It is well known that the class of polyhedral Lyapunov functions is universal for the asymptotic stability of linear uncertain switched systems with stable subsystems. Recent results suggest that this property holds for linear uncertain switched systems with unstable subsystems, at least under some further assumptions. Motivated by these theoretical advancements, in this paper we deal with the development of a computational technique that generates polyhedral Lyapunov functions for the stabilizability problem. First, we propose an improved reliable and efficient computational algorithm for two-dimensional systems, extending the results in [11] and [14]. Second, we show how the main idea may be modified in a sufficient form to allow higher-dimensional systems to be dealt with. Further development of these computational tools for higher-dimensional systems will be the subject of future work.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126329027","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}
{"title":"Time Optimal Based DSMC with Time-varying Surface and Its Application to Hard Disk Drives","authors":"Q. Hu, Lihua Xie, Youyi Wang, C. Du","doi":"10.1109/ISIC.2007.4450901","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450901","url":null,"abstract":"A time optimal based discrete-rime sliding mode control (DSMC) approach is developed in this paper. In this approach, a proximate time optimal switching curve is adopted for the time varying sliding mode design and a controller, consisting of an equivalent part and a discontinuous one, is designed such that the trajectory from any initial point is driven into a sliding region in the vicinity of the switching surface without chartering and thereafter remains inside it. By using the time-varying switching surface, one unified framework for both track seeking and track following control in hard disk drives (HDDs) is provided and the smooth transition from seeking control to track following control is achieved. In addition, a time-varying sliding region is also used instead of rime-invariant one to eliminate the chattering and overshoot and improve the tracking performance. Simulation studies in HDDs demonstrate that the proposed control scheme provides better performance during track seeking than the commonly used discrete-time proximate time-optimal servomechanism (PTOS) and sliding mode proximate time optimal servomechanism (SMPTOS). Moreover, the unified controller achieves better disturbance rejection in track-following than the SMPTOS control.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127562372","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}
{"title":"Decentralized Åström-Wittenmark Self-Tuning Regulator of a Multi-agent Uncertain Coupled ARMAX System","authors":"Hongbin Ma, K. Lum, S. Ge","doi":"10.1109/ISIC.2007.4450912","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450912","url":null,"abstract":"Adaptive control for a multi-agent uncertain dynamical system is studied in this paper. The system studied has the following characteristics: (i) there are many agents in this system and the state of each agent dynamically evolves with time; (ii) for each agent, its state evolves like an ARMAX model with unknown coefficients; (iii) each agent is locally intervened by neighborhood agents with unknown linear reactions; (iv) each agent can only use its history information and local information on its neighborhood agents to design its control law aimed at achieving its own local goal, i.e. tracking a local signal sequence. In this paper, the Astrom-Wittenmark self-tuning regulator, which is a special ease (with known high-frequency gain) of extended least squares (ELS) algorithm, is adopted by each agent to estimate the local unknown parameters (including internal parameters and coupling coefficients) and control the local states based on the \"certainty equivalence\" principle. For the decentralized Astrom-Wittenmark self-tuning regulator discussed here, its stability and optimality are established rigorously in this paper. Simulation studies demonstrate the effectiveness of the local ELS learning and control algorithm.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121489085","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}
{"title":"New Results on Reachability Realization of Switched Impulsive Control Systems","authors":"Zhijian Ji, G. Feng, Xiaoxia Guo","doi":"10.1109/ISIC.2007.4450913","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450913","url":null,"abstract":"This paper studies construction of switching sequences for reachability realization of switched impulsive control systems. An approach is proposed to design switching sequences so that the reachable subspace of switched impulsive control systems is expressed in terms of the reachable state sets of the designed switching sequences. For a class of switched impulsive control systems, it is proved that a single switching sequence can be designed with its reachable state set coinciding with the reachable subspace. The results present a new point of view for switching mechanism involved in the reachability and controllability of switched impulsive control systems.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128281389","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}
{"title":"Randomized Lagrangian heuristic based on Nash equilibrium for large scale single machine scheduling problem","authors":"Hanyu Gu, Y. Xi, Jiping Tao","doi":"10.1109/ISIC.2007.4450930","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450930","url":null,"abstract":"Lagrangian relaxation method for jobshop scheduling problems has been studied in the framework of combinatorial auction. In this paper a noncooperative game model is built for the Lagrangian relaxation method, and we prove that the equivalent continuous relaxation computed from the Lagrangian dual problem provides a mixed strategy Nash equilibrium for this game model. Based on this interpretation a randomized heuristic is exploited to get feasible schedules. Numerical experiments are carried out on a large scale single machine problem.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128338552","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}
{"title":"Switching Strategies of Collision Avoidance and Tracking Control for Vehicles Based on Non-cooperative Game and Model Predictive Control","authors":"N. Isoda, K. Kogiso, T. Asai","doi":"10.1109/ISIC.2007.4450881","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450881","url":null,"abstract":"This paper proposes two kinds of switching strategies for a vehicle to avoid colliding with another vehicle and to track to a given reference trajectory. From a pursuit-evasion game, we can lead the collision avoidance procedure based on a so-called backward reachable set And, to achieve the trajectory tracking, we employ a model predictive control. The switching strategies unify the collision avoidance and the model predictive control methods. Here, the switching structure may lead to chattering. So, the strategy that we propose finally has a hysteresis to adjust a frequency of the chattering. In a numerical verification, we illustrate some simulation results when the proposed algorithms are used.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130601189","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}