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2007 IEEE 22nd International Symposium on Intelligent Control最新文献

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Based on Genetic Algorithm and Input Estimation Approach to Design a Sliding Mode Controller for Flexible-Joint Robot Control System 基于遗传算法和输入估计方法的柔性关节机器人滑模控制器设计
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450933
Chien-Yu Ji, Yung-Lung Lee, Tsung-Chien Chen
{"title":"Based on Genetic Algorithm and Input Estimation Approach to Design a Sliding Mode Controller for Flexible-Joint Robot Control System","authors":"Chien-Yu Ji, Yung-Lung Lee, Tsung-Chien Chen","doi":"10.1109/ISIC.2007.4450933","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450933","url":null,"abstract":"In this work, the genetic algorithm (GA) and input estimation approach (IE) are proposed to design a sliding mode controller (SMC) that hold ability of disturbance torque estimation and the robust control performance. The IE approach is an on-line recursive inverse estimation method based on the Kalman filter (KF) and recursive least square estimator method (RLSE), which estimates the disturbance torque without additional torque sensor. The sliding mode control theory has the characteristics of low sensitivity with variable system parameters. Furthermore, the genetic algorithm is proposed to search the optimal controller design parameters for SMC that it can promote the control performance.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"87 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":"131831525","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
Robust Adaptive Control of Valve Mechanism with Unknown Backlash Nonlinearity 带有未知间隙非线性的气门机构鲁棒自适应控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450911
Jing Zhou, M. Er
{"title":"Robust Adaptive Control of Valve Mechanism with Unknown Backlash Nonlinearity","authors":"Jing Zhou, M. Er","doi":"10.1109/ISIC.2007.4450911","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450911","url":null,"abstract":"In this paper, two robust adaptive backstepping control algorithms are developed for valve control mechanism of a liquid tank. Unlike some existing control schemes for systems with backlash, the developed backstepping controllers do not require the uncertain parameters within known intervals. Also no knowledge is assumed on the bound of the 'disturbancelike' term, a combination of the external disturbances and a term separated from the hysteresis model. It is shown that the proposed controllers not only can guarantee global stability, but also transient performance.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"29 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":"130690572","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
Fuzzy Logic Based Data Association with Target/Sensor Soft Constraints 基于模糊逻辑的目标/传感器软约束数据关联
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450957
S. Stubberud, K. Kramer
{"title":"Fuzzy Logic Based Data Association with Target/Sensor Soft Constraints","authors":"S. Stubberud, K. Kramer","doi":"10.1109/ISIC.2007.4450957","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450957","url":null,"abstract":"For the typical case in target association, where both the target tracks and the measurements are described with Gaussian random variables, the standard association uses the chi-squared metric, a weighted inner product of the residual formed by an estimated measurement and the true measurement. There are, however, cases where the measurements are not well described as Gaussian random variables, including when the Gaussian distribution is corrupted by sensor blockage or target constraints. Based upon the proven concept of the chi-squared metric, a straightforward fuzzy-logic based association method was developed to emulate this metric for Gaussian and non-Gaussian measurements. This approach was previously developed for the cases where non-Gaussian measurements and hard constraints were present. In actual operations, soft constraints on sensor performance and target capabilities are often present. This effort develops a penalty-method-based capability into the association scheme to handle operational concerns.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"17 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":"133700012","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: 5
Stability and Robustness Analysis of Cyclic Pseudo-Downsampled ILC 循环伪下采样ILC的稳定性和鲁棒性分析
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450859
Bin Zhang, Danwei W. Wang, Y. Ye, Keliang Zhou, Yigang Wang
{"title":"Stability and Robustness Analysis of Cyclic Pseudo-Downsampled ILC","authors":"Bin Zhang, Danwei W. Wang, Y. Ye, Keliang Zhou, Yigang Wang","doi":"10.1109/ISIC.2007.4450859","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450859","url":null,"abstract":"In this paper, a multirate cyclic pseudo-downsampled iterative learning control (ILC) scheme is proposed. The scheme has the ability to produce good learning transient for trajectories with high frequency components and/or initial state errors. The proposed scheme downsamples the feedback error and input signals every m samples to arrive at slow rate signals. Then, the downsampled slow rate signals are applied to ILC algorithm, whose output is then interpolated and applied to actuator. The novelty of the proposed scheme is that, for two successive iterations, the signal is downsampled with the same m but the downsampling points are time shifted along the time axis. This shifting process makes the ILC scheme cyclic along the iteration axis with a period of m cycles. Stability and robustness analysis shows that good learning transient can be guaranteed. Simulation results show significant tracking accuracy improvement. Additional advantages are that the proposed scheme does not need a filter design and reduces the computation load and memory size substantially. The proposed scheme can be applied to the control of other rotatory machinery.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"14 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":"128918138","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: 5
Discrete-Time Output Trajectory Tracking for Induction Motor using a Neural Observer 基于神经观测器的异步电机离散输出轨迹跟踪
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450951
A. Alanis, E. Sánchez, A. Loukianov
{"title":"Discrete-Time Output Trajectory Tracking for Induction Motor using a Neural Observer","authors":"A. Alanis, E. Sánchez, A. Loukianov","doi":"10.1109/ISIC.2007.4450951","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450951","url":null,"abstract":"This paper presents the design of an adaptive controller based on the block control technique, and a new neural observer for a class of MIMO discrete-time nonlinear systems. The observer is based on a recurrent high-order neural network (RHONN), which estimates the state vectors of the unknown plant dynamics. The learning algorithm for the RHONN is based on an extended Kalman filter (EKF). This paper also includes the respective stability analysis, using the Lyapunov approach, for the whole system, which includes the nonlinear plant, the neural observer trained with the EKF and the block controller. Applicability of the proposed scheme is illustrated via simulation for a discrete-time nonlinear model of an electric induction motor.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"103 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":"115541393","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
Quantized Kalman Filtering 量化卡尔曼滤波
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450852
Shu-Li Sun, Jianyong Lin, Lihua Xie, Wendong Xiao
{"title":"Quantized Kalman Filtering","authors":"Shu-Li Sun, Jianyong Lin, Lihua Xie, Wendong Xiao","doi":"10.1109/ISIC.2007.4450852","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450852","url":null,"abstract":"This paper is concerned with the estimation problem for a dynamic stochastic estimation in a sensor network. Firstly, the quantized Kalman filter based on the quantized observations (QKFQO) is presented. Approximate solutions for two optimal bandwidth scheduling problems are given, where the tradeoff between the number of quantization levels or the bandwidth constraint and the energy consumption is considered. However, for a large observed output, quantizing observations will result in large information loss under the limited bandwidth. To reduce the information loss, another quantized Kalman filter based on quantized innovations (QKFQI) is developed, which requires that the fusion center broadcast the one-step prediction of state and innovation variances to the tasking sensor nodes. Compared with QKFQO, QKFQI has better accuracy. Simulations show the effectiveness.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"49 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":"114796209","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: 46
Optimal Tuning of PID Parameters Using Iterative Learning Approach 基于迭代学习方法的PID参数优化整定
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450889
Jian-xin Xu, Deqing Huang
{"title":"Optimal Tuning of PID Parameters Using Iterative Learning Approach","authors":"Jian-xin Xu, Deqing Huang","doi":"10.1109/ISIC.2007.4450889","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450889","url":null,"abstract":"PID is the most predominant industrial controller that constitutes more than 90% feedback loops. Time domain performance of PID, including overshoot, settling time and rise time, is directly relevant to the tuning of PID parameters. In this work we propose an optimal tuning method for PID by means of iterative learning. PID parameters will be updated whenever the same control task is repeated. A novel property of the new tuning method is that the time domain performance can be incorporated directly into the objective function to be minimized. Another novel property is that the optimal tuning does not require as much the process model knowledge as other PID tuning methods. The new tuning method is essentially applicable to any processes that are stabilizable by the PID controller.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"17 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":"114622661","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: 40
Stability analysis and L2-gain of switched delay systems with stable and unstable subsystems 具有稳定和不稳定子系统的切换延迟系统的稳定性分析与l2增益
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450886
Ximing Sun, Dong Wang, Wei Wang, Guang-Hong Yang
{"title":"Stability analysis and L2-gain of switched delay systems with stable and unstable subsystems","authors":"Ximing Sun, Dong Wang, Wei Wang, Guang-Hong Yang","doi":"10.1109/ISIC.2007.4450886","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450886","url":null,"abstract":"In this paper, problems of stability and L2-gain for switched systems with time-varying delay and disturbance input are studied. Some subsystems can be unstable. By using an average dwell time approach incorporated with a piece-wise Lyapunov functional, sufficient conditions for exponential stability and weighted L2-gain of such systems, where not all subsystems are stable, are obtained in the form of linear matrix inequalities (LMIs). It is shown that if the total activation time of stable subsystems is to some extent more than that of unstable subsystems, the exponential stability and weighted L2-gain of the whole systems are guaranteed under an average dwell time scheme.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"9 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":"121958026","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: 28
Intelligent Robust Control for Three-Link Robot Manipulator via Sliding Mode Technology 基于滑模技术的三连杆机器人智能鲁棒控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450936
Wen-Fong Hu, Chiu-Hsiung Chen, Ya-Fu Peng, Chih-Min Lin
{"title":"Intelligent Robust Control for Three-Link Robot Manipulator via Sliding Mode Technology","authors":"Wen-Fong Hu, Chiu-Hsiung Chen, Ya-Fu Peng, Chih-Min Lin","doi":"10.1109/ISIC.2007.4450936","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450936","url":null,"abstract":"This paper develops an intelligent robust control algorithm for a class of uncertain nonlinear multivariable systems by using sliding model technology. The proposed control algorithm consists of an adaptive recurrent cerebellar model articulation controller (RCMAC) and a robust controller. The adaptive RCMAC is a main tracking controller utilized to mimic an ideal sliding mode controller, and the parameters of the adaptive RCMAC are on-line tuned by the derived adaptive laws from the Lyapunov function. Based on the H\" control approach, the robust controller is employed to efficiently suppress the influence of residual approximation error between the ideal sliding mode controller and the adaptive RCMAC, so that the robust tracking performance of the system can be guaranteed. Finally, computer simulation results on a three-link robot manipulator are performed to verify the effectiveness and feasibility of the proposed control algorithm. The simulation results confirm that the developed control algorithm not only can guarantee the system stability but also achieve an excellent robust tracking performance.","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":"121978206","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
A Competitive-Cooperation Coevolutionary Paradigm for Multi-objective Optimization 多目标优化的竞争-合作协同进化范式
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450894
C. Goh, K. Tan, A. Tay
{"title":"A Competitive-Cooperation Coevolutionary Paradigm for Multi-objective Optimization","authors":"C. Goh, K. Tan, A. Tay","doi":"10.1109/ISIC.2007.4450894","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450894","url":null,"abstract":"This paper proposes a new coevolutionary paradigm that hybridizes competitive and cooperative mechanisms observed in nature to solve multi-objective optimization problems. The main idea of cooperationist-competitive coevolution is to allow the decomposition process of the optimization problem to adapt and emerge rather than being hand designed and fixed at the start of the evolutionary optimization process. In particular, each species subpopulation will compete to represent a particular subcomponent of the multi-objective problem while the eventual winners will cooperate to evolve the better solutions. The effectiveness of the competitive-cooperation coevolutionary algorithm (COEA) is validated against various multi-objective evolutionary algorithms upon three benchmark problems characterized by different difficulties in local optimality, non-convexity and high-dimensionality.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"81 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":"127646963","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
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