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

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Active Vibration Suppression of One-dimensional Nonlinear Structures Using Optimal Dynamic Inversion 基于最优动力学反演的一维非线性结构主动振动抑制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450949
S. Ali, R. Padhi
{"title":"Active Vibration Suppression of One-dimensional Nonlinear Structures Using Optimal Dynamic Inversion","authors":"S. Ali, R. Padhi","doi":"10.1109/ISIC.2007.4450949","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450949","url":null,"abstract":"A flexible robot arm can be modeled as an Euler-Bernoulli beam which are infinite degrees of freedom (DOF) system. Proper control is needed to track the desired motion of a robotic arm. The infinite number of DOF of beams are reduced to finite number for controller implementation, which brings in error (due to their distributed nature). Therefore, to represent reality better distributed parameter systems (DPS) should be controlled using the systems partial differential equation (PDE) directly. In this paper, we propose to use a recently developed optimal dynamic inversion technique to design a controller to suppress nonlinear vibration of a beam. The method used in this paper determines control forces directly from the PDE model of the system. The formulation has better practical significance, because it leads to a closed form solution of the controller (hence avoids computational issues).","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"13 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":"122315431","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
A New Color Based Optical Flow Algorithm for Environment Mapping Using a Mobile Robot 一种基于颜色的移动机器人环境映射光流算法
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450948
A. Jamal, K. Venkatesh
{"title":"A New Color Based Optical Flow Algorithm for Environment Mapping Using a Mobile Robot","authors":"A. Jamal, K. Venkatesh","doi":"10.1109/ISIC.2007.4450948","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450948","url":null,"abstract":"Environment mapping from a video sequence is considered to be one of the most important problems in computer vision because of its application in surveillance, virtual reality, autonomous navigation, multimedia communications, medical prognosis, etc. In this paper, we have presented an optical flow based method for environment mapping. It uses a new color based optical flow computation technique. The camera, which is mounted on a mobile robot, is kept perpendicular to the direction of motion, and the captured set of images is used to compute the dense depth map. We have used a Kalman filter to denoise the depth map.","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":"126791435","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
Optimal Output Transition for Settling Control in Hard-Disk Drives with Dual-Stage Actuators 最优输出过渡的稳定控制在硬盘驱动器与双级执行器
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450903
S. Devasia
{"title":"Optimal Output Transition for Settling Control in Hard-Disk Drives with Dual-Stage Actuators","authors":"S. Devasia","doi":"10.1109/ISIC.2007.4450903","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450903","url":null,"abstract":"The settling problem in hard disk drives (HDD) is an output transition problem - given an initial state x(0), the goal is to bring the output to a desired value y(tf) = -y and hold it constant after the end of settling, t > tj. This article develops the direct solution to the optimal output transition (OOT) problem for seek settling, and develops a method to use post-actuation inputs to optimize the seek settling cost. The approach is illustrated with simulations on an example dual-stage system model. Simulations are also used to illustrate the reduction in the computational burden for online implementation by using linear combinations of precomputed inputs.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"163 2 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":"127519191","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
Adaptive Q-Structure for Agent Formations 智能体编队的自适应q结构
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450939
C. Fua, S. Ge, Jing-Bing Zhang, K. Lim
{"title":"Adaptive Q-Structure for Agent Formations","authors":"C. Fua, S. Ge, Jing-Bing Zhang, K. Lim","doi":"10.1109/ISIC.2007.4450939","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450939","url":null,"abstract":"In this paper, we further extend the Queue-formation structure (or Q-structure) in 3D spaces with additional features including: (i) specifying orientation information, (ii) a mechanism for forming sub-formations before the convergence into the final formation, and (iii) adapting the communication structure when communications is limited. Bobber-agents are used to guide each vehicle toward the appropriate queue, by acting as intermediate targets. The proposed scheme relies mainly on simple behaviors between embodied and virtual agents and is computationally inexpensive method. Extensive simulations show the effectiveness of the proposed method.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"18 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":"131812395","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
Direct Adaptive NN Control of Nonlinear Systems in Strict-Feedback Form Using Dynamic Surface Control 基于动态面控制的严格反馈非线性系统直接自适应神经网络控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450904
Tianping Zhang, S. Ge
{"title":"Direct Adaptive NN Control of Nonlinear Systems in Strict-Feedback Form Using Dynamic Surface Control","authors":"Tianping Zhang, S. Ge","doi":"10.1109/ISIC.2007.4450904","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450904","url":null,"abstract":"In this paper, direct adaptive neural control is investigated for a class of strict-feedback nonlinear systems with both unknown system functions and virtual control gain functions. The explosion of complexity in traditional backstepping design is avoided by utilizing dynamic surface control (DSC) and introducing integral-type Lyapunov function. It is proved that the proposed design method is able to guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system, with arbitrary small tracking error by appropriately choosing design constants.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"13 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":"132164723","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: 18
l2 Performance Synthesis via Polynomial Parameter-Dependent Switching State Feedback Control for Constrained Systems 基于多项式参数相关切换状态反馈控制的约束系统l2性能综合
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450883
T. Kiyama, T. Hasegawa
{"title":"l2 Performance Synthesis via Polynomial Parameter-Dependent Switching State Feedback Control for Constrained Systems","authors":"T. Kiyama, T. Hasegawa","doi":"10.1109/ISIC.2007.4450883","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450883","url":null,"abstract":"This paper proposes a switching control method based on error systems from multi-equilibrium points of constrained systems using homogeneous polynomial parameter-dependent saturating state feedback gains. First, mufti-equilibrium points are calculated from the origin to a steady state in state space regions. Next, analysis and synthesis conditions of the domain of lscr2 performance for the systems can be recast as parameter-dependent matrix inequality conditions via the polytopic approach for the saturation. In particular, the parameter-dependent conditions are reduced to necessary and sufficient parameter-independent matrix inequality conditions based on Polya's theorem. Hence, the state feedback gains are designed by derived synthesis linear matrix inequality conditions using off-line computation, and the gains are applied to the system by on-line computation of a proposed switching algorithm. Finally, it is confirmed through a numerical example that the proposed switching control is definitely helpful.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"7 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":"116838079","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
Fuzzy Model-based Servo Control for a Class of Nonlinear Systems 一类非线性系统的模糊模型伺服控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450877
H. Ohtake, Kazuo Tanaka, Hua O. Wang
{"title":"Fuzzy Model-based Servo Control for a Class of Nonlinear Systems","authors":"H. Ohtake, Kazuo Tanaka, Hua O. Wang","doi":"10.1109/ISIC.2007.4450877","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450877","url":null,"abstract":"This paper presents servo control for a class of nonlinear systems using the fuzzy model-based control approach. We propose the construction method of augmented fuzzy servo control system for continuous-time nonlinear systems by differentiating the original nonlinear system. Moreover, we introduce the dynamic fuzzy servo controller which can make outputs of the nonlinear systems converge to target points, and derive the controller design conditions in terms of LMIs. A design example illustrates the utility of this approach.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"35 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":"114873086","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
Rapid Recognition of Dynamical Patterns via Deterministic Learning and State Observation 基于确定性学习和状态观察的动态模式快速识别
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450857
Cong Wang, Chenghong Wang, Su Song
{"title":"Rapid Recognition of Dynamical Patterns via Deterministic Learning and State Observation","authors":"Cong Wang, Chenghong Wang, Su Song","doi":"10.1109/ISIC.2007.4450857","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450857","url":null,"abstract":"A \"deterministic learning\" theory was recently proposed for identification, representation and rapid recognition of multi-variable dynamical patterns with full-state measurements. In this paper, it will be shown that for a class of single-variable dynamical patterns with only output measurements, identification, representation and rapid recognition can be achieved via the deterministic learning theory and state observation techniques. Firstly, the system dynamics of a set of training single-variable dynamical pattern can be locally-accurately identified through high-gain observation and deterministic learning. Secondly, a single-variable dynamical pattern is represented in a time-invariant and spatially-distributed manner via deterministic learning. This representation is a kind of static, graph-based representation. A set of nonlinear observers are then constructed as dynamic representatives of the training dynamical patterns. Thirdly, rapid recognition of a test single-variable dynamical pattern can be implemented when non-high-gain state observation is achieved according to a kind of internal and dynamical matching on system dynamics. The observation errors can be taken as the measure of similarity between the test and training dynamical patterns.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"4 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":"126647660","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
Cooperative Networked Control with Gain Switching Observer 增益切换观测器的协同网络控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450882
Yukinori Nakamura, K. Hirata, Kenji Sugimoto, K. Kogiso
{"title":"Cooperative Networked Control with Gain Switching Observer","authors":"Yukinori Nakamura, K. Hirata, Kenji Sugimoto, K. Kogiso","doi":"10.1109/ISIC.2007.4450882","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450882","url":null,"abstract":"This paper considers a networked synchronization of multiple subsystems for cooperative control. When a system sends out local measurement signals to others, transmission delay can take place. We assume that the amount of the transmission delay can be calculated at the receiving instance by using the information of the time-stamp of each packet. Based on this information, the effect of the delay is compensated. Specifically, we design a gain switching observer via LMI (Linear Matrix Inequality) technique for multiple purpose optimization. An experimental result of synchronization of a mini plant with 3 DC-motors is shown to demonstrate its practical effect on the transmission delay.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"13 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":"126793163","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
Adaptive Fuzzy Fitness Granulation in Structural Optimization Problems 结构优化问题中的自适应模糊适应度粒化
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450880
M. Davarynejad, M. Akbarzadeh-Totonchi, N. Pariz, A.-R. Khorsand
{"title":"Adaptive Fuzzy Fitness Granulation in Structural Optimization Problems","authors":"M. Davarynejad, M. Akbarzadeh-Totonchi, N. Pariz, A.-R. Khorsand","doi":"10.1109/ISIC.2007.4450880","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450880","url":null,"abstract":"Computational complexity is a prohibitive factor in evolutionary optimization of sufficiently large and/or complex problems. Much of this computational complexity is due to the fitness function evaluation that may either not exist or be computationally very expensive. Here, we investigate the use of fitness granulation via an adaptive fuzzy similarity analysis as applied to two different hardware design problems that are evaluated using finite element analysis. The first design problem is a relatively simpler 2-D truss frame design with 36 parameters while the second problem is piezoelectric voltage and pattern arrangement design for static shape control in which 200 parameters are optimized. In comparison with standard application of evolutionary algorithms, statistical analysis reveals that the proposed method significantly decreases the number of fitness function evaluations while finding equally good or better solutions. Additionally, this more improvement is indicated with higher problem complexity.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"25 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":"127040927","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
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