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

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Stabilization of Polynomial Fuzzy Systems via a Sum of Squares Approach 基于平方和方法的多项式模糊系统镇定
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450878
Kazuo Tanaka, Hiroto Yoshida, H. Ohtake, Hua O. Wang
{"title":"Stabilization of Polynomial Fuzzy Systems via a Sum of Squares Approach","authors":"Kazuo Tanaka, Hiroto Yoshida, H. Ohtake, Hua O. Wang","doi":"10.1109/ISIC.2007.4450878","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450878","url":null,"abstract":"This paper presents stabilization of polynomial fuzzy systems via a sum of squares (SOS) approach. First, we propose a polynomial fuzzy controller that is a more general representation of the well-known Takagi-Sugeno (T-S) fuzzy controller. Secondly, we derive stabilization conditions based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Hence, stabilization approach discussed in this paper is more general than that based on the existing LMI approaches to T-S fuzzy control system designs. The stabilization conditions in the proposed approach can be represented in terms of SOS and are numerically (partially symbolically) solved via the developed SOSTOOLS. To illustrate the validity of the design approach, a design example is provided. The example shows that our approach provides more relaxed design results than the existing LMI approach.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"95 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":"124698059","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: 65
A Bayesian Approach to Target Tracking with Finite-Set-Valued Observations 有限集值观测目标跟踪的贝叶斯方法
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450929
B. Vo, B. Vo, A. Cantoni
{"title":"A Bayesian Approach to Target Tracking with Finite-Set-Valued Observations","authors":"B. Vo, B. Vo, A. Cantoni","doi":"10.1109/ISIC.2007.4450929","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450929","url":null,"abstract":"This paper presents a Bayes recursion for tracking a target that generates multiple measurements with state dependent sensor field of view and clutter. Our Bayesian formulation is mathematically well-founded due to our use of a mathematically consistent likelihood function derived from random finite set theory. A particle implementation of the proposed filter is given. Under linear Gaussian assumptions, an exact closed form solution to the proposed recursion is derived, and efficient implementations are given.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"278 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":"115252638","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 New Arimoto-Type Algorithm to Estimate States for Repetitive Processes: Iterative Learning Observer (ILO) 一种新的重复过程状态估计算法:迭代学习观测器(ILO)
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450890
J. Hätönen, K. Moore
{"title":"A New Arimoto-Type Algorithm to Estimate States for Repetitive Processes: Iterative Learning Observer (ILO)","authors":"J. Hätönen, K. Moore","doi":"10.1109/ISIC.2007.4450890","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450890","url":null,"abstract":"Iterative learning control (ILC) has been established as a very powerful technique to achieve high performance control for repetitive processes. In addition to the ILC problem, in the literature researchers have considered related paradigms such as iterative feedback tuning and iterative parameter estimation and identification. In the paper we introduce another related problem: the iterative learning observer. This dual problem establishes algorithms that can achieve high performance estimation of states for iterative processes. In order to solve the dual problem, this paper develops an estimation algorithm that estimates states asymptotically along the iteration axis. The theoretical findings are illustrated through simulation examples.","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":"132031703","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: 11
Stable Adaptive Neural Network Control of Nonaffine Nonlinear Discrete-Time Systems and Application 非仿射非线性离散系统的稳定自适应神经网络控制及其应用
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450954
Lianfei Zhai, T. Chai, S. Ge
{"title":"Stable Adaptive Neural Network Control of Nonaffine Nonlinear Discrete-Time Systems and Application","authors":"Lianfei Zhai, T. Chai, S. Ge","doi":"10.1109/ISIC.2007.4450954","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450954","url":null,"abstract":"Both state and output feedback adaptive neural network controls are developed for a class of discrete-time single-input single-output (SISO) nonaffine uncertain nonlinear systems. Each controller incorporates a linear dynamic compensator and an adaptive neural network term. The linear dynamic compensator is designed to stabilize the linearized system, and the adaptive neural network term is introduced to deal with nonlinearity. The closed-loop systems are proved to be semi-globally uniformly ultimately bounded (SGUUB) by using linear matrix inequality (LMI). Simulation of a liquid level system illustrates the effectiveness of proposed controls.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"55 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":"128615353","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
A Dual Mode Reference Governor for Discrete Time Systems with State and Control Constraints 具有状态和控制约束的离散时间系统的双模参考调速器
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450885
Takaaki Taguchi, Y. Ohta
{"title":"A Dual Mode Reference Governor for Discrete Time Systems with State and Control Constraints","authors":"Takaaki Taguchi, Y. Ohta","doi":"10.1109/ISIC.2007.4450885","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450885","url":null,"abstract":"In this paper, a dual mode reference governor for discrete-time systems with constraints in input and state is proposed. The reference governor manages reference command at the first stage, and then manages switching of controllers so that it achieves better performance of servo systems. A new LMI formulation to design controllers which gives rather large maximal admissible sets is proposed.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"35 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114033480","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
Robust Adaptive Control of Cooperating Mobile Manipulators with Relative Motion 具有相对运动的协作移动机械臂鲁棒自适应控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450910
Zhijun Li, Sam Ge, M. Adams, W. S. Wijesoma
{"title":"Robust Adaptive Control of Cooperating Mobile Manipulators with Relative Motion","authors":"Zhijun Li, Sam Ge, M. Adams, W. S. Wijesoma","doi":"10.1109/ISIC.2007.4450910","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450910","url":null,"abstract":"In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of system dynamics uncertainty and external disturbances. Centralized robust adaptive controls are introduced to guarantee the motion and force trajectories of the constrained object converge to the desired manifolds with prescribed performance. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The tracking of the constraint trajectory/force up to an ultimately bounded error is achieved. The proposed adaptive controls are robust against relative motion disturbances and parametric uncertainties and validated by simulation studies.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"21 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":"123966627","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: 26
Trajectory Tracking Control of Mobile Robots UsingWavelet Networks 基于小波网络的移动机器人轨迹跟踪控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450945
S. Purwar, Nidhi Gupta, I. Kar
{"title":"Trajectory Tracking Control of Mobile Robots UsingWavelet Networks","authors":"S. Purwar, Nidhi Gupta, I. Kar","doi":"10.1109/ISIC.2007.4450945","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450945","url":null,"abstract":"In this paper, an adaptive controller for trajectory tracking is developed for wheeled mobile robots (WMR). The system uncertainty, which may include payload variation, unknown nonlinearities and torque disturbances is estimated by a wavelet network (WN). The control law is developed based on Lyapunov theory and the learning ability of WN. The proposed controller ensures the uniformly ultimately bounded stability and guarantees that the tracking error converges to a small ball containing the origin while fulfilling the actuator constraints. The validity of the control scheme is shown by simulation results.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"11 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":"116866899","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
Sensor coverage with a multi-robot system 传感器覆盖多机器人系统
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450863
J. Rogge, D. Aeyels
{"title":"Sensor coverage with a multi-robot system","authors":"J. Rogge, D. Aeyels","doi":"10.1109/ISIC.2007.4450863","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450863","url":null,"abstract":"The present paper develops a novel strategy for the exploration of an unknown environment with a multi-robot system. It is required that the entire free space is covered by the sensors of the robots, with a certainty of 100%. Communication between the robots is restricted to line-of-sight and to a maximum interdistance between robots. Contrary to most exploration problems, the topographical properties of the space need not be mapped. An algorithm is presented that guides a group of N robots, scanning the free space for target objects. The group splits to pass obstacles of unknown size and shape. The decision of splitting the group takes a trade-off between group coherence and speed of advancing into account. A direct application of the algorithm is mine held clearance.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"38 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":"123008546","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: 7
Stability Analysis and Control of Repetitive Trajectory Systems in the State-Domain: Roller Coaster Application 状态域重复轨迹系统的稳定性分析与控制:过山车应用
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450888
H. Ahn, Y. Chen, K. Moore, Wonpil Yu
{"title":"Stability Analysis and Control of Repetitive Trajectory Systems in the State-Domain: Roller Coaster Application","authors":"H. Ahn, Y. Chen, K. Moore, Wonpil Yu","doi":"10.1109/ISIC.2007.4450888","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450888","url":null,"abstract":"This paper discusses the concepts of stability and asymptotic stability for state-dependent repetitive trajectory systems. An adaptive compensation method is proposed to compensate for disturbances that are a function of the system state. It will be shown that Lyapunov stability analysis can be performed in the state-domain if certain conditions are satisfied. The main theoretical contribution of the paper is to show that stability analysis can be carried out not only along the time axis but also in the state domain and that state-dependent disturbances or uncertainty can be successfully rejected. The motion dynamics of a roller coaster system is simulated to illustrate the practical importance of the proposed compensation method.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"53 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":"124522720","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
Bifurcation Analysis of the Hodgkin-Huxley Model Exposed to External DC Electric Field 外加直流电场作用下霍奇金-赫胥黎模型的分岔分析
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450897
Huiyan Li, Y. Che, Hanqiao Gao, Feng Dong, Jiang Wang
{"title":"Bifurcation Analysis of the Hodgkin-Huxley Model Exposed to External DC Electric Field","authors":"Huiyan Li, Y. Che, Hanqiao Gao, Feng Dong, Jiang Wang","doi":"10.1109/ISIC.2007.4450897","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450897","url":null,"abstract":"Based on the modified Hodgkin-Huxley (HH) model exposed to extremely low frequency (ELF) electric field, we study Hopf and saddle-node bifurcations of the modified HH model in two dimensional parameter space of externally applied DC current and trans-membrane voltage induced by external DC electric field. The bifurcation sets are calculated by employing the generalized algebra criterion in high dimensional system. The obtained bifurcation sets partition the two dimensional parameter space in terms of the qualitatively different behaviors of the HH model. Thus the neuron's information encodes the stimulus information, and vice versa, which is significant in neuron control. The study is of some biological significance and suggest that the aberration of dynamics in bio-systems may account for diseases caused by electric exposure.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"19 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":"123153285","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
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