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

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A Potential Field Approach for Controlling a Mobile Robot to Track a Moving Target 一种控制移动机器人跟踪运动目标的势场方法
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450862
Loulin Huang
{"title":"A Potential Field Approach for Controlling a Mobile Robot to Track a Moving Target","authors":"Loulin Huang","doi":"10.1109/ISIC.2007.4450862","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450862","url":null,"abstract":"Potential field method is widely used for path planning of mobile robots, which in many applications, is to find the direction of the robot when the target and obstacles are stationary. In this paper, it is extended to plan the robot's speed as well as its path (direction) when the robot tracks a moving target among obstacles. Within the general steepest descent control and Lyapunov frameworks, the direction and the speed of the robot are determined by the velocities of the target or the obstacles and the relative position between the robot and the environment. The speed-direction relation , and the effects of planning parameters on the planing results are also analyzed. Simulation studies are provided to verify the effectiveness of the proposed approach in various situations.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"190 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":"114195021","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: 13
Predictive Simulation Adaptive Control for Pneumatic Components 气动元件预测仿真自适应控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450909
Anders Zachrison, Magnus Sethson
{"title":"Predictive Simulation Adaptive Control for Pneumatic Components","authors":"Anders Zachrison, Magnus Sethson","doi":"10.1109/ISIC.2007.4450909","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450909","url":null,"abstract":"Today's component manufacturers in the pneumatic and fluid power component industries often deliver components without knowing how and in what environment they will be used. By integrating some level of self-awareness in the components, it would be possible for them to adapt to unknown and possibly changing environments. This could both reduce the number of custom designs and allow the system builder to monitor and use the components up to their absolute limits of performance. In this paper, a control strategy named \"Predictive Simulation Adaptive Control\", PSAC, is presented and introduced as an integral part of a framework to achieve some level of self-awareness in components. The concept primarily merges simulation techniques, selection schemes and real-time control into a model based approach.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"1 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":"126566861","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
Route Aware Predictive Congestion Control Protocol for Wireless Sensor Networks 无线传感器网络的路由感知预测拥塞控制协议
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450853
Carl Larsen, M. Zawodniok, S. Jagannathan
{"title":"Route Aware Predictive Congestion Control Protocol for Wireless Sensor Networks","authors":"Carl Larsen, M. Zawodniok, S. Jagannathan","doi":"10.1109/ISIC.2007.4450853","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450853","url":null,"abstract":"Congestion in wireless sensor networks (WSN) may lead to packet losses or delayed delivery of important information rendering the WSN-based monitoring or control system useless. In this paper a routing-aware predictive congestion control (RPCC) yet decentralized scheme for WSN is presented that uses a combination of a hop by hop congestion control mechanism to maintain desired level of buffer occupancy, and a dynamic routing scheme that works in concert with the congestion control mechanism to forward the packets through less congested nodes. The proposed adaptive approach restricts the incoming traffic thus preventing buffer overflow while maintaining the rate through an adaptive back-off interval selection scheme. In addition, the optimal routing scheme diverts traffic from congested nodes through alternative paths in order to balance the load in the network, alleviating congestion. This load balancing of the routes will even out the congestion level throughout the network thus increasing throughput and reducing end to end delay. Closed-loop stability of the proposed hop-by-hop congestion control is demonstrated by using the Lyapunov-based approach. Simulation results show that the proposed scheme results in reduced end-to-end delays.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"26 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":"129435579","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: 13
Improved Integral Sliding Mode Controller with Phase Lead Peak Filter for Hard Disk Drives 带相位超前峰值滤波器的硬盘驱动器改进积分滑模控制器
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450968
Q. Hu, Lihua Xie, Youyi Wang, C. Du
{"title":"Improved Integral Sliding Mode Controller with Phase Lead Peak Filter for Hard Disk Drives","authors":"Q. Hu, Lihua Xie, Youyi Wang, C. Du","doi":"10.1109/ISIC.2007.4450968","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450968","url":null,"abstract":"An integral-type sliding mode control scheme is developed that explicitly takes into account mismatched disturbances provided their bounds are known in this study. By using an integral sliding surface, the dynamics of the sliding mode is analytically obtained which does not have any reaching phase by using the integral sliding surface. To reconstruct estimates of the system states for use in a full information sliding mode control law, an asymptotic observer is also employed and the fulfillment of sliding condition, including the case when estimated states are used, is also verified. In addition, the proposed control scheme integrated with a phase leak peak filter (PLPF) is also investigated for better rejection of disturbance of narrow-band type at mid-frequency ranges in hard disk drives (HDDs). Simulation studies on track-following in HDDs are conducted to illustrate the feasibility and effectiveness of the proposed sliding mode control. They also demonstrate that the proposed scheme provides better performance than the conventional sliding mode and PID control methods.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"64 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":"132050274","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
Global Convergence Analysis of Dynamical Neural Networks with Multiple Time Delays 多时滞动态神经网络的全局收敛性分析
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450921
S. Senan, S. Arik
{"title":"Global Convergence Analysis of Dynamical Neural Networks with Multiple Time Delays","authors":"S. Senan, S. Arik","doi":"10.1109/ISIC.2007.4450921","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450921","url":null,"abstract":"This paper studies the global convergence properties of continuous-time neural networks with multiple time delays. By employing suitable and more general Lyapunov functionals, we derive a new delay independent sufficient condition for the existence, uniqueness and global asymptotic stability of the equilibrium point. The results are applicable to all continuous non-monotonic neuron activation functions and do not require the interconnection matrices to be symmetric. The obtained results can be easily verified as they can be expressed in terms of the network parameters only. Some numerical examples are also given to compare our results with previous stability results derived in the literature.","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":"126101882","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
Multiple-Delay Smith Predictor Based Control of LTI Systems with Bounded Uncertain Delay 具有有界不确定延迟的LTI系统的多延迟Smith预测器控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450941
A. Ibeas, R. Vilanova, P. Balaguer
{"title":"Multiple-Delay Smith Predictor Based Control of LTI Systems with Bounded Uncertain Delay","authors":"A. Ibeas, R. Vilanova, P. Balaguer","doi":"10.1109/ISIC.2007.4450941","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450941","url":null,"abstract":"One of the drawbacks of the Smith Predictor (SP) to control systems with external point delays is that its performance is strongly influenced by the knowledge of the time delay of the plant. Hence, as the mismatch between the actual delay of the plant and the nominal one used in the control structure increases, the closed-loop performance degrades accordingly, even potentially causing instability. In this paper, an intelligent frame to reduce the 'a priori' knowledge of the plant delay required in the design of SP controllers is proposed. The intelligent frame is composed of a set of different plant delay models running in parallel along with a high level supervision algorithm which selects the one that best describes the actual delay of the plant at each time interval to be used for control purposes. In this way, the designer can design the control of the system based on its delay-free part while the appropriate tuning of the delay of the Smith Predictor is performed by the intelligent supervisor. As a consequence, like simulation examples show, the closed-loop performance of the system is improved without the 'a priori' requirement of an accurate knowledge of the value for the time delav.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"23 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":"115839208","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
Neural Compensation Technique for Fuzzy Controlled Humanoid Robot Arms : Experimental Studies 模糊控制类人机械臂神经补偿技术的实验研究
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450923
Deok-Hee Song, Seul Jung
{"title":"Neural Compensation Technique for Fuzzy Controlled Humanoid Robot Arms : Experimental Studies","authors":"Deok-Hee Song, Seul Jung","doi":"10.1109/ISIC.2007.4450923","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450923","url":null,"abstract":"In this paper, a neural network compensation technique is proposed for a fuzzy controlled humanoid robot arm. The robot arm is controlled by fuzzy controllers, and then neural network controller is added to improve the performance for system variations by modifying fuzzy rules. The overall structure forms a neuro-fuzzy controlled system, in the sense that the proposed control algorithm can have the effect of changing fuzzy rules. Experimental studies have been carried out to test the performance of the proposed control algorithm. Experimental results have confirmed that the proposed neural network compensation scheme for fuzzy controlled systems works best among several control methods.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"145 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":"116264819","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
Hausdorff Distance for Iris Recognition 虹膜识别的Hausdorff距离
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450956
N. Sudha, Yung Ho Kenny Wong
{"title":"Hausdorff Distance for Iris Recognition","authors":"N. Sudha, Yung Ho Kenny Wong","doi":"10.1109/ISIC.2007.4450956","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450956","url":null,"abstract":"Iris is a promising biometric due to its high reliability and stability. In this paper, a novel iris recognition technique based on Hausdorff distance is proposed. A modified partial Hausdorff distance (a dissimilarity measure) is computed directly between the normalized iris images for comparison and no feature is extracted explicitly. The Hausdorff distance-based iris recognition system is expected to perform well in the case of severe occlusion by eyelids due to the partialness in the measure. Besides, the modified measure is insensitive to lighting conditions. Experimental results on the CASIA database show that the performance of the proposed recognition system is encouraging and comparable to the iris recognition algorithms found in the current literature.","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":"116147160","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: 12
Dynamic Data Aggregation in Wireless Sensor Networks 无线传感器网络中的动态数据聚合
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450851
S. Commuri, V. Tadigotla
{"title":"Dynamic Data Aggregation in Wireless Sensor Networks","authors":"S. Commuri, V. Tadigotla","doi":"10.1109/ISIC.2007.4450851","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450851","url":null,"abstract":"Performance improvement in wireless sensor networks (WSNs) through the use of reconfigurable cluster heads is addressed in this paper. The performance of a WSN is limited by the scarce on-board power in each sensor node. Since the sensed data in the WSN is transmitted to a sink from node to node in a multi-hop fashion, elimination of the redundancies in the data and aggregation of the data from multiple sources can improve the throughput and lifetime of the network. This, in practice, is infeasible because the aggregation to be performed depends on the requirements of the end user/application and is either unknown at the time of deployment or changes over time. In this paper, the problem of implementing dynamic data aggregation in WSNs is addressed through the design of reconfigurable cluster heads (RCHs) using Field Programmable Gate Arrays (FPGAs). Our results demonstrate that different data aggregation algorithms can be efficiently implemented on the RCHs in run-time. Such an implementation provides the necessary flexibility demanded by applications, while resulting in significant reduction in the query processing time and the overall power consumption in the network.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"23 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":"129816030","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: 14
Higher Order Sliding Mode Controller for Robotic Manipulator 机械臂的高阶滑模控制
2007 IEEE 22nd International Symposium on Intelligent Control Pub Date : 2007-10-01 DOI: 10.1109/ISIC.2007.4450946
S. Purwar
{"title":"Higher Order Sliding Mode Controller for Robotic Manipulator","authors":"S. Purwar","doi":"10.1109/ISIC.2007.4450946","DOIUrl":"https://doi.org/10.1109/ISIC.2007.4450946","url":null,"abstract":"This paper proposes higher order sliding mode controller for robotic manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives better performance compared to fuzzy sliding mode control in the face of uncertain system parameters and external disturbances.","PeriodicalId":184867,"journal":{"name":"2007 IEEE 22nd International Symposium on Intelligent Control","volume":"44 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":"130278674","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
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