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2013 CACS International Automatic Control Conference (CACS)最新文献

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Behaveior model simulations of micromouse and its application in intelligent mobile robot education 微鼠行为模型仿真及其在智能移动机器人教学中的应用
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734188
Juing-Huei Su, Hsin-Hsiung Huang, Chyi-Shyong Lee
{"title":"Behaveior model simulations of micromouse and its application in intelligent mobile robot education","authors":"Juing-Huei Su, Hsin-Hsiung Huang, Chyi-Shyong Lee","doi":"10.1109/CACS.2013.6734188","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734188","url":null,"abstract":"The increasing popularity of robots in people's daily life has made those implementation skills a necessity for electrical and electronic engineering students, especially for those who are in the technology oriented universities in Taiwan. To help these students quickly learn and acquire the knowledge with persistent interest, the contest oriented project for micromouse and its corresponding MATLAB/SIMULINK behavior simulations are used in this paper. The main topics for the simulations include 1) diagonal maze-solving and path planning algorithms, and 2) the dynamics and digital motion control techniques of differential drive mobile robots. It is seen that the graphical user interface development environment (GUIDE) and behavior model simulations not only help ease the design and visualization of maze-solving and path planning algorithms, but also help fine tune the control parameters of digital motion feedback controllers.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116731135","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 synchronization of chaotic systems with impulsive disturbances 具有脉冲扰动的混沌系统的自适应同步
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734145
Cheng-Fa Cheng, Zhi-Chao Wang
{"title":"Adaptive synchronization of chaotic systems with impulsive disturbances","authors":"Cheng-Fa Cheng, Zhi-Chao Wang","doi":"10.1109/CACS.2013.6734145","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734145","url":null,"abstract":"In this paper, the problems adaptive synchronization of chaotic systems are investigated. First, the problem of adaptive synchronization for two coupled chaotic systems is explored and sufficient conditions for convergence of the state estimates is provided. Without impulse disturbances, it can be shown that the proposed adaptive slave scheme will drive the coupled systems to be global synchronization. Finally, an example, the Chua's circuit with simulation, is given to illustrate the application of our results.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128382290","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
On the fuzzy discrete-time AILC for a class of nonlinear MIMO systems 一类非线性MIMO系统的模糊离散AILC
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734168
Ying-Chung Wang, Chiang-Ju Chien, R. Chi
{"title":"On the fuzzy discrete-time AILC for a class of nonlinear MIMO systems","authors":"Ying-Chung Wang, Chiang-Ju Chien, R. Chi","doi":"10.1109/CACS.2013.6734168","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734168","url":null,"abstract":"A fuzzy discrete-time adaptive iterative learning control for a class of uncertain nonlinear discrete-time MIMO systems with random disturbance is proposed in this paper. Since the plant nonlinearity is unknown, a fuzzy system is firstly used as a function approximator to compensate the unknown ideal certainty equivalent controller. Besides, an adaptive time-varying boundary layer is introduced not only to overcome the problem of function approximation error and random disturbance but also to construct an auxiliary error function for the design of adaptive laws. Based on a Lyapunov like analysis, we show that all adjustable parameters as well as the internal signals remain bounded for all iterations and the output tracking error will asymptotically converge to a residual set whose size depends on the width of boundary layer as iteration goes to infinity.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"215 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114848829","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
Development of a real time actuation control in a network-simulation framework for active drag reduction in turbulent flow 基于网络仿真框架的湍流主动减阻实时驱动控制系统的开发
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734142
M. Duck, M. Kaparaki, S. Srivastava, S. van Waasen, M. Schiek
{"title":"Development of a real time actuation control in a network-simulation framework for active drag reduction in turbulent flow","authors":"M. Duck, M. Kaparaki, S. Srivastava, S. van Waasen, M. Schiek","doi":"10.1109/CACS.2013.6734142","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734142","url":null,"abstract":"Active drag reduction in high Reynolds numbers (>104) by span-wise transversal surface waves is a promising approach to gain less energy consumption and less pollution in air transportation. The development of robust methods for this flow control is based on numerical studies and wind tunnel experiments. In final application, flow control is expected to be performed by real time actuator and sensor networks. In a first step a SIMULINK model of the network is developed which is also used to drive wind tunnel experiments for parameter studies and testing of control algorithms. In this paper we focus on the LabView based interface to the actuating and sensing hardware enabling continuous changes of actuating parameters in real time. This implementation already allows for extensive and efficient experimental wind tunnel studies.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"44 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132233598","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
Robust inverse control for PMLSM drives using self-adaptive interval type-2 neural fuzzy network 基于自适应区间2型神经模糊网络的永磁同步电机鲁棒逆控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734165
Chaio-Shiung Chen, Yung-Sheng Wang
{"title":"Robust inverse control for PMLSM drives using self-adaptive interval type-2 neural fuzzy network","authors":"Chaio-Shiung Chen, Yung-Sheng Wang","doi":"10.1109/CACS.2013.6734165","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734165","url":null,"abstract":"This paper proposes a self-adaptive interval type-2 neural fuzzy network (SAIT2NFN) control system for the high-precision motion control of permanent magnet linear synchronous motor (PMLSM) drives. The SAIT2NFN is firstly trained to model the inverse dynamics of PMLSM through concurrent structure and parameter learning. The fuzzy rules in the SAIT2NFN can be generated automatically by using online clustering algorithm to obtain a suitable-sized network structure, and a back propagation is proposed to adjust all network parameters. Then, a robust SAIT2NFN inverse control system that consists of the SAIT2NFN and an error-feedback controller is proposed to control the PMLSM drive in a changing environment. Moreover, the Kalman filtering algorithm with a dead zone is derived using Lyapunov stability theorem for online fine-tuning all network parameters to guarantee the convergence of the SAIT2NFN. Experimental results show that the proposed SAIT2NFN control system achieves the best tracking performance in comparison with type-1 NFN control systems.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129979677","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
Dynamic feedback control of T-S fuzzy time-delay systems with state/input delays 状态/输入时滞T-S模糊时滞系统的动态反馈控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734153
Chian-Song Chiu, You-Jin Chen
{"title":"Dynamic feedback control of T-S fuzzy time-delay systems with state/input delays","authors":"Chian-Song Chiu, You-Jin Chen","doi":"10.1109/CACS.2013.6734153","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734153","url":null,"abstract":"This paper presents the dynamic feedback controller design for uncertain T-S fuzzy systems with state and input delays. First, considering an uncertain T-S fuzzy system with state delay and either partial delayed input or full delayed input, the fuzzy dynamic control method is introduced for asymptotic stabilization. Based on the dynamic control scheme, the input delay is decoupled with the system states and non-delayed input, so that the closed-loop system dynamics becomes simpler. Then, the robust stability conditions are derived and converted to solving linear matrix inequality problems (LMIPs) by a novel Lyapunov function. In turn, the controller is systematically designed even in the presence of modeling uncertainty, state delay, and partial input delay. In comparison with current literatures, the controlled states are guaranteed to be asymptotically stable for larger and faster time delays. Numerical simulation will demonstrate the expected performance.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"128 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134161568","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
Command shaping for suppression of end-point oscillations of a circular cylinder maneuvering under-water 抑制水下机动圆柱体末端振荡的命令整形
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734143
Umer Hameed Shah, M. Piao, J. Jeon, K. Hong
{"title":"Command shaping for suppression of end-point oscillations of a circular cylinder maneuvering under-water","authors":"Umer Hameed Shah, M. Piao, J. Jeon, K. Hong","doi":"10.1109/CACS.2013.6734143","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734143","url":null,"abstract":"This paper discusses the command shaping technique for suppression of end-point oscillations (residual vibrations) of a circular cylinder transported under-water. Experimentation has been carried out to study the dynamic response of the cylinder by transporting it in still water following a straight path with a constant velocity, showing that the cylinder exhibits end-point oscillations at the target location. In this paper, the end-point oscillations have been simulated to match the experimental response, giving the information required for designing the command shaping control. Shaped velocity profiles have been generated using command shaping to transport the trolley, and it has been validated by experimentation that end-point oscillations have effectively been suppressed by using the command shaping technique.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133708738","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
Tuning of nonlinear model predictive controller for the speed control of spark ignition engines 火花点火发动机转速控制非线性模型预测控制器的整定
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734135
F. Tahir, T. Ohtsuka, T. Shen
{"title":"Tuning of nonlinear model predictive controller for the speed control of spark ignition engines","authors":"F. Tahir, T. Ohtsuka, T. Shen","doi":"10.1109/CACS.2013.6734135","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734135","url":null,"abstract":"This paper presents the speed control of mean-value model of spark ignition (SI) engines by efficiently tuning nonlinear model predictive controller (NMPC). The quadratic cost function in NMPC is tuned by applying the inverse optimality conditions on the linear quadratic regulator designed for the linearized model using the inverse linear quadratic (ILQ) regulator design method. This approach provides some tuning parameters that give a trade-off between the speed of the system's response and the magnitude of the control input. Effectiveness of the tuning method is elaborated in simulation results.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"363 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133323073","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
Passive and individual variance constrained fuzzy control for discrete-time fuzzy systems with multiplicative noise 具有乘性噪声的离散模糊系统的被动和个体方差约束模糊控制
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734157
Wen‐Jer Chang, Bo-Jyun Huang, Po-Hsun Chen
{"title":"Passive and individual variance constrained fuzzy control for discrete-time fuzzy systems with multiplicative noise","authors":"Wen‐Jer Chang, Bo-Jyun Huang, Po-Hsun Chen","doi":"10.1109/CACS.2013.6734157","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734157","url":null,"abstract":"This paper studies the passive and individual variance constrained fuzzy control problem for discrete-time stochastic Takagi-Sugeno fuzzy systems. The performances considered in this paper include passivity constraint and individual state variance constraint. The proposed fuzzy control is accomplished by using the concept of parallel distributed compensation. Based on the Lyapunov stability theory, the sufficient conditions are derived to achieve the above multiple performance constraints. In order to illustrate the applicability and validity of the proposed fuzzy control method, a numerical control simulation for a discrete-time Takagi-Sugeno fuzzy system with multiplicative noise is provided.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134603970","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
A multiple-robot system for home service 用于家庭服务的多机器人系统
2013 CACS International Automatic Control Conference (CACS) Pub Date : 2013-12-01 DOI: 10.1109/CACS.2013.6734111
Chih-Yung Cheng, Yuan-Yu Zhuo, Guan-Hong Kuo
{"title":"A multiple-robot system for home service","authors":"Chih-Yung Cheng, Yuan-Yu Zhuo, Guan-Hong Kuo","doi":"10.1109/CACS.2013.6734111","DOIUrl":"https://doi.org/10.1109/CACS.2013.6734111","url":null,"abstract":"This paper focuses on applying visual servoing techniques for a multiple-robot system to cooperate. Each individual robot has its own video camera and the images captured are used both for the feedback control and for mutual interaction. Furthermore, we utilize a centralized computing kernel to coordinate total information to speed up the communication between robots and simplify the connection. The robot tasks are achieved mainly through computer vision. For example, the security monitoring task uses human face image detection, the service of providing water uses images to make sure proper robot and human interaction, and the system uses images for robots to cooperate for the floor surface exploring and object transporting.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124591359","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
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