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2009 IEEE International Conference on Control and Automation最新文献

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State and unknown input estimations for a special class of nonlinear uncertain systems 一类特殊非线性不确定系统的状态和未知输入估计
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410269
K. Veluvolu, Dongik Lee, Y. Soh
{"title":"State and unknown input estimations for a special class of nonlinear uncertain systems","authors":"K. Veluvolu, Dongik Lee, Y. Soh","doi":"10.1109/ICCA.2009.5410269","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410269","url":null,"abstract":"In this paper, we develop a robust high gain observer for state and unknown input estimations for a special class of single-output nonlinear systems. The unknown input is characterized by a scalar disturbance that is distributed by a known nonlinear vector. Ensuring the observability of the disturbance with respect to the output, the disturbance can be estimated from the sliding surface. Under a Lipschitz condition for the nonlinear part, the high gain observers are designed under some regularity assumptions. In the sliding mode, the convergence of the estimation error dynamics is proven similar to the analysis of high-gain observers. The proposed observer can be applied for fault detection and isolation problems.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115393837","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
The study on algorithm for avoiding dynamics singularities of space robot 空间机器人动力学奇异避免算法研究
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410534
Gang Chen, Q. Jia, Hanxu Sun, Jun Wang, Wei Zhang
{"title":"The study on algorithm for avoiding dynamics singularities of space robot","authors":"Gang Chen, Q. Jia, Hanxu Sun, Jun Wang, Wei Zhang","doi":"10.1109/ICCA.2009.5410534","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410534","url":null,"abstract":"Due to the dynamics coupling characteristics of Space robot, it is inevitable to appear the phenomenon of dynamic singularity in the process of solving inverse kinematics, therefore, it is significant to carry out the research of avoiding dynamic singularity aiming at specific space robots. In this paper, on the basis of the space robot kinematics model, the dynamics singularity of space robot is transformed into kinematics singularity of fixed-based robot by approximate linearization method. Subsequently, the kinematics singularity of fixed-based robot is analyzed through partitioning a complicated 6-D Jacobian matrix into two 3-D Jacobian matrixes. Then, the quadratic programming algorithm for avoiding singularity is put forward. Finally, the practicability and validity of the singularity algorithm is verified by simulation experiments.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124469043","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
Neuro-fuzzy microrobotic system identification for haptic intracellular injection 触觉细胞内注射神经模糊微机器人系统辨识
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410444
A. Ghanbari, Xiaoqi Chen, Wenhui Wang
{"title":"Neuro-fuzzy microrobotic system identification for haptic intracellular injection","authors":"A. Ghanbari, Xiaoqi Chen, Wenhui Wang","doi":"10.1109/ICCA.2009.5410444","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410444","url":null,"abstract":"Using haptic interface to control manipulator which is critical in intracellular injection has many beneficial implications. In particular, the haptic device should be able to control the microrobot in µm resolution, requiring an accurate model of the system. As the system has an unknown internal structure with a nonlinear behavior, a neuro-fuzzy dynamic model has been developed. Adaptive Neuro-Fuzzy Inference System (ANFIS) is employed as the system identification approach to model the non-linear dynamics. Experimental results show, the developed ANFIS model is able to predict the microrobotic system response very precise with root mean square error of 1.0224 µm while the microrobot manurers in cm range (104 times).","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117135351","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
Output regulation of non-minimum phase nonlinear systems using an extended high-gain observer 采用扩展高增益观测器的非最小相位非线性系统输出调节
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410197
S. Nazrulla, H. Khalil
{"title":"Output regulation of non-minimum phase nonlinear systems using an extended high-gain observer","authors":"S. Nazrulla, H. Khalil","doi":"10.1109/ICCA.2009.5410197","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410197","url":null,"abstract":"In this paper, we present an output feedback regulator for nonlinear systems that could potentially include unstable zero dynamics. The regulation scheme adopted herein incorporates continuously-implemented sliding mode control and an extended high gain observer to estimate the derivatives of the output and one of the unknown functions. The result is illustrated using a simulation.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"33 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126195245","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
Multiple channel Filtered-X LMS-RLS vibration control in wood machining 木材加工中的多通道滤波- x LMS-RLS振动控制
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410581
J. Hesselbach, H. Hoffmeister, K. Loeis
{"title":"Multiple channel Filtered-X LMS-RLS vibration control in wood machining","authors":"J. Hesselbach, H. Hoffmeister, K. Loeis","doi":"10.1109/ICCA.2009.5410581","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410581","url":null,"abstract":"Inferior wood-workpiece surface quality is often a consequence of vibrations, which appear from forced excitation of the machine tool on the workpiece during machining over a wide frequency domain. By using a feedforward active vibration control (AVC) strategy, where a good estimation of the frequency and phase information of these vibrations is important, the intended vibration reduction is made possible in order to improve the wood workpiece surface quality. This paper deals with the design and implementation of a multiple channel vibration control system using the Filtered-Reference Least Mean Square (FXLMS) algorithm for the primary weights adjustment and the Recursive Least Square (RLS) algorithm for the identification purposes.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123446721","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
Model reference control with adaptive inverse compensation for systems preceded by stress-dependent hysteresis of GMA 基于自适应逆补偿的GMA应力滞后系统参考控制
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410223
Zhen Zhang, J. Mao
{"title":"Model reference control with adaptive inverse compensation for systems preceded by stress-dependent hysteresis of GMA","authors":"Zhen Zhang, J. Mao","doi":"10.1109/ICCA.2009.5410223","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410223","url":null,"abstract":"Giant Magnetostrictive Actuator (GMA) has been used in precise position, active vibration control with characteristics of large output force and displacement. Hysteresis nonlinearity is main drawback of GMA, which causes undesirable inaccuracies, oscillations, even instability to systems and restricts its potential application. Specially, Stress-Dependent hysteresis is encountered in GMA, which means that the hysteresis nonlinearity of GMA depends on the stress applied on GMA. Several models have been proposed to characterize the stress-dependent hysteresis for GMA. It is challenging to control a system preceded by unknown stress-dependent hysteresis nonlinearity, which motivate interest in developing adaptive control scheme for stress-dependent hysteresis system. This paper presents a control scheme that combines inverse compensation with model reference control to control linear systems preceded by unknown stress-dependent hysteresis. Stress-Dependent Prandtl-Ishlinskii (SDPI) hysteresis model is adopted in this paper to describe the stress-dependent hysteresis of GMA as its analytical inversion. By deriving the relationship between the tracking error of the system and parameters error of SDPI, then an adaptive update law of parameters of model can be developed to ensure the tracking error asymptotically converges to zero.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123790154","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
Modeling and analysis of the coupling effect for one kind of coarse-fine stages 一类粗-细级耦合效应的建模与分析
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410323
Yang Yibo, Y. Wen-sheng, Zhu Yu
{"title":"Modeling and analysis of the coupling effect for one kind of coarse-fine stages","authors":"Yang Yibo, Y. Wen-sheng, Zhu Yu","doi":"10.1109/ICCA.2009.5410323","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410323","url":null,"abstract":"Coarse-fine structure makes the stages achieve long stroke and high precision performance easier than single drivers. So this structure is wide adopted in precision motion stages, which will be used in precision manufacturing, biology equipment and hard disk drivers. Most published work on coarse-fine stages modeling has been concentrated on the theory modeling or single input single output (SISO) identification in which coupling effect was neglected. In this paper, a new kind of coarse-fine stages was studied. Firstly, the structure and relevant dynamic behavior of the stages are described and modeled. Secondly, multi-input multi-output (MIMO) identification was done in a test coarse-fine stages. Thirdly, some experiments have been done to show the coupling effect. Finally we will give an analysis result about when should we consider the coupling effect of this kind of coarse-fine stages.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126652809","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 proposed biologically-inspired model to analyze signal sound 提出了一种受生物学启发的分析信号声音的模型
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410568
Hammuzamer Irwan Hamzah, A. Abdullah
{"title":"A proposed biologically-inspired model to analyze signal sound","authors":"Hammuzamer Irwan Hamzah, A. Abdullah","doi":"10.1109/ICCA.2009.5410568","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410568","url":null,"abstract":"Sound is one of the media that brings information to human. However this information also distracted by noises that surround us. How human brain recognizes to the required sound is very much impressive. Vice versa, the human brain can learn to the new sound. Thus, we can just concentrate to the sound that we want to listen only. For instance, when two human communicate each other, to be precise in a loud area such as at the market, both are paying attention merely to the conversation of what they are talking. Here, in this situation, human without notice can filter the unintended noise and only recognize to the particular sound we wanted to listen only. Hence, this research studies the human ear and human brain as a new idea to analyze sound. The human ear to be exact; the eardrum detects the signal sound and the cochlea filters the signal frequency. Subsequently, the brain is capable to identify on the required sound by recognizing and learning the signal sound. Therefore, with the analysis of the biologically-inspired entities, this research investigates the capability requirements to develop the biologically-inspired signal sound analyzer (BISSA) as a new idea for information gathering.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115472383","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
Improving fuzzy traffic controller for multilane-multiple intersection 多车道-多交叉口模糊交通控制器的改进
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410573
A. C. Soh, M. Khalid, M. Marhaban, R. Yusuf
{"title":"Improving fuzzy traffic controller for multilane-multiple intersection","authors":"A. C. Soh, M. Khalid, M. Marhaban, R. Yusuf","doi":"10.1109/ICCA.2009.5410573","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410573","url":null,"abstract":"This paper presents a fuzzy traffic controller for controlling a multilane-multiple traffic intersection in urban city environment. The developed controller applied to the model is based on the cooperation and distributed mechanisms with the neighbors' intersection. The phase sequence and phase length extension are used in decision making to provide efficient and more optimal traffic control. The input variables are normalized and the proposed fuzzy traffic controller is suitable to be used to any case study without modification to the controller modules. The simulation illustrates that the fuzzy traffic controller proposed in this study show a remarkable improvement over the existing fuzzy traffic controller without input normalization.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115558149","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
Study on sliding mode speed control with fuzzy approach for doubly-fed induction motor 双馈异步电动机的模糊滑模速度控制研究
2009 IEEE International Conference on Control and Automation Pub Date : 2009-12-01 DOI: 10.1109/ICCA.2009.5410500
Li-Guo Yuan, He Feng-you, Ye Zong-bin
{"title":"Study on sliding mode speed control with fuzzy approach for doubly-fed induction motor","authors":"Li-Guo Yuan, He Feng-you, Ye Zong-bin","doi":"10.1109/ICCA.2009.5410500","DOIUrl":"https://doi.org/10.1109/ICCA.2009.5410500","url":null,"abstract":"A nonlinear speed controller for doubly-fed induction motor (DFIM) based on backstepping control and fuzzy sliding mode approach was designed to counter the effects of the coupling between the electromagnetic torque and the flux. The proposed strategy using fuzzy switching control could enhance the robustness adaptively compare with conventional sliding mode control. A simulation model for the doubly-fed induction motor control system using the designed controller was built. The simulation results show that the controller can achieve fine speed tracing performance and good robustness against parameter variations and load torque disturbance.","PeriodicalId":203256,"journal":{"name":"2009 IEEE International Conference on Control and Automation","volume":"335 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122333908","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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