Proceedings of Tenth International Symposium on Intelligent Control最新文献_第8页

Wavelet based system identification for nonlinear control applications 基于小波的非线性控制系统辨识

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525065

N. Sureshbabu, Jay A. Farrell

引用次数: 11

Fuzzy logic controller for automatic vision parameter adjustment in a robotic dish handling system 机器人盘子处理系统视觉参数自动调整的模糊控制器

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525079

B. Chen, L.L. Hoberock

{"title":"Fuzzy logic controller for automatic vision parameter adjustment in a robotic dish handling system","authors":"B. Chen, L.L. Hoberock","doi":"10.1109/ISIC.1995.525079","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525079","url":null,"abstract":"In this paper, a multilayer MIMO fuzzy logic controller (FLC) is proposed and implemented to realize automatic adjustment of the vision parameters \"gain\", \"offset\", and \"threshold\" to compensate for power fluctuations, changes in ambient light, and camera sensitivity drift in a machine-vision based integrated robotic dish handling system. The aim of the implemented controller is to provide consistent inspection performance while using machine vision for automated inspection of dishes in large commercial dish washing operations. With no dynamic model available for camera performance, FLC is implemented using the histogram of a multiple gray level vision target to control the vision parameters \"gain\" and \"offset\" to yield desired minimum and maximum gray levels of the target. The second layer of a two-layer FLC is used to partition the ZERO fuzzy set of the first layer into three subsets, which results in reduced oscillations of the system output. It is shown through experimental studies that the multilayer FLC performs well in controlling vision parameters. The multilayer FLC yields faster response with less overshoot than that of a conventional single layer FLC, and provides excellent camera performance.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114918168","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

Performance improvement of intelligent machines through feedback 通过反馈提高智能机器的性能

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525040

P. Lima, G. Saridis

引用次数: 5

Abstracting non-situated behaviours from situated experiences: an experiment in mobile robotics 从情境经验中抽象非情境行为:移动机器人实验

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525097

A. Pipe, Y. Jin, Terence C. Fogarty, Alan F. T. Winfield

引用次数: 4

A mathematical representation of multi-resolutional world modeling 多分辨率世界建模的数学表示

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525042

L. Acar, J. Albus, A. Meystel

引用次数: 4

Fuzzy marking Petri nets: concepts and definition 模糊标记Petri网:概念和定义

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525073

H. Ammar, L. Yu

引用次数: 3

A comparison of neural network controllers for a mobile robot with an on-board manipulator 移动机器人与机载机械臂的神经网络控制器比较

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525090

S. Jagannathan, P. S. Shiakolas

引用次数: 0

A multiresolutional controller for sensitivity minimization of flexible structures 柔性结构灵敏度最小化的多分辨率控制器

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525032

D. Clancy, U. Ozguner

引用次数: 0

New stability results for direct adaptive impedance control 直接自适应阻抗控制的新稳定性结果

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525072

K. Wedeward, R. Colbaugh

{"title":"New stability results for direct adaptive impedance control","authors":"K. Wedeward, R. Colbaugh","doi":"10.1109/ISIC.1995.525072","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525072","url":null,"abstract":"Stable and robust execution of contact tasks is of paramount importance for robot manipulators in many applications. This paper presents two adaptive schemes for controlling the end-effector impedance of robot manipulators to enable reliable execution of contact tasks. The first scheme, position-based adaptive impedance control consists of two subsystems: a simple \"filter\" that modifies the end-effector position trajectory based on the sensed contact force and the desired dynamic relationship between the position and force, and an adaptive controller that produces the joint torques required to track this modified trajectory. The second control strategy is developed using a model reference adaptive impedance control approach by formulating the desired relationship between the end-effector position and contact force as a \"reference model\", and then devising a control scheme to ensure that the end-effector dynamics emulates this reference model. The proposed controllers are very general and computationally efficient since they do not require knowledge of the manipulator dynamic model or parameter values of the manipulator or the environment, and are implemented without calculation of the robot inverse dynamics or inverse kinematic transformation. It is shown that the control strategies are globally stable in the presence of bounded disturbances, and that in the absence of disturbances the ultimate bound on the size of the controller errors can he made arbitrarily small.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114949817","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: 16

Multilayer neural network controller for a class of nonlinear systems 一类非线性系统的多层神经网络控制器

Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525094

S. Jagannathan, F. L. Lewis

{"title":"Multilayer neural network controller for a class of nonlinear systems","authors":"S. Jagannathan, F. L. Lewis","doi":"10.1109/ISIC.1995.525094","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525094","url":null,"abstract":"A family of novel multilayer discrete-time neural net (NN) controller is presented for the control of a class of multi-input multi-output (MIMO) dynamical systems. The NN controller includes modified delta rule weight tuning and exhibits a learning-while-functioning-features instead of learning-then-control so that control action is immediate with no explicit learning phase needed. The structure of the neural net controller is derived using a filtered error/passivity approach. Linearity in the parameters is not required and certainty equivalence is not used, which overcomes several limitations in adaptive control. For guaranteed stability, the upper bound on the constant learning rate parameter for the developed weight tuning mechanisms is shown to decrease with the number of hidden-layer neurons so that learning must slow down; this a major draw back often documented in the literature. This major draw back is shown to be overcome easily by using a projection algorithm at each layer. The notion of persistency of excitation (PE) for multilayer NN is explored. An extension of these weight tuning updates to NN with an arbitrary number of hidden layers is discussed. The notions of discrete-time passive NN and dissipative NN is introduced. Though the original system may not have any sort of passivity properties or it may be extremely difficult to demonstrate the passivity properties, the NN makes the closed-loop system passive. Simulation results show the theoretical conclusions.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126576565","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