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Proceedings of Tenth International Symposium on Intelligent Control最新文献

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Stability of a set of matrices: an application to hybrid systems 一组矩阵的稳定性:在混合系统中的应用
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525038
M. Dogruel, U. Ozguner
{"title":"Stability of a set of matrices: an application to hybrid systems","authors":"M. Dogruel, U. Ozguner","doi":"10.1109/ISIC.1995.525038","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525038","url":null,"abstract":"Asymptotic stability and stabilizability of a set of matrices are defined and investigated. Asymptotic stability of a set of matrices requires that all infinite products of matrices from that set tend to zero. Asymptotic stabilizability of a set of matrices, however, requires that there is at least one such sequence in the set. The upper and lower spectral radius of a set are defined to aid in the analysis. Necessary and sufficient conditions for asymptotic stability and stabilizability are provided leading to some methods using Lyapunov theory. Finally hybrid system stability is considered when the continuous state part of the hybrid system is modeled as a linear discrete time system. It is shown that the concept of stability of matrix sets may be helpful in analysis and control design of such hybrid systems.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"24 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":"127897923","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: 9
An algorithm for computation of state variable feedback gain 一种状态变量反馈增益的计算算法
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525100
O. Ansary
{"title":"An algorithm for computation of state variable feedback gain","authors":"O. Ansary","doi":"10.1109/ISIC.1995.525100","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525100","url":null,"abstract":"In this paper an algorithm for computing the state variable feedback gain is presented. The proposed algorithm is developed in the context of a generalized state feedback controller design method that exhibits a computationally attractive scheme. An example is also given to illustrate the application of proposed algorithm.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"15 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":"127743106","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
Control of unknown nonlinear dynamical systems using CMAC neural networks: structure, stability, and passivity 用CMAC神经网络控制未知非线性动力系统:结构、稳定性和无源性
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525048
S. Commuri, F. L. Lewis
{"title":"Control of unknown nonlinear dynamical systems using CMAC neural networks: structure, stability, and passivity","authors":"S. Commuri, F. L. Lewis","doi":"10.1109/ISIC.1995.525048","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525048","url":null,"abstract":"The cerebellar model articulation controller (CMAC) neural network (NN) has advantages over fully connected NNs due to its increased structure. This paper attempts to provide a comprehensive treatment of CMAC NNs in closed-loop control applications. The function approximation capabilities of the CMAC NN are first rigorously established, and novel weight-update laws derived that guarantee the stability of the closed-loop system. The passivity properties of the CMAC under the specified tuning laws are examined and the relationship between passivity and closed-loop stability is derived. The utility of the CMAC NN in controlling a nonlinear system with unknown dynamics is demonstrated through numerical examples.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"168 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":"123753419","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: 19
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
Direct optimal control of structures using algebraic equations of motion and neural estimator 基于代数运动方程和神经估计器的结构直接最优控制
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525033
H. Oz, G. Yen
{"title":"Direct optimal control of structures using algebraic equations of motion and neural estimator","authors":"H. Oz, G. Yen","doi":"10.1109/ISIC.1995.525033","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525033","url":null,"abstract":"The study of dynamic systems without resorting to or any knowledge of differential equations is known as the \"direct method\". In this method, algebraic equations of motion characterize the system dynamics. The algebraic optimal control laws can be derived in an explicit form for general nonlinear time-varying and time-invariant systems by minimizing an algebraic performance measure. The essence of the approach is based on using assumed-time-modes expansions of generalized coordinates and inputs in conjunction with the variational work-energy principles that govern the physical system. However, to implement these control laws an algebraic state estimator must be designed. The development of such an estimator is incorporated by utilizing neural networks within a hybrid algebraic equations of motion for general nonlinear systems. To proof of concept, computer simulations are validated on linear systems under deterministic, noisy and modeling uncertainty cases. As modeling uncertainty is concerned, both parameter uncertainty and model truncation have been considered.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"66 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":"134303541","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 virtual reality based interface to a dynamic resource allocation scheduler 基于虚拟现实的动态资源分配调度器接口
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525068
D. Gračanin, T. Williams
{"title":"A virtual reality based interface to a dynamic resource allocation scheduler","authors":"D. Gračanin, T. Williams","doi":"10.1109/ISIC.1995.525068","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525068","url":null,"abstract":"This paper describes a virtual reality based interface to a dynamic resource allocation scheduler. The model allows a plant engineer to test configuration decisions and scheduling methods in a virtual environment before trying them out in the actual plant. Once the operation of the virtual environment is determined to be stable, the configurations and scheduling methodology can be applied to an actual factory. Real world events in this factory should be obtained for inclusion in the event simulator for iterative refinement of the system.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"38 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":"114406139","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
Dynamic recurrent neural networks for modeling flexible robot dynamics 柔性机器人动力学建模的动态递归神经网络
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525045
L. Jin, M. Gupta, P. Nikiforuk
{"title":"Dynamic recurrent neural networks for modeling flexible robot dynamics","authors":"L. Jin, M. Gupta, P. Nikiforuk","doi":"10.1109/ISIC.1995.525045","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525045","url":null,"abstract":"The identification of a general class of multi-input and multi-output (MIMO) discrete-time nonlinear systems expressed in the state space form is studied using dynamic recurrent neural network (DRNN) approach. A novel discrete-time DRNN, which is represented by a set of parameterized nonlinear difference equations and has the universal approximation capability, is proposed for modeling unknown discrete-time nonlinear systems. Dynamic backpropagation learning algorithm is discussed extensively in order to carry out the modeling task using the input-output data. A simulation example of modeling flexible robot dynamics is provided to demonstrate the usefulness of the proposed technique.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"139 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":"114789368","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
Real-time tool wear estimation using recurrent neural networks 基于递归神经网络的工具磨损实时估计
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525083
R. Colbaugh, K. Glass
{"title":"Real-time tool wear estimation using recurrent neural networks","authors":"R. Colbaugh, K. Glass","doi":"10.1109/ISIC.1995.525083","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525083","url":null,"abstract":"This paper presents a robust strategy for estimating tool wear in metal cutting operations. The proposed estimation algorithm consists of two components: a recurrent neural network to model the tool wear dynamics, and a robust observer to estimate the tool wear from this model using measurements of cutting force. It is shown that the algorithm ensures that the tool wear estimation error is uniformly bounded in the presence of bounded unmodeled effects, and that the ultimate bound on this error can be made as small as desired. The proposed approach is applied to the problem of estimating tool wear in turning and is shown to provide wear estimates which are in close agreement with experimental results.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"18 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":"123030684","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
Time delays in iterative learning control schemes 迭代学习控制方案的时间延迟
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525062
L. Hideg
{"title":"Time delays in iterative learning control schemes","authors":"L. Hideg","doi":"10.1109/ISIC.1995.525062","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525062","url":null,"abstract":"Repeated accurate path tracking has many control applications. CNC machines in manufacturing or actuators in testing are examples. Repeated operations permits adjustments of control signals between cycles using trajectory error information. Learning control systems are well suited for this situation. Time delays in the plant or elsewhere can markedly affect control system stability even in repetitions. Calculation time by digital systems or by sampling techniques can cause delays. Sensor dynamics or sensor location can also cause delays. This paper proposes a stability condition for learning control where the plant exhibits a time delay.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"33 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":"131986340","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: 18
A fast and simple method to calibrate scale factor using telephoto lens 一种快速简便的利用长焦镜头标定比例系数的方法
Proceedings of Tenth International Symposium on Intelligent Control Pub Date : 1995-08-27 DOI: 10.1109/ISIC.1995.525078
G. Seetharaman, H. Bao, Guruprasad Shivaram
{"title":"A fast and simple method to calibrate scale factor using telephoto lens","authors":"G. Seetharaman, H. Bao, Guruprasad Shivaram","doi":"10.1109/ISIC.1995.525078","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525078","url":null,"abstract":"In this paper, we present a simple method to extract the scale factor, a parameter that has to be determined during the calibration of a camera. Our method is built on the basic idea due to Penna (1991), and it effectively deals with situations where Penna's method would produce inaccurate results. The proposed technique images a sphere orthographically, as a circle on the image plane, and estimates the scale factor from the observed shape (in the digitized image) of that circle. Our motivation to project the sphere orthographically as against perspectively as was done by Penna, is that it does not impose the constraint that the center of the sphere be on the optical axis of the camera. There is an additional advantage in that, the estimation of the scale factor becomes independent of the radial distortion introduced by the lens, which is an additional cause of concern when the circle is obtained by perspective projection.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"16 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":"126143092","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
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