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Proceedings of the IEEE Internatinal Symposium on Intelligent Control最新文献

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Iterative reference adjustment for high precision and repetitive motion control applications 高精度和重复运动控制应用的迭代参考调整
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157751
K. Tan, Shiyu Zhao
{"title":"Iterative reference adjustment for high precision and repetitive motion control applications","authors":"K. Tan, Shiyu Zhao","doi":"10.1109/ISIC.2002.1157751","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157751","url":null,"abstract":"In this paper, a new iterative learning control (ILC) scheme is proposed which is suitable for high precision and repetitive motion control applications. Unlike the usual ILC scheme which adapts a feedforward control signal to achieve improved tracking performance over time, the proposed scheme iteratively adjusts the reference signal. To achieve a higher convergence rate, a radial basis function neural network is employed to model the tracking error over a cycle, and subsequently used implicitly in the iterative adaptation of the reference signal over the next cycle. Simulation examples are furnished to elaborate the various highlights of the proposed method.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125254792","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
A real-time algorithm for task allocation 一种实时任务分配算法
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157843
Peter B. Jones, Matthew A. Blake, J. Archibald
{"title":"A real-time algorithm for task allocation","authors":"Peter B. Jones, Matthew A. Blake, J. Archibald","doi":"10.1109/ISIC.2002.1157843","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157843","url":null,"abstract":"One of the main difficulties in designing multi-agent systems for environments with hard time constraints is the problem of task allocation, assigning an agent or group of agents to accomplish a specific system subgoal. In this paper we introduce a viable real-time task assignment algorithm for multi-agent systems. The algorithm, referred to as MATS (multi-agent task selection), is applied to two simulation environments and compared with optimal assignment algorithms, both in terms of speed and efficacy. Results are summarized and future areas of research discussed.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128034346","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
Evolutionary routing method for multi mobile robots in transportation 多移动机器人运输中的进化路径方法
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157812
M. Konishi, T. Nishi, Kengo Nakano, K. Sotobayashi
{"title":"Evolutionary routing method for multi mobile robots in transportation","authors":"M. Konishi, T. Nishi, Kengo Nakano, K. Sotobayashi","doi":"10.1109/ISIC.2002.1157812","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157812","url":null,"abstract":"Recently, evolutionary calculation has been widely used in design problems. Using this method, intelligent control is expected to be constructed adaptable to disturbances. In this paper, a routing algorithm for multi mobile robots in transportation is presented. This algorithm is based on the Ant System and extended to the routing of multi mobile robots in transportation. The proposed algorithm is applied to two kinds of transportation problems, multi vehicle transportation and routing for multi Auto Guided Vehicles (AGV) in a semiconductor fabrication bay.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127132014","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
Electric power fossil plant start-up combining predictive control and Takagi-Sugeno fuzzy modelling 结合预测控制与Takagi-Sugeno模糊模型的火电厂启动
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157748
E. Sánchez, Moises Moheno, D. A. Suarez, A. Quintero
{"title":"Electric power fossil plant start-up combining predictive control and Takagi-Sugeno fuzzy modelling","authors":"E. Sánchez, Moises Moheno, D. A. Suarez, A. Quintero","doi":"10.1109/ISIC.2002.1157748","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157748","url":null,"abstract":"This paper presents the application of a control structure, which combines a general predictive control and Takagi-Sugeno fuzzy models, to the start-up operation of an electric power fossil plant. Applicability of the proposed approach is tested via simulations.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"220 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124932543","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
The partial loop transfer recovery for servosystems 伺服系统的部分回路传递恢复
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157756
X. G. Wang, Jingwei Wu, T. Ishihara
{"title":"The partial loop transfer recovery for servosystems","authors":"X. G. Wang, Jingwei Wu, T. Ishihara","doi":"10.1109/ISIC.2002.1157756","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157756","url":null,"abstract":"A design method of servosystems using the partial LTR (Loop Transfer Recovery) technique is proposed for nonminimum phase plants including finite unstable zeros and output delay. We focus our attention on the feedback property achieved at the plant output side. First, for a factorized plant model, we construct an optimal tracking system with an integral controller that feeds back only the minimum phase state vector. For the output feedback case, we construct a controller that includes a Kalman filter and an optimal prediction for the minimum phase state vector. The transfer function matrix in the right matrix-fraction of the servosystem with the MEF (Minimum-phase Estimate Feedback) integral controller and multiplicative decompositions of the sensitivity matrix at the plant output side are given. Then an application of the partial LTR technique to servosystems is discussed. The feedback property achieved at the plant output side is given with an explicit expression of the sensitivity matrix. Finally, a numerical example is presented to illustrate the feedback property.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121786876","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
Neural network adaptive control of a deployable manipulator 可展开机械手的神经网络自适应控制
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157769
Yue Cao, V. Modi, C. D. Silva
{"title":"Neural network adaptive control of a deployable manipulator","authors":"Yue Cao, V. Modi, C. D. Silva","doi":"10.1109/ISIC.2002.1157769","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157769","url":null,"abstract":"This paper presents an effective neural network based adaptive controller for a newly designed manipulator that has a deployable link as well as a revolute joint. The prototype manipulator system is described. The analytical formulation of the system is presented for the purpose of effective control. The relevant techniques of adaptive control of robot manipulators are presented. A single-layer, linear-in-the-parameter neural network that is based on Gaussian radial basis functions is used to approximate the unknown terms in the dynamical equations of the manipulator. The Lyapunov stability analysis is used to find an adaptive update rule for tuning the weights of the neural network. The corresponding adaptive controller is derived based on this approach. The applicability of the control scheme for this manipulator system is tested through computer simulations.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123838140","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
Robust adaptive control for a class of perturbed strict feedback nonlinear systems 一类摄动严格反馈非线性系统的鲁棒自适应控制
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157830
S. Ge, Jing Wang
{"title":"Robust adaptive control for a class of perturbed strict feedback nonlinear systems","authors":"S. Ge, Jing Wang","doi":"10.1109/ISIC.2002.1157830","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157830","url":null,"abstract":"This paper presents a robust adaptive control approach for a class of perturbed strict feedback nonlinear systems with both completely unknown virtual control coefficients and parametric uncertainties. The proposed design method does not require a priori knowledge of the signs of the unknown virtual control coefficients. It is proved that the proposed robust adaptive scheme can guarantee the global uniform ultimate boundedness of the closed-loop system signals. Simulation studies are included to illustrate the effectiveness of the proposed approach.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"25 30","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120837574","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
Reconfigurable flight control strategies using model predictive control 基于模型预测控制的可重构飞行控制策略
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157736
M. M. Kale, A. Chipperfield
{"title":"Reconfigurable flight control strategies using model predictive control","authors":"M. M. Kale, A. Chipperfield","doi":"10.1109/ISIC.2002.1157736","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157736","url":null,"abstract":"Tracking control for large amplitude manoeuvres in the presence of damages to airframe and control surfaces is addressed. The control reconfiguration algorithm is based on model predictive control, a constrained receding horizon optimisation is solved under the constraints of hard limits of actuator position and rate saturations and critical aircraft state limits imposed by allowable structural loads. Changed stability and control derivatives of the damaged aircraft are identified online and used by the receding horizon controller as internal model for prediction. An emphasis is given to incorporate handling quality specifications according to MIL-STD-1797A. The results demonstrate the ability of the proposed scheme to maintain level flight after a failure, to track the pilot commands despite the loss of actuator effectiveness, and to coordinate the use of the remaining active control surfaces to provide the decoupling between the rotational axes. Finally, the issue of online (onboard) implementation of constrained optimisation is examined.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129496663","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: 25
A subthreshold mode programmable implementation of the Gaussian function for RBF neural networks applications 一个亚阈值模式可编程实现的高斯函数用于RBF神经网络的应用
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157806
D. Masmoudi, Amadou Tidjane Dieng, M. Masmoudi
{"title":"A subthreshold mode programmable implementation of the Gaussian function for RBF neural networks applications","authors":"D. Masmoudi, Amadou Tidjane Dieng, M. Masmoudi","doi":"10.1109/ISIC.2002.1157806","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157806","url":null,"abstract":"A new CMOS analog programmable Gaussian function for RBF neural networks, based on current mode operations and using devices operating in the subthreshold region is proposed. In order to maintain low voltage operation, the proposed circuit uses the gate and backgate terminals of the devices. The power supply is as low as 1.2 V. Analysis and simulations have shown that the new structure has a power consumption of less than 200 /spl mu/W. The proposed scheme produces an output which is related with a Gaussian input current without any nonlinear approximations. Although operating at subthreshold current levels, reasonable speed can be obtained since voltage swings are in the range of a few V/sub T/.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132728156","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
An intelligent control scheme for enhancing performance of the automatic ball-type balancer installed on high speed optical disc drives 一种提高高速光盘驱动器上自动球式平衡器性能的智能控制方案
Proceedings of the IEEE Internatinal Symposium on Intelligent Control Pub Date : 2002-10-27 DOI: 10.1109/ISIC.2002.1157732
C. L. Huang, P. Chao, C. Sung
{"title":"An intelligent control scheme for enhancing performance of the automatic ball-type balancer installed on high speed optical disc drives","authors":"C. L. Huang, P. Chao, C. Sung","doi":"10.1109/ISIC.2002.1157732","DOIUrl":"https://doi.org/10.1109/ISIC.2002.1157732","url":null,"abstract":"This study is dedicated to synthesize an intelligent control scheme for overcoming the performance inconsistence caused by inevitable rolling friction of balancing balls of the automatic ball-type balancer system (ABB). The ABB is a device installed on some high-speed disk drives for reducing radial vibrations of motor spindle motion. The existence of rolling friction between the balancing ball and its runway may, however, results in the ball settling at undesirable angular positions, which greatly limit the performance for radial vibration reduction. The objective of study is to design an intelligent feedback scheme to overcome the aforementioned drawback of the ball-balancer system. The method of fuzzy logic control is proposed by activating the control scheme from the onset of system dynamics until the ball settles at the desired angular position. In this way the system becomes passive after the ball settles at its desired angular position, i.e., saving energy for the control effort. A mathematical model is first established. The influence of rolling resistance on the steady-state solution and stability of the ball is analyzed. The proposed fuzzy control scheme is then designed. The system augmented with the control scheme is simulated to verify the validness of the fuzzy logic control.","PeriodicalId":228502,"journal":{"name":"Proceedings of the IEEE Internatinal Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134519883","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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