9th IEEE International Workshop on Advanced Motion Control, 2006.最新文献_第2页

Multi-objective evolutionary design of fuzzy logic controllers for car parking problem 停车问题模糊控制器的多目标进化设计

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631729

Joon-Yong Lee, Min-Soeng Kim, Jujang Lee

{"title":"Multi-objective evolutionary design of fuzzy logic controllers for car parking problem","authors":"Joon-Yong Lee, Min-Soeng Kim, Jujang Lee","doi":"10.1109/AMC.2006.1631729","DOIUrl":"https://doi.org/10.1109/AMC.2006.1631729","url":null,"abstract":"This paper proposes an automatic method to design a fuzzy logic controller for the automated car parking problem. To tackle the problem, design of a fuzzy logic controller is solved under the multi-objective evolutionary optimization framework, which requires three factors: an encoding scheme, design of multi-objective evaluation criteria, and design of proper evolutionary operations. Along with the parameters of antecedent membership functions, consequent parameter vectors are defined in a chromosome so that a fuzzy logic controller can modify its antecedent/consequent parameters and rule structure simultaneously during evolution. Three optimization criteria are proposed to find a set of good fuzzy logic controllers using Pareto optimality. The proposed algorithm is applied to the well-known car parking problem and produces a set of good fuzzy logic controllers that can control the motion of a vehicle for automated parking. Each fuzzy logic controller in the set has unique characteristics and can be selected according to users' preferences, which is one of the major advantages of using the multi-objective evolutionary optimization","PeriodicalId":301450,"journal":{"name":"9th IEEE International Workshop on Advanced Motion Control, 2006.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130239753","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 robotic gripper based on conducting polymer actuators 一种基于导电聚合物致动器的机械手

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631705

G. Alici, N. Huynh

引用次数: 4

Robust control of two 5 DOF cooperating robot manipulators 两个5自由度协作机器人的鲁棒控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631737

M. Azadi, M. Eghtesad, A. Ghobakhloo

引用次数: 6

Fast and precise positioning of ball screw-driven table system using minimum jerk control-based command shaping 球丝杠驱动工作台系统的快速精确定位采用基于最小抖动控制的命令成形

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631643

K. Ito, M. Yamamoto, M. Iwasaki, N. Matsui

{"title":"Fast and precise positioning of ball screw-driven table system using minimum jerk control-based command shaping","authors":"K. Ito, M. Yamamoto, M. Iwasaki, N. Matsui","doi":"10.1109/AMC.2006.1631643","DOIUrl":"https://doi.org/10.1109/AMC.2006.1631643","url":null,"abstract":"This paper presents a minimum jerk transition method-based position command shaping without the specified frequency components. In the mechatronic fields, the 2-degrees-of-freedom position controller is well-known powerful tool to realize both the robust stability and the fast and precise positioning performance. On the other hand, the notch filter to suppress the lower frequency vibration deteriorates the position responses due to the essential phase delay of the notch filter. From the standpoint of view of the frequency component in the command waveform corresponding to the resonant frequency causes the resonant vibration, the command shaping should be considered as one of design freedoms. In this paper, the minimum jerk control-based position command shaping is applied instead of the notch filter to suppress the lower frequency vibrations such as a machine stand vibration. The application of the position command shaping provides better vibration suppression performance and reduces the calculation cost/time for the signal processing. The effectiveness of the proposed position command shaping has been verified by experiments using a table drive system","PeriodicalId":301450,"journal":{"name":"9th IEEE International Workshop on Advanced Motion Control, 2006.","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133564909","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

Cooperative control of full electric braking system with independently driven four wheels 四轮独立驱动的全电制动系统协同控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631728

T. Sakamoto, K. Hirukawa, T. Ohmae

引用次数: 15

Thrust characteristic of spiral motor using fem analysis and compensation for thrust fluctuation 螺旋电机推力特性有限元分析及推力波动补偿

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631716

H. Kwon, Y. Fujimoto

引用次数: 0

Vision-based tracking control using mark recognition 基于视觉的标记识别跟踪控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631731

S. Nara, D. Miyamoto, S. Takahashi

引用次数: 0

Towards improving positioning accuracy of conducting polymer actuators 提高导电聚合物作动器定位精度的研究

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631706

G. Alici, Nam N. Huynh

{"title":"Towards improving positioning accuracy of conducting polymer actuators","authors":"G. Alici, Nam N. Huynh","doi":"10.1109/AMC.2006.1631706","DOIUrl":"https://doi.org/10.1109/AMC.2006.1631706","url":null,"abstract":"Recently, there have been significant developments in conducting polymers, particularly in their synthesis and use as electromechanical actuators. This is mainly due to their many promising features including biocompatibility, high force to weight ratio, suitability to open loop control. On the other hand, they suffer from nonlinear problems such as hysteresis and creep. With this in mind, it is the aim of this study to evaluate the existence level of these nonlinearities and their mathematical modeling in order to improve the positioning accuracy of conducting polymer actuators. The polymer actuator considered in this study which has a symmetrical structure can operate in both liquid and non-liquid media as opposed to its predecessor. The actuator drives a rigid link, like positioning a payload. The experimental results demonstrate that while the hysteresis is negligibly small, the level of the creep is significant enough to model it and subsequently employ the model to improve steady-state positioning of the actuator. Based on experimental results, a viscoelastic model is employed to describe the creep behaviour. The outcomes of this study will pave the way towards understanding of the limitations as well as potential usefulness of conducting polymer actuators in many cutting edge applications ranging from biomedical to micro/nano manipulation systems","PeriodicalId":301450,"journal":{"name":"9th IEEE International Workshop on Advanced Motion Control, 2006.","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128540993","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

Tip position control of a flexible-link arm 柔性连杆臂的尖端位置控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631700

A. Arisoy, M. Gokasan, O. Bogosyan

引用次数: 5

Impulsive control for a thirteen-link biped 十三连杆双足机器人的脉冲控制

9th IEEE International Workshop on Advanced Motion Control, 2006. Pub Date : 2006-05-30 DOI: 10.1109/AMC.2006.1631699

Y. Aoustin, D.T. Romero, C. Chevallereau, S. Aubin

引用次数: 13