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2008 IEEE International Symposium on Intelligent Control最新文献

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Uniform Adaptive Neural Control for Switched Underactuated Systems 切换欠驱动系统的均匀自适应神经控制
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635973
Thanh-Trung Han, S. Ge, Tong-heng Lee
{"title":"Uniform Adaptive Neural Control for Switched Underactuated Systems","authors":"Thanh-Trung Han, S. Ge, Tong-heng Lee","doi":"10.1109/ISIC.2008.4635973","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635973","url":null,"abstract":"This paper presents an adaptive neural control strategy for output tracking of switched underactuated systems. To deal with sudden changes in control gains at switching times, we introduce gain characterizations to derive a smooth and unknown control. Due to these sudden changes, we present a discontinuous adaptive neural control and its smooth approximation so that adaptive neural control is possible for switched systems. The difficulty associated with increments in Lyapunov functions of uncontrolled zero-dynamics is overcome by utilizing a relation between the persistent dwell-time and the decreasing rates of these functions. In this way, the resulting closed-loop system satisfies conditions of a recently introduced stability theorem for ISpS of persistent dwell-time switched systems, and hence its stability follows.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131954114","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
A Descriptor System Approach to Discrete-Time Sliding Mode Control for Uncertain Systems with Time-Varying Delays 时变时滞不确定系统离散滑模控制的广义系统方法
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635958
M. Yan, A. S. Mehr, Yang Shi
{"title":"A Descriptor System Approach to Discrete-Time Sliding Mode Control for Uncertain Systems with Time-Varying Delays","authors":"M. Yan, A. S. Mehr, Yang Shi","doi":"10.1109/ISIC.2008.4635958","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635958","url":null,"abstract":"This paper investigates the descriptor system approach to discrete-time sliding mode control (DT-SMC) design for uncertain linear systems with time-varying delays. By applying a descriptor model transformation and Moon's inequality for bounding cross terms, a delay-dependent sufficient condition for the existence of stable sliding surface is given in terms of linear matrix inequalities (LMIs). Based on this existence condition, the synthesized sliding mode controller can guarantee the sliding-mode reaching condition of the specified discrete-time sliding surface for all admissible uncertainties and time-varying delays. An illustrative example verifies the effectiveness of the proposed method.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133609559","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
Dynamic Mode, Probe Based High Density Data Storage: A collaborative effort with IBM, Zurich Research Labs 动态模式，基于探针的高密度数据存储:与IBM，苏黎世研究实验室的合作成果
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635928
M. Salapaka
{"title":"Dynamic Mode, Probe Based High Density Data Storage: A collaborative effort with IBM, Zurich Research Labs","authors":"M. Salapaka","doi":"10.1109/ISIC.2008.4635928","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635928","url":null,"abstract":"Conventional means of storing data is primarily magnetic. The data storage densities in storing data magnetically are approaching fundamental limits. A new and promising means of achieving data storage densities in the Terabit per inch square range involves using a probe made of a sharp tip at the end of a cantilever flexure. IBM Zurich Research Labs (IBM, ZRL) has pioneered this probe based data storage technology. NanoDynamics Systems Lab. (NDSL) at University of Minnesota Minneapolis has developed new methods of interrogating matter with better resolution and at higher bandwidth. Another focus of the research at NDSL is the dynamic mode operation of this technology. The complimentary set of tools at IBM, ZRL and at NDSL has motivated a collaborative agreement between University of Minnesota and IBM. In this talk, the process by which the initial contact between the groups at IBM and NDSL was made and the means by which a common charter of research was arrived at will be described. An emphasis on some of the challenges faced caused by researchers from relatively different areas will be highlighted. The next step of formulating an IP agreement between the two establishments followed by a description of research that the agreement has facilitated will be presented. The role an NSF grant is playing in the research will be highlighted.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114503278","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
Intelligent Systems for Modeling and Control: Advances in Design and Validation 智能系统建模与控制:设计与验证的进展
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635932
D. Prokhorov, J. Schumann
{"title":"Intelligent Systems for Modeling and Control: Advances in Design and Validation","authors":"D. Prokhorov, J. Schumann","doi":"10.1109/ISIC.2008.4635932","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635932","url":null,"abstract":"Intelligent systems, or systems that include neural, fuzzy or evolutionary components, have to be designed or trained carefully, taking into account uncertainties, and verified/validated well before they are accepted for deployment. This workshop intends to present an overview of the state of the art and recent advances in intelligent systems for modeling and control, with examples from automotive, aerospace and chemical industries. With respect to automotive processes and in-vehicle systems, steps undertaken to design and validate intelligent control, diagnostics and prognostics will be discussed. Among several automotive examples, fever-like symptoms in an engine suffering from an unknown fault will be demonstrated, recognized and mitigated through a novel approach of artificial immune system. With respect to aerospace systems, advanced methods for verification, validation, and certification of intelligent control systems will be discussed and illustrated via examples including UAV and NASA Intelligent Flight Control System project. An overview of application of computational intelligence solutions in the chemical industry will then be presented, with emphasis on the key technical, organizational, and political issues to be resolved for successful application of computational intelligence in industry in general. Presentations by researchers from both industrial and non-profit organizations will ensure effective sharing of knowledge and crossdisciplinary relevance.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128173727","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
Multi-Agent Based Adaptive Consensus Control for Multiple Manipulators with Kinematic Uncertainties 具有运动不确定性的多机器人多智能体自适应一致性控制
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635941
L. Cheng, Z. Hou, M. Tan, Derong Liu, An‐Min Zou
{"title":"Multi-Agent Based Adaptive Consensus Control for Multiple Manipulators with Kinematic Uncertainties","authors":"L. Cheng, Z. Hou, M. Tan, Derong Liu, An‐Min Zou","doi":"10.1109/ISIC.2008.4635941","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635941","url":null,"abstract":"An adaptive control approach is proposed to deal with the multiple manipulators consensus problem based on the multi-agent theory. In the current multi-agent literature, agents were assumed to have determined models. However, the practical manipulator's kinematics contains uncertain parameters. By using the projection method, the adaptive updating law for uncertain kinematic parameters is derived. Then, the estimated manipulator Jacobian matrix can be obtained to design the decentralized controller. By the proposed controller, all the manipulators' end-effectors move towards the same configuration to achieve certain coordination tasks. In addition, performance of the control system is analyzed by the Lyapunov method, and the consensus error is proved to approach zero. Finally, the effectiveness of the proposed scheme is illustrated by simulations on a multiple PUMA 560 robots system.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127382525","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: 95
Identification and Control of Dynamic Plants Using Fuzzy Wavelet Neural Networks 基于模糊小波神经网络的动态对象辨识与控制
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635940
R. Abiyev, O. Kaynak
{"title":"Identification and Control of Dynamic Plants Using Fuzzy Wavelet Neural Networks","authors":"R. Abiyev, O. Kaynak","doi":"10.1109/ISIC.2008.4635940","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635940","url":null,"abstract":"This paper presents a fuzzy wavelet neural network (FWNN) for identification and control of a dynamic plant. The FWNN is constructed on the basis of fuzzy rules that incorporate wavelet functions in their consequent parts. The architecture of the control system is presented and the parameter update rules of the system are derived. Learning rules are based on the gradient decent method and genetic algorithm (GA). The structure is tested for the identification and the control of the dynamic plants commonly used in the literature. It is shown that the proposed structure results in a better performance despite its smaller parameter space.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130794340","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: 34
Discrete-Time /spl epsilon/-Adaptive Dynamic Programming Algorithm Using Neural Networks 基于神经网络的离散时间/spl epsilon/-自适应动态规划算法
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635953
N. Jin, Derong Liu
{"title":"Discrete-Time /spl epsilon/-Adaptive Dynamic Programming Algorithm Using Neural Networks","authors":"N. Jin, Derong Liu","doi":"10.1109/ISIC.2008.4635953","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635953","url":null,"abstract":"Dynamic programming for discrete time systems is difficult due to the \"curse of dimensionality\". In this paper, we present our work on dynamic programming for discrete-time system, which is referred as isin-adaptive dynamic programming. A single controller, isin-optimal controller muisin*, which is determined from an isin-optimal cost Visin*, is obtained to approximate the optimal controller. The isin-optimal controller muisin* can always control the state to approach the equilibrium state, while the performance cost is close to the biggest lower bound of all performance costs within an error according to isin. An algorithm for finding the isin-optimal controller is developed and numerical experiments are given to illustrate the performance of the algorithm.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121269885","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
Keeping Objects in the Field of View: An Underdetermined Task Function Approach to Visual Servoing 将目标保持在视野内:一种欠定任务函数的视觉伺服方法
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635969
N. Gans, G. Hu, W. Dixon
{"title":"Keeping Objects in the Field of View: An Underdetermined Task Function Approach to Visual Servoing","authors":"N. Gans, G. Hu, W. Dixon","doi":"10.1109/ISIC.2008.4635969","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635969","url":null,"abstract":"This paper introduces a novel visual servo controller designed to keep multiple objects in the camera field-of-view. In contrast to other visual servo controllers, there is no goal pose or goal image. In this paper, a set of underdetermined task functions are developed to regulate the mean and variance of a set of image features. Regulating these task functions will keep feature points in the camera field-of-view. An additional task function is used to maintain a high level of motion perceptibility, which ensures that desired feature point velocities can be achieved. Simulations of several object tracking tasks have verified the performance of the proposed method.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134462016","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: 11
Hybrid Intelligent Control Scheme for Activated Sludge Wastewater Treatment 活性污泥废水处理的混合智能控制方案
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635947
E. Sánchez, E. A. Hernández, C. Cadet, J. Béteau
{"title":"Hybrid Intelligent Control Scheme for Activated Sludge Wastewater Treatment","authors":"E. Sánchez, E. A. Hernández, C. Cadet, J. Béteau","doi":"10.1109/ISIC.2008.4635947","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635947","url":null,"abstract":"This paper presents a neural network identification scheme to estimate substrate, biomass and dissolved oxygen concentrations in an activated sludge wastewater treatment. This scheme is based on a discrete-time high order neural network (RHONN) trained on-line with an extended Kalman filter (EKF)-based algorithm. Then, the identification scheme is associated with a fuzzy control to regulate the ratio between substrate and biomass concentrations. Obtained simulation results are very encouraging.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"50 26","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113938897","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
On The Use of Nonparametric Neighborhood Classification Rules in Multiple Classifier Combination 非参数邻域分类规则在多分类器组合中的应用
2008 IEEE International Symposium on Intelligent Control Pub Date : 2008-09-30 DOI: 10.1109/ISIC.2008.4635967
Deqiang Han, Chongzhao Han, Yi Yang, Yu Liu, Yongqi Liang
{"title":"On The Use of Nonparametric Neighborhood Classification Rules in Multiple Classifier Combination","authors":"Deqiang Han, Chongzhao Han, Yi Yang, Yu Liu, Yongqi Liang","doi":"10.1109/ISIC.2008.4635967","DOIUrl":"https://doi.org/10.1109/ISIC.2008.4635967","url":null,"abstract":"A multiple classifier combination approach based on nonparametric neighborhood classifiers is proposed in this paper. Two different types of nonparametric neighborhood classifiers are used for each query sample, which can be regarded as two different sources of evidence. One type of member classifier emphasizes the similarity and the other type emphasizes the spatial distribution in training set with respect to the query sample. Two mass functions then can be determined based on two different mass function generation methods proposed. According to evidence combination, better classification accuracy can be obtained. The approach proposed has no problem of parameter optimization or selection. In the experiments, the efficacy and rationality of the methods proposed are verified.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125785505","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
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