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Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)最新文献

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Imitating the human immune system capabilities for multi-agent federation formation 模拟人体免疫系统的多主体联盟形成能力
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971479
S. A. Taheri, G. Calva
{"title":"Imitating the human immune system capabilities for multi-agent federation formation","authors":"S. A. Taheri, G. Calva","doi":"10.1109/ISIC.2001.971479","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971479","url":null,"abstract":"In this paper, we are trying to highlight specific properties of the immune system, in order to develop the immune optimization algorithm as an optimal solution for the multiagent federation formation problem. Behaviors of the antibodies as basic agents of the immune system are considered and their collaboration structure is studied to form a relevant algorithm for multi-agent control problems. In immune system the optimization problem is addressed by considering two functions: fitness and affinity. Fitness, which is the goal function for optimization, is exterior for the agents group, and affinity function is the internal factor among agents. Therefore the cost function is divided to the two independent parts. The second part is distributed among agents as affinity function. We compared our proposed method with the regular genetic algorithm and show some simulation results on multirobots federation formation.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"58 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114024459","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
A cooperative search framework for distributed agents 分布式代理的协同搜索框架
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971475
Marios M. Polycarpou, Yanli Yang, Kevin M. Passino
{"title":"A cooperative search framework for distributed agents","authors":"Marios M. Polycarpou, Yanli Yang, Kevin M. Passino","doi":"10.1109/ISIC.2001.971475","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971475","url":null,"abstract":"This paper presents an approach for cooperative search of a team of distributed agents. We consider two or more agents, or vehicles, moving in a geographic environment, searching for targets of interest and avoiding obstacles or threats. The moving agents are equipped with sensors to view a limited region of the environment they are visiting, and are able to communicate with one another to enable cooperation. The agents are assumed to have some \"physical\" limitations including possibly maneuverability limitations, fuel/time constraints and sensor range and accuracy. The developed cooperative search framework is based on two inter-dependent tasks: (1) online learning of the environment and storing of the information in the form of a \"search map\"; and (2) utilization of the search map and other information to compute online a guidance trajectory for the agent to follow. The distributed learning and planning approach for cooperative search is illustrated by computer simulations.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122677203","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: 199
A firmware digital neural network for climate prediction applications 用于气候预报的固件数字神经网络
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971496
G. Acosta, M. Tosini
{"title":"A firmware digital neural network for climate prediction applications","authors":"G. Acosta, M. Tosini","doi":"10.1109/ISIC.2001.971496","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971496","url":null,"abstract":"An artificial neural network (ANN), implemented in a field programmable gate array (FPGA) was developed for climate variables prediction in a bounded environment. These variables (temperature, soil humidity, ventilation, etc.) must be kept under control, and a module capable to predict their evolution in a temporal horizon, as wider as possible, is required. Thus, the ANN is used as a climate forecast for a main (knowledge based) system, devoted to the supervision and control of the greenhouse. An architecture for the referred digital ANN, which can be parametrised and is programmable by the designer, is given, as well as the methodology for its design and programming, in order to obtain different ANN topologies. Finally, some laboratory results on the application with preliminary conclusions are also presented.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121279870","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: 10
A fuzzy backstepping controller for a pneumatic muscle actuator system 气动肌肉作动器系统的模糊反步控制器
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971535
Pablo Carbonell, Zhong-Ping Jiang, D. Repperger
{"title":"A fuzzy backstepping controller for a pneumatic muscle actuator system","authors":"Pablo Carbonell, Zhong-Ping Jiang, D. Repperger","doi":"10.1109/ISIC.2001.971535","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971535","url":null,"abstract":"A nonlinear fuzzy backstepping controller is presented for set-point regulation of a pneumatic muscle actuator. Inflation and deflation are the two possible modes of operation of this actuator. Three fuzzy sets, one for each of both modes and one for the transition region, are considered. Each fuzzy set is associated with a local backstepping controller. At the inflation and deflation regimes, the associated controllers are exact backstepping controllers, whereas a robust nonlinear backstepping controller is used at the transition regime and deals with regime uncertainty. The use of fuzzy membership functions provides a smooth controller. The closed-loop system is globally and ultimately bounded.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117276034","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: 45
Fuzzy logic based compensation of friction in low speed motion control 低速运动控制中基于模糊逻辑的摩擦补偿
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971532
R. Langari, D. Hyun
{"title":"Fuzzy logic based compensation of friction in low speed motion control","authors":"R. Langari, D. Hyun","doi":"10.1109/ISIC.2001.971532","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971532","url":null,"abstract":"A fuzzy adaptive feedforward control scheme in conjunction with conventional linear feedback control is proposed for use in mechanical motion control systems where friction undermines performance. The proposed control scheme was realized in terms of three alternative control systems for low speed control of a DC motor driving a mechanical system having both dry and lubricated junctions. In experiments these alternative control systems achieved good tracking performance, i.e., without stick-slip type oscillations for reference speeds as low as 0.005 rad/sec, while conventional linear control without fuzzy adaptation exhibited large stick-slip type oscillations or poor tracking performance over the same range of reference speeds.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125892475","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
Genetic algorithms for optimal control of beer fermentation 啤酒发酵最优控制的遗传算法
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971541
G. E. Carrillo-Ureta, P. Roberts, V. Becerra
{"title":"Genetic algorithms for optimal control of beer fermentation","authors":"G. E. Carrillo-Ureta, P. Roberts, V. Becerra","doi":"10.1109/ISIC.2001.971541","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971541","url":null,"abstract":"This paper uses genetic algorithms to optimise the mathematical model of a beer fermentation process that operates in batch mode. The optimisation is based in adjusting the temperature profile of the mixture during a fixed period of time in order to reach the required ethanol levels but considering certain operational and quality restrictions.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116165139","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: 50
Optimal control of autonomous linear systems switched with a pre-assigned finite sequence 预先分配有限序列切换的自主线性系统的最优控制
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971499
A. Giua, C. Seatzu, C. van der Mee
{"title":"Optimal control of autonomous linear systems switched with a pre-assigned finite sequence","authors":"A. Giua, C. Seatzu, C. van der Mee","doi":"10.1109/ISIC.2001.971499","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971499","url":null,"abstract":"The paper deals with the optimal control of switched piecewise linear autonomous systems, where the objective is to minimize the performance index over an infinite time horizon. We assume that the switching sequence has a finite length and is pre-assigned, while the unknown switching times are the optimization parameters. We also assume that at each switch a jump in the state space may occur and that a cost may be associated to each switch. The optimal control for this class of systems takes the form of a state feedback, i.e., it is possible to identify a region of the state space such that an optimal switch should occur if and only if the present state belongs to this region. We show how such a region can be computed with a numerical procedure and show that, in the particular case in which the switching costs is null, the region is homogeneous.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121098101","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: 59
A demonstration of dedicated constraint-based planning within agent-based architectures for autonomous aircraft 基于智能体的自主飞机架构中专用约束规划的演示
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971480
B. Allo, C. Guettier, Nelly Lecubin
{"title":"A demonstration of dedicated constraint-based planning within agent-based architectures for autonomous aircraft","authors":"B. Allo, C. Guettier, Nelly Lecubin","doi":"10.1109/ISIC.2001.971480","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971480","url":null,"abstract":"Autonomous agents are a challenging concept for future unmanned air operations in hostile environments. Previous aeronautic missions highlight the lack of on-board reasoning abilities to increase the decision making capability, to efficiently react to unexpected events or to adapt plans to unexpected situation changes. If many agent-based system approaches exhibit reasoning functionalities, the complexity of air missions prevents from using the underlying generic models onto realistic missions. By taking advantage of constraint programming techniques, this paper demonstrates how a dedicated planning method can manage unmanned air vehicles into a realistic mission.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129100258","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: 13
Compliant motion control using variable structure PID control system 柔性运动控制采用变结构PID控制系统
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971542
O. Ismail, W. Bedwani
{"title":"Compliant motion control using variable structure PID control system","authors":"O. Ismail, W. Bedwani","doi":"10.1109/ISIC.2001.971542","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971542","url":null,"abstract":"This paper describes the design of a variable structure PID controller using genetic algorithms for compliant motion control. This VSPID has a structure similar to that of a simple PID controller where the PD mode is used to speed up response, whereas the PI mode is applied to eliminate the steady state offset. Flexible changes of the controller modes and parameter values of the VSPID could therefore solve the conflict in nature between steady state accuracy and dynamic responsiveness. Due to the difficulties encountered in the application of traditional analytical and numerical methods for the design of variable structure systems, micro-genetic algorithm (uGA) is used for the determination of the different controller parameters. uGA is known to converge rapidly with optimal or near optimal results. In order to demonstrate the design procedure, the compliant motion control of a robot arm is used. Taking the integral of the absolute error as the performance measure it reveals that the proposed VSPID is better than the simple PID controller.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124416354","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
Trajectory tracking via adaptive dynamic neural control 基于自适应动态神经控制的轨迹跟踪
Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206) Pub Date : 2001-09-05 DOI: 10.1109/ISIC.2001.971523
E. Sánchez, J.P. Pezez, L. J. Ricalde, Guanrong Chen
{"title":"Trajectory tracking via adaptive dynamic neural control","authors":"E. Sánchez, J.P. Pezez, L. J. Ricalde, Guanrong Chen","doi":"10.1109/ISIC.2001.971523","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971523","url":null,"abstract":"Presents an adaptive control structure, based on a dynamic neural network for trajectory tracking of unknown nonlinear plants. The main components of this structure include a neural identifier and a control law, which together guarantee the desired tracking. stability of the tracking error is analyzed by means of the Lyapunov function methods. Applicability of the proposed structure is tested by simulations on two complex examples.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117248854","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
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