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Optimal design of adaptive interval type-2 fuzzy sliding mode control using Genetic algorithm 基于遗传算法的自适应区间2型模糊滑模控制优化设计
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-27 DOI: 10.1109/ICCIAUTOM.2011.6356731
M. Ghaemi, M. Akbarzadeh-T., M. Jalaeian-F.
{"title":"Optimal design of adaptive interval type-2 fuzzy sliding mode control using Genetic algorithm","authors":"M. Ghaemi, M. Akbarzadeh-T., M. Jalaeian-F.","doi":"10.1109/ICCIAUTOM.2011.6356731","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356731","url":null,"abstract":"In this paper, a stable indirect adaptive interval type-2 fuzzy sliding mode control (AIT2-FSMC) is introduced for a class of nonlinear systems. In the presence of uncertainties, especially under noisy and external disturbances, interval type-2 fuzzy system can be helpful in approximating unknown nonlinear system functions. To achieve more efficiency, the proposed controller is designed to use the targeted combination of sliding mode as a robust controller, interval type-2 fuzzy system as a universal approximator, and adaptive control law as an online parameter's tuner. The interval type-2 adaptation law is derived using Lyapunov approach, and mathematical analysis proves the closed loop system to be asymptotically stable. Although stability of the controller is provided via Lyapunov approach, optimization is required for performance improvement. Genetic algorithm (GA), as a population-based approach, is then used to optimize the parameters of the interval Type-2 fuzzy sets. Simulation analysis shows that the optimized IT2FSMC can reach improved performance.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132528671","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
Decentralized adaptive control of large-scale non-affine nonlinear systems using wavelet networks 基于小波网络的大规模非仿射非线性系统分散自适应控制
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356695
F. Momeni, B. Karimi, M. Menhaj
{"title":"Decentralized adaptive control of large-scale non-affine nonlinear systems using wavelet networks","authors":"F. Momeni, B. Karimi, M. Menhaj","doi":"10.1109/ICCIAUTOM.2011.6356695","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356695","url":null,"abstract":"In this paper, a decentralized adaptive wavelet neural network (AWNN) controller for a class of large scale nonlinear systems with unknown, non-affine and nonlinear subsystems and nonlinear interconnections, is proposed. The stability of the closed loop system is guaranteed through Lyapunov stability analysis. In particular, it is shown that the tracking error converges asymptotically to zero. The effectiveness of the proposed decentralized adaptive controller is illustrated by considering a nonlinear system. The simulation results verify the merits of the proposed controller.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123071090","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
Controllable workspace of cable driven redundant parallel manipulator with more than one degree of redundancy 具有1度以上冗余度的缆索驱动冗余并联机器人的可控工作空间
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356781
A. Z. Loloei, H. Taghirad
{"title":"Controllable workspace of cable driven redundant parallel manipulator with more than one degree of redundancy","authors":"A. Z. Loloei, H. Taghirad","doi":"10.1109/ICCIAUTOM.2011.6356781","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356781","url":null,"abstract":"Controllable workspace analysis is one of the most important issues in the cable-driven parallel manipulator design. This paper introduces a set of extended fundamental wrenches that opens new horizons for physical interpretation of controllable workspace of cable driven redundant parallel manipulators with more than one degree of redundancy. Based on extended fundamental wrench properties, attractive theorems are presented in order to analyze the controllable workspace of cable-driven parallel manipulator with more than one degree of redundancy. Moreover, an analytical method is developed to determine the controllable workspace of redundant cable-driven parallel manipulators based on extended fundamental wrenches. The proposed method is generally applicable to any cable redundant manipulators as long as its Jacobian matrix is of full rank. In the proposed method, an analytic approach is employed based on linear algebra in order to derive the boundary of controllable workspace. Finally, the simulation result for a spatial manipulator is given.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116739553","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-objective optimization to improve transient performance of VSI in an off-grid micro-gird using imperialist competitive algorithm 基于帝国竞争算法的离网微电网VSI暂态性能多目标优化
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356715
Mahdi Kohansal, J. Moghani, Matin Rahmatian, G. B. Gharehpetian
{"title":"Multi-objective optimization to improve transient performance of VSI in an off-grid micro-gird using imperialist competitive algorithm","authors":"Mahdi Kohansal, J. Moghani, Matin Rahmatian, G. B. Gharehpetian","doi":"10.1109/ICCIAUTOM.2011.6356715","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356715","url":null,"abstract":"Micro-grids (MGs) are active networks known as an effective solution for the control of grids including high levels of Distributed Generation (DG). In off-grid MGs, DGs connected to Voltage Source Inverters (VSIs) enroll as controllers of voltage and frequency. These VSIs should share power between the DGs fairly. A precise power sharing may increase frequency drop. In this paper, a trade-off is obtained between power sharing and frequency behavior. A multi-objective function is defined including the aforementioned parameters. Imperialism Competitive Algorithm (ICA) is used for optimization process. The obtained parameters lead to the best performance of VSI controllers considering frequency behavior and power sharing.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127292625","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
H∞ loop shaping design for a spin stabilized seeker 自旋稳定导引头的H∞回路整形设计
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356640
M. M. Amini, M. Motlagh
{"title":"H∞ loop shaping design for a spin stabilized seeker","authors":"M. M. Amini, M. Motlagh","doi":"10.1109/ICCIAUTOM.2011.6356640","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356640","url":null,"abstract":"In this paper the new one-degree and two-degree of freedom H∞ loop shaping robust controllers are designed for a seeker scan loop, which has model uncertainty and subjects to external & internal disturbances. Both one-degree and two-degree of freedom H∞ loop shaping are constructed of two main stages; first, the nominal plant is dynamically diagonalized and shaped by pre- and post-compensators to give a desired shape to the singular values of the open loop frequency response and then shaped plant robustly stabilized with respect to coprime factor uncertainty using simple H∞ optimization and γ-iteration for one-degree of freedom H∞ loop shaping and two-degree of freedom H∞ loop shaping respectively. Finally, designed controllers are applied to the plant and simulation results in time and frequency domains such as step response, external and process disturbances rejection, robust performance and scan performance are shown and compared for these controllers and some other works.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127412020","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
Effect of dynamic model of satellite on accuracy of attitude estimation with unknown star sensor noise level 星敏感器噪声水平未知时卫星动态模型对姿态估计精度的影响
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356813
H. Bolandi, F. F. Saberi
{"title":"Effect of dynamic model of satellite on accuracy of attitude estimation with unknown star sensor noise level","authors":"H. Bolandi, F. F. Saberi","doi":"10.1109/ICCIAUTOM.2011.6356813","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356813","url":null,"abstract":"In this paper we will design an interacting multiple models adaptive attitude estimator (IMMAE) for a satellite with unknown star sensor noise level. This algorithm will be designed once using only kinematic model of the satellite which will be entitled 6-state IMMAE method and once using kinematic and dynamic models of the satellite which will be entitled 12-state IMMAE method. The results will be compared to illustrate the effect of dynamic model of satellite on accuracy of attitude estimation through numerical simulations. In this method, high fidelity gyro and star sensor models are used to evaluate the design in realistic situation associated with gyro errors and star sensor noise level uncertainties.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127473079","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
Control chart pattern recognition using adaptive back-propagation artificial Neural networks and efficient features 基于自适应反向传播人工神经网络和高效特征的控制图模式识别
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356752
J. Addeh, A. Ebrahimzadeh, V. Ranaee
{"title":"Control chart pattern recognition using adaptive back-propagation artificial Neural networks and efficient features","authors":"J. Addeh, A. Ebrahimzadeh, V. Ranaee","doi":"10.1109/ICCIAUTOM.2011.6356752","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356752","url":null,"abstract":"Control chart patterns are important statistical process control tools for determining whether a process is running in its intended mode or in the presence of unnatural patterns. Accurate recognition of control chart patterns is essential for efficient system monitoring to maintain high-quality products. This paper introduces a novel hybrid intelligent system that composed of two major decision layers. The patterns divided into three binary groups using Statistical feature and Neural networks in the first layer. In the second layer, in each of groups, recognition is done using shape features and Neural networks. One of these features is novel in this area. In learning of neural networks, indifference of training algorithm due to parameter change has an important role in succession of an algorithm. Therefore adaptive back-propagation algorithm is applied for training of neural networks. Simulation results show that the proposed system has high recognition accuracy.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125113102","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: 15
Stepping of biped robots over large obstacles using NMPC controller 基于NMPC控制器的双足机器人跨越大型障碍物的步进
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356784
N. Kalamian, M. Farrokhi
{"title":"Stepping of biped robots over large obstacles using NMPC controller","authors":"N. Kalamian, M. Farrokhi","doi":"10.1109/ICCIAUTOM.2011.6356784","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356784","url":null,"abstract":"One of the main challenges for biped robots is to step over large obstacles during walking. In this paper, a control method is proposed for walking and stepping over large obstacles based on the Nonlinear Model Predictive Control (NMPC) method. One of the main advantages of the proposed method is that it is trajectory free, which gives the robot the ability to step over any feasible obstacle. Moreover, the NMPC guarantees dynamic stability during walking and crossing over the target. In addition, a multilayer perceptron neural network is employed for identification of the dynamic model of the robot. In this way, the proposed method can cope with uncertainties in the robot model. Simulation results show good performance of the proposed method applied to a 173 cm robot stepping over a 40×15cm obstacle dynamically in the sagittal plane while maintaining a safety clearance from it, without any need for reference trajectory.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125519974","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
Computed torque controller for an 8 degrees of freedom biped robot based on Zero Moment Point 基于零力矩点的八自由度双足机器人计算力矩控制器
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356705
H. Haghighi, M. Nekoui
{"title":"Computed torque controller for an 8 degrees of freedom biped robot based on Zero Moment Point","authors":"H. Haghighi, M. Nekoui","doi":"10.1109/ICCIAUTOM.2011.6356705","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356705","url":null,"abstract":"Biped robot requires a control system to ensure the stability of the robot during walking. Computed torque control approach is a special application of feedback linearization of nonlinear system which also appears in robust control, adaptive control, learning control, and so on. This paper first introduces a newly designed mechanism, an 8 degree of freedom (DOF) biped robot, which designed in SolidWorks. Then it presents a human like walking trajectories for the feet and the hips in order to achieve smooth and continuous walking. We will obtain inverse kinematic to find desire angles and velocities and accelerations for controller. An accurate model for the related biped robot is computed and applied to the controller. Then we describe computed torque controller and introduce a way for adjusting the controller gains. Off-line Zero Moment Point (ZMP) is used for stability of biped robot. Finally, the effectiveness of controller is illustrated by simulation results.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126723576","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 hybrid ANN and PID classic controller applied to a cascade LC resonant converter 将人工神经网络与PID混合经典控制器应用于串级LC谐振变换器
The 2nd International Conference on Control, Instrumentation and Automation Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356740
Z. Malekjamshidi, M. Jafari
{"title":"A hybrid ANN and PID classic controller applied to a cascade LC resonant converter","authors":"Z. Malekjamshidi, M. Jafari","doi":"10.1109/ICCIAUTOM.2011.6356740","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356740","url":null,"abstract":"A cascade Γ-LC resonant power converter on base of a hybrid controller is introduced. The controller is a combination of Artificial Neural Networks (ANN) and PID classic controllers. The steady state operation of converter was explained according to steady state model of converter. In the proposed controller, the ANN controller changes the switching frequency to maximize the voltage gain and consequently to increase the efficiency of converter. It was shown that this process will be more effective in case of large load variations. Meanwhile the PID classic controller regulates the voltage on base of an On-line PWM process. A prototype was designed and implemented on base of the proposed controller and was tested experimentally. Comparison between simulation and experimental results verified the proposed hybrid controller. This showed reliability of this controller for expanding to other topologies of DC converters.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126844563","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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