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An intelligent fuzzy control scheme for mechatronic model of a standard-wheeled omni-directional mobile robot 一种标准轮式全向移动机器人机电模型的智能模糊控制方案
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912843
P. Jamali, O. Sohrabi, S. M. Tabatabaei, N. Seifipour
{"title":"An intelligent fuzzy control scheme for mechatronic model of a standard-wheeled omni-directional mobile robot","authors":"P. Jamali, O. Sohrabi, S. M. Tabatabaei, N. Seifipour","doi":"10.1109/ICCIAUTOM.2013.6912843","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912843","url":null,"abstract":"Controller design for omni-directional mobile robots (OMRs), which is referred to as a benchmark control problem in most of the related literature, becomes more difficult when their main characteristic to rapidly change position and orientation is desired. On the other hand, it is severe to provide their dynamics model analytically including an exact description of the slip phenomena. The aim of the present study is to design a model free control algorithm for a typical OMR equipped with 3 standard omni-directional wheels so that the interesting characteristic is preserved. In this way, a new software based mechatronic model, which contains numerical model of the ground contact forces, is introduced for the under study system. After that, the controller is designed via fuzzy logic theory based on fundamental movement modes. Some set of simulations are conducted in order to investigate the merit of the used method. Good trajectory tracking results are reported before advanced tuning of the proposed fuzzy controllers.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124998453","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
Robust stabilization of uncertain non-homogeneous Markov jump linear systems 不确定非齐次马尔可夫跳变线性系统的鲁棒镇定
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912806
M. Faraji-Niri, M. Jahed-Motlagh, Mojtaba Barkhordari-Yazdi
{"title":"Robust stabilization of uncertain non-homogeneous Markov jump linear systems","authors":"M. Faraji-Niri, M. Jahed-Motlagh, Mojtaba Barkhordari-Yazdi","doi":"10.1109/ICCIAUTOM.2013.6912806","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912806","url":null,"abstract":"This paper is concerned with the problem of designing a robust state-feedback stabilizer for continuous-time Markov jump linear systems with time varying transition rates, i.e. for a non-homogeneous Markov jump linear system. Transition rates are assumed to be piecewise constant, so the Markov jump linear system is piecewise homogeneous in fact. The system is subject to mode-dependent, time varying but norm-bounded parametric uncertainty. The stabilization method is based on the Lyapunov function approach and uses piecewise constant Lyapunov candidate. The robust stochastic mode-dependent stabilizer is presented in terms of linear matrix inequalities and an illustrative example is provided to verify the theoretical results.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125856391","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
Design of optimal output sliding mode control for discrete-time systems and improving the response rate using the CNF method 离散系统最优输出滑模控制设计及CNF方法提高响应率
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912819
H. Behruz, M. Shafiei, T. Binazadeh
{"title":"Design of optimal output sliding mode control for discrete-time systems and improving the response rate using the CNF method","authors":"H. Behruz, M. Shafiei, T. Binazadeh","doi":"10.1109/ICCIAUTOM.2013.6912819","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912819","url":null,"abstract":"In this paper, a new version of optimal discrete-time sliding mode control method for linear systems, without considering any constraints on the system structure or any limitations in dimension of the input vector is proposed. Moreover, to improve the transient response of the closed-loop system, the idea of CNF (composite nonlinear feedback) controller is utilized and the sliding surface is designed such that an arbitrary quadratic cost function is minimized. Since, in practice all state variables of the system may not be measurable, an output feedback method called FOS (fast output feedback), is used. The performance of the proposed algorithm is illustrated through analysis and simulation and the results are compared with two efficient methods: Discrete-time integral sliding mode and CNF composite with discrete-time integral sliding mode.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126042899","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
Application of extended Kalman filter to chaos synchronization 扩展卡尔曼滤波在混沌同步中的应用
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912811
V. Ghaffari, F. Shabaninia
{"title":"Application of extended Kalman filter to chaos synchronization","authors":"V. Ghaffari, F. Shabaninia","doi":"10.1109/ICCIAUTOM.2013.6912811","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912811","url":null,"abstract":"In this paper, synchronization problem of the Master-Slave chaotic system is presented. To this end, firstly, using discrete time extended Kalman filter, both states of the master and slave systems are estimated, next with a simple control law, slave system states is synchronized with master system states. To show the effectiveness of our approach, these results are applied to some well-known chaotic problems. Numerical simulations are used to show the efficiency of this approach.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115103466","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 output tracking of nonaffine magnetic suspension system 非仿射磁悬浮系统的鲁棒输出跟踪
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912854
M. Rahgoshay, T. Binazadeh, M. Shafiei
{"title":"Robust output tracking of nonaffine magnetic suspension system","authors":"M. Rahgoshay, T. Binazadeh, M. Shafiei","doi":"10.1109/ICCIAUTOM.2013.6912854","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912854","url":null,"abstract":"This paper considers the robust output tracking probem for an uncertain magnetic suspension system with coil current as the control input. The state-space equations of this system have nonaffine quadratic polynomial structure. A novel sliding mode controller is designed for output tracking of a time-varying reference signal which can conquer the uncertainties and guarantees the asymptotic convergence of the system output toward the desired time-varying reference signal. Computer simulations show the efficiency of the proposed method in output tracking for this nonaffine quadratic polynomial system.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122538697","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
Condenser temperature control of an ethylene terephthalate polymerization reactor using fuzzy-logic and classic control methods 应用模糊逻辑和经典控制方法对对苯二甲酸乙酯聚合反应器冷凝器温度进行控制
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912833
A. Sohrabi, M. Rafizadeh
{"title":"Condenser temperature control of an ethylene terephthalate polymerization reactor using fuzzy-logic and classic control methods","authors":"A. Sohrabi, M. Rafizadeh","doi":"10.1109/ICCIAUTOM.2013.6912833","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912833","url":null,"abstract":"In this work, the condenser temperature of an ethylene terephthalate polymerization reactor is controlled by Fuzzy-logic Controller. Using the open loop experiments and simulation results, the best form of transfer function was derived, which relates the condenser temperature to power of the heater. A set of PID and PD controllers, based on Cohen-Coon, imc, ITAE and Fuzzy method were designed to track the temperature trajectory. By studying the simulation results, the performance of the controllers was compared. The PD controllers had better efficiency, because of the self-integrator nature of the condenser. Hence, a PD-Fuzzy and an adaptive classic PD controller were applied to system. The Fuzzy controller showed an excellent performance and the maximum deviation was about 0.3 °C around 160°C.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127746203","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
Optimal sliding mode controller for asymmetrical DC-DC series resonant converter using genetic algorithm 基于遗传算法的非对称DC-DC串联谐振变换器最优滑模控制
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912846
A. Foghani, S. Barakati, S. H. Moosapour
{"title":"Optimal sliding mode controller for asymmetrical DC-DC series resonant converter using genetic algorithm","authors":"A. Foghani, S. Barakati, S. H. Moosapour","doi":"10.1109/ICCIAUTOM.2013.6912846","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912846","url":null,"abstract":"Resonant dc-dc converters have been applied to many industrial applications. In order to dc-dc converter operates in fixed frequency and the zero-voltage-switching (ZVS) condition per different loads, using robust control theory has been reported. In this paper, an optimal sliding mode controller for dc-dc series resonant converter is proposed to control the output voltage of converter in presence load varying. Modeling of converter contains three stages: state-space model, transformed model, and averaged model. This model is suitable for designing the sliding-mode controller. To optimize the controller genetic algorithm is employed. Simulation results are shown in order to validate the proposed optimal sliding mode controller.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131997952","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
A new adaptive sliding-based congestion control strategy for a large scale TCP/IP network with differentiated services 基于自适应滑动的大规模差分服务TCP/IP网络拥塞控制策略
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912804
H. S. Nejad, A. Ghiasi
{"title":"A new adaptive sliding-based congestion control strategy for a large scale TCP/IP network with differentiated services","authors":"H. S. Nejad, A. Ghiasi","doi":"10.1109/ICCIAUTOM.2013.6912804","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912804","url":null,"abstract":"In this paper, a new congestion control strategy is developed for a large scale TCP/IP network with differentiated services assuming arbitrary network configuration. A bandwidth allocation controller is designed according to the Quality of Service (QoS) requirements for the three classes of traffic, and traffic regulation algorithm is introduced for congestion avoidance. Considering the uncertainties of the large scale fluid flow model, the controller is designed using an adaptive sliding mode technique, and linear matrix inequality (LMI) conditions are obtained to guarantee BIBO stability of the overall error dynamics of the network. To regulate the incoming traffic in the ordinary and best effort services, a new algorithm is presented based on the packet marking method. Finally the performance of the control strategy is verified by the simulation results.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130986024","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 novel two-phased flow meter design using MEMS pressure meters array 基于MEMS压力计阵列的新型两相流量计设计
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912814
S. Asadi, A. Mokhtari, A. Suratgar, Erfan Khodabandeh, A. Karimi
{"title":"A novel two-phased flow meter design using MEMS pressure meters array","authors":"S. Asadi, A. Mokhtari, A. Suratgar, Erfan Khodabandeh, A. Karimi","doi":"10.1109/ICCIAUTOM.2013.6912814","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912814","url":null,"abstract":"Nowadays, processes which contain interacting liquid and gas phases are very common. For this reason this type of fluids have an important role in technology-based applications. So further and through investigations and an application-oriented knowledge desperately needed. Determining two-phased fluid flow is one of most challenging concepts dealing with these fluids. Common methods for measuring mentioned flows is Coriolis flow meters or by separating phases and determining each phase flow separately. One of important weaknesses in Coriolis flow meters is accumulation of gases inside them that causes malfunctioning. Also these methods have defects such as delay in measuring and lack of sufficient accuracy. The proposed method in this paper consist of simulating implementation of an array of MEMS pressure meters at the cross section of a tube carrying two phase flow. Some structural information of tube and MEMS pressure sensors data can be used for numerical analysis which ultimately estimates flow rate of fluid. The proposed method has advantages such as less delay, easy implementation, no need for peripheral accessories and less computational efforts rather than available industrial procedures.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"357 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133080550","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
Nonlinear disturbance observer for flexible-link manipulators based on flexural rate estimation 基于弯曲率估计的柔性臂非线性扰动观测器
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912847
A. Rashidinejad, S. Nikravesh, H. Talebi
{"title":"Nonlinear disturbance observer for flexible-link manipulators based on flexural rate estimation","authors":"A. Rashidinejad, S. Nikravesh, H. Talebi","doi":"10.1109/ICCIAUTOM.2013.6912847","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912847","url":null,"abstract":"In this paper, a nonlinear disturbance observer (NDO) is designed to estimate the environmental torques exerted on a flexible-link manipulator. To avoid differentiation from noisy data in order to get the estimate of flexural rates, another reduced order observer is employed. Then, the stability analysis of the integrated observer errors based on Lyapunov stability criterion is studied. Finally, the performance of the proposed observer is investigated by numerical simulations.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132286269","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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