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Neuro-fuzzy controlled autonomous mobile robotics system

Neuro-fuzzy controlled autonomous mobile robotics system

引用

2011 UKSim 13th international conference on Modelling and Simulation, UKSim 2011

作者： Al Mutib, Khalid Mattar, Ebrahim Department of Computer Science College of Computer and Information Sciences King Saud University P. O. Box 51178 Saudi Arabia Department of Electrical Electronics Engineering College of Engineering University of Bahrain P. O. Box 13184 Bahrain

ISBN: (纸本)9780769543765

this article discusses a Neurofuzzy navigation strategy for sensor-based mobile robotics system. ATransputer computation power is used to carry out complicated needed computation (reading sensors data, deciding actions, outputting wheels data, system monitoring). Robot control mythology was run on a parallel computing environment known as Transputers. the Transputer embedded real-time controller was used onboard the robot to meet various intelligence requirements for the free navigation and obstacle avoidance. the control system consists of a hierarchy of robot behaviors. the mobile behavior control system was based on the use of a number of Transputers processors. Behavior methodology was based on the utilization of a structure of a five layers Neuro-fuzzy system that learns, trains, and adapts itself to the environment. © 2011 ieee.

关键词： control systems

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LoRaWAN as Open Scalable IoT Ecosystem 13

LoRaWAN as Open Scalable IoT Ecosystem

引用

13th international Symposium on Advanced Topics in Electrical engineering, ATEE 2023

作者： Dumitru, Marian-Cosmin Pietraru, Radu Nicolae Moisescu, Mihnea Alexandru University Politehnica of Bucharest Automatic Control and Industrial Informatics Department Romania

ISBN: (纸本)9798350331936

Today's IoT systems tend to grow in complexity continuously as they become more widespread. Moving from vertical systems to multi-domain systems, IoT applications lead to the need for a management system that covers more and more aspects, starting from the physical management of the equipment to the definition of security policies. the requirements of wide coverage and low energy consumption have led to the emergence of Low Power Wide Area Networks as the basis for the implementation of IoT systems. this paper explores the use of LoRaWAN LPWAN technology as a support for a unified open IoT ecosystem enabling the scaling of computing power from edge devices to cloud services. By identifying a complete technical implementation solution for an IoT ecosystem, both the problem of system management and the control of its complexity can be solved. © 2023 ieee.

关键词： Ecosystems

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Attractive ellipsoids based robust control design of switched systems: A geometrical approach 13

Attractive ellipsoids based robust control design of switche...

引用

13th international conference on Electrical engineering, computing Science and Automatic control, CCE 2016

作者： Azhmyakov, V. Juarez, R. Gadi, S.K. Guzman Trujillo, L.A. Departmento de Ciencias Básicas Universidad de Medellín Colombia Facultad de Contaduría y Administración Universidad Autónoma de Coahuila Torreón Mexico Facultad de Ingeniería Mecánica y Eléctrica Universidad Autónoma de Coahuila Torreón Mexico RandD Department CIDANTEC Neiva Colombia

ISBN: (纸本)9781509035106

this contribution deals with a robust control design for general switched affine control systems. Dynamical models under consideration are described by ordinary differential equations involving a switching mechanism and in the presence of bounded uncertainties. the design procedure we analyse is based on the newly elaborated attractive ellipsoids method ([33]). the stability and robustness of the resulting closed-loop system involves an abstract Clarke stability theorem. A short discussion on the obtained analytic results and possible applications and extensions is also included. © 2016 ieee.

关键词： Ordinary differential equations

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Security of Networked systems with Random Sampling Intervals and Deception Attacks Via Non-Fragile Sampled-Data control 13

Security of Networked Systems with Random Sampling Intervals...

引用

13th ieee international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Hu, Zhipei Wang, Chen Zhang, Jin Li, Xutao Zou, An-Min School of Electrical and Information Engineering Shantou University Shantou515063 China School of Mechatronic Engineering and Automation Shanghai University Shanghai200072 China

ISBN: (纸本)9798350315196

this study is concerned with the security of networked systems with random sampling intervals and deception attacks using non-fragile sampled-data control. We first establish a discrete-time stochastic model framework for the networked system with random sampling intervals and deception attacks. Subsequently, by the vectorization and Kronecker product operation, a non-fragile controller is designed such that the exponential mean-square stability of resulting discrete-time stochastic system is guaranteed. Finally, a numerical example is presented to show the effectiveness of the designed algorithm. © 2023 ieee.

关键词： Stochastic models

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2016 13th international conference on Electrical engineering, computing Science and Automatic control, CCE 2016

2016 13th International Conference on Electrical Engineering...

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13th international conference on Electrical engineering, computing Science and Automatic control, CCE 2016

ISBN: (纸本)9781509035106

the proceedings contain 80 papers. the topics discussed include: fully digital write-in scheme for multi-bit memristive storage;effects of negative affective sounds on P300;thresholding methods review for microcalcifications segmentation on mammography images in obvious, subtle, and cluster categories;study of a small aircraft for control development and UAV task;superimposed training-based detector for spectrum sensing in cognitive radio;design of blind distributed UFIR filter based on average consensus for WSNs;modeling the variation of threshold voltage, mobility factor and saturation coefficient in amorphous indium-gallium-zinc oxide thin film transistors;improving robustness of distributed filtering for sensor networks using FIR filtering;development of a detection system microaneurysms in color fundus images;fuzzy inference system for region segmentation using the YCbCr color model;FPGA implementation of orthogonal matching pursuit algorithm;a LOFAR and beamforming implementation in a FPGA for a digital passive SONAR;modeling of single-ended interconnects using surrogate model and design of experiments techniques;assessment of the possibility to couple a photo sensor to a floating-gate MOS transistor;and improving approximation of jitter probability in the breakpoints of simulated copy number alterations.

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Fully Distributed Adaptive Finite Time Fault-Tolerant control for Multi-Agent systems with Actuator Faults 13

Fully Distributed Adaptive Finite Time Fault-Tolerant Contro...

引用

13th ieee international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Wang, Xiaoqi Fang, Yiming Xu, Miao Lei, Zhichao Yanshan University Key Labpratory of Industrial Computer Control Engineering Hebei Province Qinhuangdao China Yanshan University Eng. Res. Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Hebei Province Qinhuangdao China

ISBN: (纸本)9798350315196

For a class of second-order nonlinear leader-following multi-agent systems with actuator faults and integral quadratic constraints (IQCs) of followers, a fully distributed adaptive consensus control algorithm based on improved PID sliding mode is designed. the algorithm only requires local topology information but no global information. According to Lyapunov stability theory, it is demonstrated that multi-agent systems can converge to the vicinity near equilibrium points within a finite time. Finally, the feasibility of the control algorithm proposed in this paper is verified by numerical simulation of multi-agent systems. © 2023 ieee.

关键词： Multi agent systems

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Research and Application of control Algorithm Based on Intelligent Traveling Crane 13

Research and Application of Control Algorithm Based on Intel...

引用

13th ieee international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Liu, Lisang Zhang, Youyuan Chen, Jionghui Chen, Jiayu School of Electronic Electrical Engineering and Physics Fujian University of Technology Fuzhou350118 China

ISBN: (纸本)9798350315196

the industrial crane is an important tool and equipment for modern industrial production and lifting transportation to realize the automation of the production process as well as mechanization, however, it is vulnerable to environmental disturbances such as transporting heavy objects, which would cause the crane running operation unstable and swaying. In order to improve the running stability of the traveling crane, this paper needles on the basis of the traditional PID control algorithm proposes fuzzy PID and BP-PID two improved intelligent PID control algorithms. By comparing and analyzing the simulation results among traditional PID, fuzzy PID and BP-PID, the two intelligent control algorithms, fuzzy PID and BP-PID, are approved not only can overcome the system disturbance effectively but also have faster dynamic response speed. the BP-PID has best stability and anti-interference. © 2023 ieee.

关键词： three term control systems

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Global Model-Free Prescribed Performance Asymptotic Tracking control for MIMO Nonlinear systems with Unknown Sensor Error 13

Global Model-Free Prescribed Performance Asymptotic Tracking...

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13th ieee international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Li, Hao Hua, Changchun Ning, Pengju Li, Qidong Institute of Electrical Engineering Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9798350315196

the global model-free prescribed performance tracking control problems are studied in this note. A low-computation control algorithm is developed for a class of uncertain multi-input multi-output (MIMO) uncertain systems with sensor error. the error are described as unknown time-varying functions. Under the circumstances, we propose a global saturation function to eliminate the restriction for the initial condition. Moreover, the proposed fixed-time performance function ensures the transient performance of the tracking error. Our algorithm does not require any prior knowledge for nonlinear functions of the system, has intrinsic robustness against model uncertainties, can ensure that the tracking error asymptotically converge to zero. Finally, the numerical simulation is presented to confirm the availability of the developed control algorithm. © 2023 ieee.

关键词： Errors

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Experimental Results on Nonlinear Position control of Linear Slider Using Operator-Based Double-Coprime Factorization 13

Experimental Results on Nonlinear Position Control of Linear...

引用

13th international conference on Power, Energy and Electrical engineering, CPEEE 2023

作者： Hoshina, Tomoya Deng, Mingcong Tokyo University of Agriculture and Technology The Graduate School of Engineering 2-24-16 Nakacho Tokyo Koganei184-8588 Japan

ISBN: (纸本)9781665490146

Disturbance suppression is one of the most important problems in the field of control. Disturbances are external factors that affect the state of the system, such as friction and gravity in dynamical systems. they have unexpected effects on the system response, and in the worst case, they cause the system to become unstable. Disturbance observers exist as controllers to suppress such disturbances. However, disturbance observers treat all disturbances that affect the system as input disturbances, which is not strictly true for nonlinear systems. therefore, we propose a controller that directly considers disturbances to the internal state of the system and suppresses them more rigorously by using left-coprime factorization based on operator theory. Furthermore, we propose a control system that simultaneously performs target value tracking and disturbance suppression with a single controller by combining this theory with an existing control system using right-coprime factorization and double-coprime factorization. Simulation and actual experiments on a linear motor have confirmed that the designed control system has the two performance features of target value tracking by the existing right-coprime factorization and disturbance suppression by the proposed left-coprime factorization. © 2023 ieee.

关键词： Disturbance rejection

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A GPU-based Parallel Slicer for 3D Printing 13

A GPU-based Parallel Slicer for 3D Printing

引用

13th ieee international conference on Automation Science and engineering (ieee CASE)

作者： Zhang, Xipeng Xiong, Gang Shen, Zhen Zhao, Yiyao Guo, Chao Dong, Xisong Univ Chinese Acad Sci Sch Comp & Control Engn Beijing 100049 Peoples R China Chinese Acad Sci Cloud Comp Ctr Dongguan 523808 Peoples R China Chinese Acad Sci Inst Automat Beijing Engn Res Ctr Intelligent Syst & Technol Beijing 100190 Peoples R China Xi An Jiao Tong Univ Sch Elect & Informat Engn Xian 710049 Shaanxi Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Shandong Peoples R China

ISBN: (纸本)9781509067817

Mesh slicing is one of the most common operations in additive manufacturing (AM). However, the computing burden for such an application is usually very heavy, especially when dealing with large models. Nowadays the graphics processing units (GPU) have abundant resources and it is reasonable to utilize the computing power of GPU for mesh slicing. In the paper, we propose a parallel implementation of the slicing algorithm using GPU. We test the GPU-accelerated slicer on several models and obtain a speedup factor of about 30 when dealing with large models, compared with the CPU implementation. Results show the power of GPU on the mesh slicing problem. In the future, we will extend our work and standardize the slicing process.

关键词： Graphics processing units Instruction sets three-dimensional printing Computational modeling three-dimensional displays Solid modeling Biological system modeling

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