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检索条件"任意字段=2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009"

共 402 条记录，以下是11-20 订阅

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Modeling and control of a Nonholonomic Wheeled Mobile Robot with Wheel Slip Dynamics

Modeling and Control of a Nonholonomic Wheeled Mobile Robot ...

引用

ieee symposium on computational intelligence in control and automation

作者： Tian, Yu Sidek, Naim Sarkar, Nilanjan Vanderbilt Univ Dept Mech Engn Nashville TN 37209 USA Vanderbilt Univ Dept Elect Engn Nashville TN 37209 USA

ISBN: (纸本)9781424427529

In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.

关键词： Wheels

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Application of Delay-Dependent Adaptive control to a Continuous Stirred Tank Reactor

Application of Delay-Dependent Adaptive Control to a Continu...

引用

3rd ieee symposium on computational intelligence in control and automation (cica)

作者： Nounou, Hazem N. Nounou, Mohamed N. Texas A&M Univ Qatar Elect & Comp Engn Program POB 23874 Doha Qatar Texas A&M Univ Qatar Chem Engn Program Doha Qatar

ISBN: (纸本)9781467358934

The main contribution of this work is the application of delay-dependent adaptive control techniques to control nonlinear continuous stirred tank reactor (CSTR) model with state delay. The delay-dependent adaptive control problem is first formulated and stabilizing adaptive control algorithms are developed and then applied to the CSTR process model. The CSTR model includes a nonlinear perturbation which is assumed to have a norm that is bounded by a scaled norm of the state vector. Here, we consider two cases where the weight of the state norm is assumed to be known and unknown. Simulation results show the efficacy of the delay-dependent adaptive control schemes in controlling the CSTR nonlinear process model.

关键词： adaptive control chemical engineering chemical reactors delays nonlinear control systems perturbation techniques stability vectors

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Minimum-Delay Link Determination in Networked control Systems Using Asexual Reproduction Optimization

Minimum-Delay Link Determination in Networked Control System...

引用

ieee symposium on computational intelligence in control and automation

作者： Farasat, A. Amani, A. M. Menhaj, M. B. Univ Tehran Tehran Iran Amirkabir Univ Technol Tehran Iran Amirkabir Univ Technol Fac Elect Engn Tehran Iran

ISBN: (纸本)9781424427529

Networked control systems (NCS) have gained an increasing attention in recent years due to their flexibility and cost reduction. The two main problems affecting stability and performance of closed-loop NCS are packet delay and drop. The problem of delay is severe in large scale NCS where the sensor-controller-actuator are connected via a network with large number of switches and routers. In this paper, we propose a real time optimization algorithm, called Asexual Reproduction Optimization (ARO) which is inspired by asexual reproduction, to find the least delay link in the control loop. Simulation results reveal that the proposed algorithm remarkably outperforms the recently cited Genetic Algorithm (GA) in finding the minimum delay link.

关键词： Networked control systems

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Fuzzy Lyapunov Decentralized control of Takagi-Sugeno Interconnected Descriptors

Fuzzy Lyapunov Decentralized Control of Takagi-Sugeno Interc...

引用

ieee symposium on computational intelligence in control and automation

作者： Jabri, Dalel Guelton, Kevin Manamanni, Noureddine Abdekrim, Mohamed N. Univ Reims CReSTIC URCA Moulin Housse BP 1039 F-51687 Reims 2 France Univ Gabes MACS Lab Gabes 6029 Tunisia

ISBN: (纸本)9781424427529

This paper deals with decentralized stabilization of nonlinear systems composed of interconnected Takagi-Sugeno fuzzy descriptors. To ensure the stability of the overall closed-loop system, a set of decentralized Parallel Distributed Compensations (PDC) controllers is employed. The stability conditions are then derived into Linear Matrix Inequalities (LMI) using a fuzzy Lyapunov function for less conservatism. Nevertheless, it contains decision parameters that are not available in practice. So the LMIs are casted into relaxed quadratic conditions using simple assumptions. Finally, a numerical example is proposed to illustrate the effectiveness of the suggested decentralized approach.

关键词： Linear matrix inequalities

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Study on distributed internal synchronization in a LAN network

Study on distributed internal synchronization in a LAN netwo...

引用

3rd ieee symposium on computational intelligence in control and automation (cica)

作者： Yang, Lei Lin, Hu Zheng, Liaomo Univ Sci & Technol China Sch Comp Sci & Technol Hefei 230027 Anhui Peoples R China Chinese Acad Sci Shenyang Inst Comp & Technol Shenyang Peoples R China

ISBN: (纸本)9781467358934

To meet rising demands of synchronization precision in distributed nodes in LAN network, a specialized scheme is proposed based on the intermediate-level modeling for initial synchronization and periodical resynchronizations with basic concurrency control and tight bounds. Several representative threads are designed and well scheduled with definite and thorough functional partitioning inside to create a fast and efficient circumstance for communication between nodes. An experimental realization based on RT Linux kernel and corresponding measurements are accomplished. The results indicate that in a small-scale distributed environment, the nodes are able to be well synchronized during in the long run with hundreds of resynchronizations and the deviations are significantly limited in a reasonable range. The proposed scheme effectively promotes the performance of dock synchronization in the LAN network.

关键词： Linux concurrency control local area networks synchronisation

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Minimal Overshoot Direct Torque control for Permanent Magnet Synchronous Motors Using Hybrid Bacteria Foraging-Particle Swarm Optimization

Minimal Overshoot Direct Torque Control for Permanent Magnet...

引用

3rd ieee symposium on computational intelligence in control and automation (cica)

作者： Bayoumi, Ehab H. E. Higher Colleges Technol ADMC Dept Elect & Elect Engn Technol Abu Dhabi U Arab Emirates

ISBN: (纸本)9781467358934

This paper presents a robust torque, flux and speed controller's design method for permanent magnet synchronous motor (PMSM) drive using Direct Torque control (DTC). A simple algorithm is presented to adjust the parameters of torque, flux and speed controllers. This mini-max optimization problem is solved using Hybrid Bacteria Foraging-Particle Swarm Optimization Approach (BF-PSO). The solution thus obtained is global optimal and robust. The proposed technique eliminates common problems including;torque ripples, low speed and integration drift. As well as it characterized by fast tracking capability, minimal overshoot responses, and robust to load disturbances and low speed operation. Results prove the effectiveness and viability of the proposed technique.

关键词： bacteria foraging optimization particle swarm optimization minimal overshoot PI controller PMSM drive direct torque control

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Modeling and Analyzing Technical Systems as Complex Networks: Detecting Inverse Response

Modeling and Analyzing Technical Systems as Complex Networks...

引用

3rd ieee symposium on computational intelligence in control and automation (cica)

作者： Geiger, Andreas Kroll, Andreas Univ Kassel Measurement & Control Dept D-34125 Kassel Germany

ISBN: (纸本)9781467358934

"Complex networks" is the term for a research area where complex systems are modeled by a graph to analyze their structural behavior. They are mostly used in the areas of social sciences, biology and physics. For example, complex networks are a proper method to describe and analyze the non-trivial characteristics depending on the interconnection in a society or between human organs. In the context of computational intelligence, this paper introduces an idea to transfer the methods of the area of complex networks to technical systems, and, furthermore, enhance them to permit analyzing dynamic behavior. As a basis for the method transfer a transfer-function-based graph is presented which allows modeling technical systems in the same way as complex networks. The potential to detect dynamical behavior, in addition to structural behavior, is demonstrated by a new algorithm that detects inverse response in interconnected systems based on methods of complex networks. The introduced algorithm provides a qualitative answer if inverse response behavior is possible between a pair of input and output of a system. Finally, two case studies are used to demonstrate the algorithm.

关键词： complex networks graph theory interconnected systems network theory (graphs) transfer functions

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Design of Adaptive Moving-Target Tracking control for Vision-Based Mobile Robot

Design of Adaptive Moving-Target Tracking Control for Vision...

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3rd ieee symposium on computational intelligence in control and automation (cica)

作者： Lin, You-Wei Wai, Rong-Jong Yuan Ze Univ Dept Elect Engn Chungli 32003 Taiwan

ISBN: (纸本)9781467358934

This study constructs an adaptive moving-target tracking control (AMTC) scheme via a dynamic Petri recurrent-fuzzy-neural-network (DPRFNN) for a vision-based mobile robot with a tilt camera. First, a continuously adaptive mean shift (CAMS) algorithm is adopted for the moving-object detection, and a model-based conventional sliding-mode control (CSMC) strategy is introduced. Moreover, it further designs a model-free AMTC scheme with a DPRFNN for imitating the CSMC strategy for relaxing the control design dependent on detailed system information and alleviating chattering phenomena caused by the inappropriate selection of uncertainty bounds. In addition, a switching path-planning scheme plus the AMTC is designed without detailed environmental information, large memory size and heavy computation burden for the obstacle avoidance of a mobile robot. Furthermore, numerical simulations are given to verify the effectiveness of the proposed AMTC scheme under different target tracking, and its superiority is indicated in comparison with the CSMC system.

关键词： Petri nets fuzzy neural nets mobile robots object detection path planning recurrent neural nets robot vision target tracking variable structure systems

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Robust Output Feedback control of T-S Fuzzy Time-delay Systems

Robust Output Feedback Control of T-S Fuzzy Time-delay Syste...

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3rd ieee symposium on computational intelligence in control and automation (cica)

作者： Chiu, Chian-Song Yang, Wen-Tsung Chiang, Tung-Sheng Chung Yuan Christian Univ Dept Elect Engn Chungli 32023 Taiwan Chien Hsin Univ Sci & Technol Dept Elect Engn Chungli 320 Taiwan

ISBN: (纸本)9781467358934

This paper proposes output feedback control for uncertain T-S fuzzy systems with state and input delays. First, a fuzzy observer-based dynamic control method is introduced for stabilizing uncertain time-delay fuzzy systems. Based on the dynamic control scheme, the input delay is decoupled with the system states, so that the stability condition becomes simpler. Then, the robust stability conditions are derived and converted to solving linear matrix inequality problems (LMIPs) by a novel Lyapunov function. In turn, the controller and observer gains are able to be separately designed even in the presence of modeling uncertainty, state delay, and input delay. In comparison with current literatures, the controlled states and state estimation errors are guaranteed to be asymptotically stable with more relaxed conditions on the time delays. Numerical simulation and comparison results demonstrate the expected performance.

关键词： time-delay fuzzy system LMI output feedback uncertainty

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Fixed-Order H_∞ Loop-Shaping Synthesis: a Time Domain Approach

Fixed-Order H<sub>∞</sub> Loop-Shaping Synthesis: a Time Do...

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3rd ieee symposium on computational intelligence in control and automation (cica)

作者： Feyel, Philippe Duc, Gilles Sandou, Guillaume Sagem Def & Secur Safran Grp Optron & Def Div Massy France SUPELEC Syst Sci E3S Dept Control Gif Sur Yvette France

ISBN: (纸本)9781467358934

This work deals with a new approach of loop-shaping H-infinity synthesis based on the Particle Swarm Optimization (PSO) algorithm. Indeed, such stochastic algorithms are interesting to solve problems based on complex industrial specifications and so seem to be particularly well suited to optimal robust controller synthesis. In this work we investigate the optimal weight tuning along a fixed order controller computation without any structural assumption on the searched filters except of course their order. The absence of any structural assumption is important to avoid affecting the quality of the solution towards a complex specification and allows us to reduce the synthesis problem to a simple time domain one with static scalings in place of frequency weights. Using a version of PSO well adapted for high dimensional problems, we succeed in computing a fixed-order controller for complex industrial specifications toward a generic non constraint fitness with quite reasonable computing time.

关键词： Loop-shaping robust control particle swarm optimization gap-metric robustness

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