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检索条件"任意字段=3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013"

共 157 条记录，以下是91-100 订阅

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A support vector machine seismic detector for early-warning applications

A support vector machine seismic detector for early-warning ...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Ruano, António E. Madureira, G. Barros, Ozias Khosravani, Hamid R. Ruano, Maria G. Ferreira, Pedro M. Centre for Intelligent Systems IDMEC IST Portugal University of Algarve 8005-139 Faro Portugal Centro Geofísico de S.Teotónio Instituto Português do Mar E da Atmosfera Portugal CISUC University of Coimbra Portugal Faculty of Sciences University of Lisbon Portugal

ISBN: (纸本)9783902823458

This paper extends a Support Vector Machine (SVM) approach for the detection of seismic events, at the level of a seismic station. In previous works, it was shown that this approach produced excellent results, in terms of the Recall and Specificity measures, whether applied off-line or in a continuous scheme. The drawback was the time taken for achieving the detection, too large to be applied in a Early-Warning System (EWS). This paper shows that, by using alternative input features, a similar performance can be obtained, with a significant reduction in detection time. Additionally, it is experimentally proved that, whether off-line or in continuous operation, the best results are obtained when the SVM detector is trained with data originated from the respective seismic station. Copyright © 2013 ifac.

关键词： Support vector machines

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Robust H∞ stabilization of uncertain T-S fuzzy systems via dynamic integral sliding mode control

Robust H∞ stabilization of uncertain T-S fuzzy systems via ...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Gao, Qing Huang, He Feng, Gang Liu, Lu Wang, Yong Department of Automation University of Science and Technology of China Hefei 230026 China Department of Mechanical and Biomedical Engineering City University of Hong Kong 83 Tat Chee Avenue Hong Kong Hong Kong School of Electronics and Information Engineering Soochow University Suzhou China

ISBN: (纸本)9783902823458

This paper addresses the integral sliding mode control (ISMC) design problem for nonlinear systems represented by T-S fuzzy systems with norm bounded parameter uncertainties. It is noted that most existing fuzzy ISMC approaches rely on a very restrictive assumption that all subsystems of the T-S fuzzy systems share the same input gain matrix. In order to remove this assumption, we proposed a novel dynamic integral sliding mode control scheme for T-S fuzzy systems. Reachability of the integral sliding surface is analyzed and asymptotic stability of the sliding motion are guaranteed if a set of linear matrix inequalities is feasible. Simulation results from a numerical example are provided to illustrate the effectiveness and advantages of the proposed approaches. Copyright © 2013 ifac.

关键词： Linear matrix inequalities

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Notes on Sampled-data design for robust control of a single qubit

Notes on Sampled-data design for robust control of a single ...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Wang, Yuanlong Chen, Chunlin Dong, Daoyi State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China Department of Control and System Engineering Nanjing University Nanjing 210093 China School of Engineering and Information Technology University of New South Wales Australian Defence Force Academy Canberra ACT 2600 Australia

ISBN: (纸本)9783902823458

This paper presents several notes on the robust control method proposed in [Dong et al (2013), Sampled-data design for robust control of a single qubit. IEEE Transactions on Automatic control, in press] and improves the original sampling periods so that this control method can be better and more furthermore easily realized. For the case of amplitude damping decoherence, a larger sampling period is presented when the upper bound of the probability of failure is small enough. For the case of phase damping decoherence, a larger sampling period is given when the lower bound of the target coherence is large enough. Furthermore, we provide improved sampling periods for both of the above two cases under the same assumption as that in [Dong et al (2013), Sampled-data design for robust control of a single qubit. IEEE Transactions on Automatic control, in press]. Copyright © 2013 ifac.

关键词： Robust control

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Human demonstration trajectory refinement for redundant manipulators

Human demonstration trajectory refinement for redundant mani...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Shen, Longbin Xiong, Rong Chu, Jian State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9783902823458

Motion planning for robotic manipulators is a fundamental work in the research on brainmachine interface (BMI), as well as a key research issue in robotics community. Recently, algorithms for trajectory planning of end effector by learning from human demonstrations are reported, which could reduce the workload on coding for different manipulation actions. However, current approaches have at least one of the following drawbacks: (1) the generated trajectories usually are discontinuous;(2) physical limits of actuation system are not considered;(3) trajectory executive time is not optimal. This paper describes a novel method based on affine trajectory deformation to refine demonstration trajectory within manipulator's physical constraints and optimize the executive time. In the proposed method, the affine trajectory deformation is employed in joint space as an optimization problem to minimize the revision and time under the constraints on the physical limits of actuation system. The feasibility of our approach is demonstrated on the humanoid robot arm, which learned a table tennis strike and reproduced same motion as fast as possible. Copyright © 2013 ifac.

关键词： Deformation

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Stable direct adaptive neural control of an electrically driven dual-axis motion platform using backstepping technique

Stable direct adaptive neural control of an electrically dri...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Elkoteshy, Y. Yang, S.Y. Jiao, L.C. School of International Education Xidian University Xi'an 710071 China Key Laboratory of Intelligent Perception and Image Understanding Xidian University Ministry of Education of China Xi'an 710071 China

ISBN: (纸本)9783902823458

In this paper, the adaptive backstepping neural control (ABNC) is applied to an electrically driven dual-axis motion platform. The Dynamic model of the electrically driven dual-axis motion is obtained by coupling the dynamics of the dual-axis motion platform with the actuators (DC motors) dynamics. Thus, it is more realistic to select the actuators input voltages to be the control inputs instead of input torques, unlike the case when the actuators dynamics are not included. Unlike the existing ABNC techniques, single hidden layer feedforward neural networks with additive hidden nodes (SLFNN) are used to approximate the unknown nonlinear functions in the actual and virtual control laws where the networks parameters are adjusted based on extreme learning machine (ELM) algorithm. In ELM-based SLFNN, the hidden layer parameters are randomly selected and only the output layer weights linking the hidden layer with the output layer are needed to be updated. The adaptive update laws for the output layer weights are derived based on Lyapounov stability theory for guaranteeing semi-global boundedness of all signals in the closed-loop system. The simulation study illustrates the effectiveness of the proposed controller and shows that the system outputs track the desired trajectories with small tracking errors. Copyright © 2013 ifac.

关键词： DC motors

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Coordinated 3D path following for autonomous underwater vehicles via classic PID controller

Coordinated 3D path following for autonomous underwater vehi...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Xiang, Xianbo Chen, Dong Yu, Caoyang Ma, Lei School of Naval Architecture and Ocean Engineering Huazhong University of Science and Technology Wuhan 430074 China School of Electrical Engineering Southwest Jiaotong University Chengdu 610031 China

ISBN: (纸本)9783902823458

In this paper we investigate the problem of coordinated path following control of underactuated autonomous underwater vehicles (AUVs) in 3D space. A classic PID controller is adopted to simplify the path following control design by integrating the 3D guidance law for individual AUVs. Leader-follower strategy is subsequently proposed to coordinate two underactuated AUVs flying along predefined paths in 3D space based on invariant manifold principle, where the speed of the follower is adapted in terms of the single-variant information "along-path parameter" exchanged by the leader vehicle. Simulation results of coordinated path following of underactuated AUVs in 3D space are presented and further research interests are discussed. Copyright © 2013 ifac.

关键词： Autonomous underwater vehicles

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Multiple targets localization approach based on virtual fingerprinting in indoor environment

Multiple targets localization approach based on virtual fing...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Guo, Xiansheng Xu, Baogen Rao, Zhongchu Zhang, Hongbing University of Electronic Science and Technology of China Chengdu 611731 China TONGFANG Electronic Science and Technology Limited Company Jiujiang Jiangxi China

ISBN: (纸本)9783902823458

The main drawbacks of indoor localization approach based on Received Signal Strength (RSS) is the sensitivity to the fluctuation of measured RSS at a fixed location in difference time. In this paper, a novel multiple target localization approach is proposed by exploiting virtual fingerprinting, which is calculated from spacial relationship between reference nodes and virtual location nodes. The merits of our proposed method is twofold. First, our proposed method does not require the process of RSS fingerprinting constructing, which is a huge burden of localization methods based on RSS. Secondly, our proposed method is more robust than some existing methods, such as TOA-based method and RSS-based method, in big measurement error case. The efficacy of our proposed method are proven by means of some experimental results. Copyright © 2013 ifac.

关键词： Indoor positioning systems

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Dynamics and Energy-based control of TORA System on a Slope

Dynamics and Energy-based Control of TORA System on a Slope

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3rd IEEE Annual International conference on Cyber Technology in automation, control and intelligent System (CYBER)

作者： Gao, Bingtuan Song, Honggang Zhao, Jianguo Gong, Chengya Southeast Univ Sch Elect Engn Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781479906109;9781479906123

The Translational Oscillators with Rotating Actuator (TORA) is an underactuated system which has one actuated rotor and one unactuated translational cart. This paper focuses on dynamics and control design of an underactuated TORA on a slope. Lagrange Equations are employed to achieve the dynamics of the TORA on a slope by selecting position of a cart and rotor angle as the general coordinates and torque acting on the rotor as general force. Based on the passivity of the system, a control Lyapunov function including system energy is designed. Consequently, a stabilizing controller is yielded based on the second Lyapunov stability theorem. Finally, numerical simulations are performed to verify the correctness and feasibility of the dynamic analysis and stabilizing controller.

关键词： Lyapunov methods control system synthesis nonlinear control systems position control rotors stability torque control

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Limitations and improvements on potential-based connectivity preservation of multi-agent systems

Limitations and improvements on potential-based connectivity...

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3rd IEEE Annual International conference on Cyber Technology in automation, control and intelligent System (CYBER)

作者： Fan, Yuan Song, Cheng Anhui Univ Sch Elect Engn & Automat Hefei 230601 Peoples R China

ISBN: (纸本)9781479906109;9781479906123

In multi-agent cooperative control, consensus result often relies on the connectivity of the underlying communication network. This paper studies the problem of preserving connectivity with bounded control inputs for agent network with fixed and time-varying topologies. Firstly, a general potential based control law is investigated and sufficient conditions for preserving connectivity are presented. Then, a necessary condition for preserving connectivity with bounded control inputs is obtained. Based on this condition, a novel control law with bounded inputs is proposed and the selection of appropriate parameters for the corresponding control law is also discussed. The effectiveness of the proposed control law and the boundedness of the inputs are illustrated by numerical examples.

关键词： graph theory networked control systems numerical analysis time-varying systems

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Comparison of several filtering methods for linear multi-agent systems with local unknown parametric couplings

Comparison of several filtering methods for linear multi-age...

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3rd ifac conference on intelligent control and automation science, icons 2013

作者： Lv, Yini Ma, Hongbin Yang, Chenguang Fu, Mengyin Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China School of Computing and Mathematics Plymouth University United Kingdom

ISBN: (纸本)9783902823458

In this paper, several filtering methods for a class of discrete-time stochastic linear time-varying multi-agent systems with local coupling uncertainties have been investigated. Every agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent because of communication limitations existing in the considered multi-agent system. Because of the information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional Kalman filter or other state observers. Noting of the existence of coupling uncertainties in many practical applications, this paper introduces one general framework of decentralized filtering problem of multi-agent systems. For the considered system, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from principles in adaptive control, we introduce several filtering methods to resolve the fundamental problem considered in this paper. By conducting extensive simulations, the consuming time and estimation errors of every method are compared for one typical example, which suggests which method is more precise and faster. Copyright © 2013 ifac.

关键词： Kalman filters

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