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检索条件"任意字段=5th International Conference on Informatics in Control Automation and Robotics, ICINCO 2008"

共 191 条记录，以下是31-40 订阅

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A quadratic programming approach to the minimum energy problem of a mobile robot

A quadratic programming approach to the minimum energy probl...

引用

5th international conference on informatics in control, automation and robotics

作者： Potts, Alain Segundo da Cruz, Jose Jaime Bernardi, Reinaldo Univ Sao Paulo Dept Telecommun & Control Sao Paulo Brazil Genius Inst Technol Sao Paulo Brazil

ISBN: (纸本)9789898111319

As a consequence of physical constraints and of dynamical nonlinearities, optimal control problems involving mobile robots are generally difficult ones. Many algorithms have been developed to solve such problems, the more common being related to trajectory planning, minimum-time control or any specific performance index. Nevertheless optimal control problems associated to mobile robots have not been reported. Minimum energy problems subject to both equality and inequality constraints are generally intricate ones to be solved using classical methods. In this paper we present an algorithm to solve it using a Quadratic Programming approach. In order to illustrate the application of the algorithm, one practical problem was solved.

关键词： mobile robots quadratic programming minimum energy optimal control

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Neural network and genetic algorithms for composition estimation and control of a high purity distillation column

Neural network and genetic algorithms for composition estima...

引用

icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： De Fernandez Cañete, J. Del Saz-Orozco, P. Gonzalez-Perez, S. System Engineering and Automation Dpt. University of Malaga Malaga Spain

ISBN: (纸本)9789898111319

Many industrial processes are difficult to control because the product quality cannot be measured rapidly and reliably. One solution to this problem is neural network based control, which uses an inferential estimator (software sensor) to infer primary process outputs from secondary measurements, and control these outputs. this paper proposes the use of adaptive neural networks applied both to the prediction of product composition from temperature measurements, and to the dual control of distillate and bottom composition for a continuous high purity distillation column. Genetic algorithms are used to automatically choice of the optimum control law based on the neural network model of the plant. the results obtained have shown the proposed method gives better or equal performances over other methods such fuzzy, or adaptive control.

关键词： Genetic algorithms

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On the sampling period in fuzzy control algorithms for servodrives - A strategy for variable sampling

On the sampling period in fuzzy control algorithms for servo...

引用

5th international conference on informatics in control, automation and robotics

作者： Mihai, Dan Univ Craiova Craiova Romania

ISBN: (纸本)9789898111326

the paper deals with a variable control sampling period for the fuzzy control algorithms implemented on low inertia servodrives. the robustness of the fuzzy control strategy is extended on the sampling period values and hence an adaptive sampling algorithm is proposed. the author analyzes the possibility to vary continuously the sampling frequency upon a basic process variable. Principles, models and simulation results inserted here give reliance in this technique and an enhancement of the fuzzy control implementation. the distribution of the sampling moments in different adaptive conditions and the behaviour of the servodrive are obtained by means of some models and simulations in accordance with the real-time target hardware system.

关键词： fuzzy control adaptive sampling period on-line timing microcontroller servodrives

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Hydrogen powered car control system

Hydrogen powered car control system

引用

icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： Vilem, Srovnal Jiri, Koziorek Bohumil, Horak George, Adam Georgia, Garani Department of Measurement and Control FEECS Technical University of Ostrava 17. listopadu 15 7083 Ostrava-Poruba Czech Republic Technological Educational Institute of Larissa Greece

ISBN: (纸本)9789898111319

the main goal of the research project was designing and realization a distributed control system of the hydrogen powered prototype car. Next goals of project were real time control, speed and final time optimizing with minimal fuel consumption and monitoring of driver biomedical parameters. the control system was realized by several mobile embedded systems and one central system. the embedded systems hardware was realized with Freescale processors and communication CAN bus. Central system hardware was realized by notebook and communication with embedded systems in car was realized by GSM communication. control system software using of multi-agent technology with dynamic mutual negotiation of mobile system parts. this task allows in a form of control system for prototype race car modelling of distributed control system. the real hardware and software model is also important motivation for extended research.

关键词： Distributed parameter control systems

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Near optimum control of a full car active suspension system

Near optimum control of a full car active suspension system

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5th international conference on informatics in control, automation and robotics

作者： Lino, Paolo Maione, Bruno Politecn Bari Dipartimento Elettrotecn & Elettron I-70125 Bari Italy

ISBN: (纸本)9789898111326

In this paper, a near-optimum control strategy applied to a full car model equipped with an active suspension system is presented. the control law is based on a reduced order model obtained by means of a modal aggregation method, achieving a compromise between computational effort in deriving the control law and system performances. To assess the controller performances, a virtual prototype of the suspension system is developed by using AMESim, an advanced fluid-mechanic developing tool. the virtual prototype could be assumed as a reliable model of the real system enabling to perform safer and cheaper tests than using the real system. Simulation results show the effectiveness of the approach.

关键词： active suspension suspension control virtual prototyping near-optimum control AMESim (c)

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On the sampling period in standard and fuzzy control algorithms for servodrives - A multicriterial design and a timing strategy for constant sampling

On the sampling period in standard and fuzzy control algorit...

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5th international conference on informatics in control, automation and robotics

作者： Mihai, Dan Univ Craiova Craiova Romania

ISBN: (纸本)9789898111326

the paper deals with the best choice for the control sampling period in term of a multicriterial conditioning, with the on-line timing and with a comparison between the conventional (like PI) control algorithms and the fuzzy control. Several useful relations are followed by diagrams obtained in simulation and by different real-time recordings both for the timing and for characteristic variables of the system. Implementations with microcontroller and DSP are used for analyzing the design criterion and the timing strategy. the application field concerns a servodrive, so the real-time constraints are quite strong. the author conceived a general control strategy for the on-line timing based on imbricate interrupts.. each pulse encoder acting on the hardware input interrupt of the control processor.

关键词： sampling period PI algorithm fuzzy control on-line timing servodrives

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GPC and Neural Generalized Predictive control

GPC and Neural Generalized Predictive Control

引用

5th international conference on informatics in control, automation and robotics

作者： Chidrawar, S. Bidwai, Nikhil Waghmare, L. Patre, B. M. MGMs Coll Engn Nanded 431602 MS India SGGS Inst Engn & Technol Nanded 431606 MS India

ISBN: (纸本)9789898111302

An efficient implementation of Model Predictive control (MPC) using a multilayer feed forward network as the plants linear model is presented. this paper presents a comparison between the Generalized Predictive control and Neural Generalized Predictive control with Newton-Raphson as minimization algorithm. three different linear models are taken and their performances are tested. Simulation result shows the effect of neural network on Generalized Predictive control for linear systems. the performance comparison of these system configurations has been given in terms of ISE and IAE.

关键词： neural network Model Predictive control GPC NGPC

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A recursive Frisch scheme algorithm for coloured output noise

A recursive Frisch scheme algorithm for coloured output nois...

引用

5th international conference on informatics in control, automation and robotics

作者： Linden, J. G. Burnham, K. J. Coventry Univ Control Theory & Applicat Ctr Coventry W Midlands England

ISBN: (纸本)9789898111326

A recursive (adaptive) algorithm for the identification of dynamical linear errors-in-variables systems in the case of coloured output noise is developed. the input measurement noise variance as well as the auto-covariance elements of the coloured output noise sequence are determined via two separate Newton algorithms. the model parameter estimates are obtained by a recursive bias-compensating instrumental variables algorithm with past noisy inputs as instruments, thus allowing the compensation for the explicitly computed bias at each discrete-time instance. the performance of the developed algorithm is demonstrated via simulation.

关键词： adaptive estimation errors-in-varibles recursive identification system identification

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Active security system for an industrial robot based on artificial vision and fuzzy logic principles

Active security system for an industrial robot based on arti...

引用

icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： Fevery, B. Wyns, B. Boullart, L. Llata García, J.R. Torre Ferrero, C. Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Control Engineering Group Electronic Technology and Automatic Systems Department University of Cantabria Santander Spain

ISBN: (纸本)9789898111319

An active security system assures that interacting robots don't collide or that a robot operating independently doesn't hit any obstacle that is encountered in the robots workspace. In this paper, an active security system for a FANUC industrial robot is introduced. the active security problem where one robot needs to avoid a moving obstacle in its workspace is considered. An obstacle detection and localization mechanism based on stereoscopic vision methods was successfully developed. To connect the vision system, an operator's pc and the robot environment a real-time communication is set up over Ethernet using socket messaging. We used fuzzy logic for intelligent trajectory planning. A multitask oriented robot application in the KAREL programming language of FANUC robotics was implemented and tested.

关键词： Fuzzy logic

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Sensor and actuator fault analysis in active suspension in view of fault-tolerant control

Sensor and actuator fault analysis in active suspension in v...

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5th international conference on informatics in control, automation and robotics

作者： Urrea, Claudio Jamett, Marcela Dept Ingn Elect Santiago Chile

ISBN: (纸本)9789898111302

this paper shows the first step of a fault tolerant control system (FTCS) to control active suspension on a full-car suspension model. In this paper, the elimination of the inevitable pitch and roll actions of a spring suspension between each axle and the body of a vehicle is studied. An actuator (linear motor) producing an electromagnetic force and a pneumatic force acting simultaneously on the same output element is used. this linear motor acts as a force generator that compensates instantly for the disturbing effects of the road surface. Simulation results to illustrate the system's performance in front of the occurrence of sensor and actuator faults are shown.

关键词： active suspension sensor and actuator faults full-vehicle suspension model

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