the proceedings contain 20 papers. the topics discussed include: distributed technology for global control;dealing with uncertainty in the hybrid world;adaptive fuzzy controller for output power maximization of induct...
ISBN:
(纸本)9783642002700
the proceedings contain 20 papers. the topics discussed include: distributed technology for global control;dealing with uncertainty in the hybrid world;adaptive fuzzy controller for output power maximization of induction generators;architectural approach for the implementation of a position control system for a boat-like inspection robot;dynamic-based simulation for humanoid robot walking using walking support system;people tracking and identification using laser features and color distributions;robotic wheelchair trajectory control considering user comfort;calibration and comparison of visual tracking on the ground for multi camera tracking;mobile robot teleoperation via wireless multihop networks - parameter tuning of protocols and real world application scenarios;safe test flights for small rotorcrafts;and particle filter with temporal smoothing for mobile robot vision-based localization.
In this paper, we propose to combine the fuzzy sliding mode control to tolerate actuator faults of unknown nonlinear systems subject to external disturbances. In particular, the idea of using adaptive fuzzy system to ...
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ISBN:
(纸本)9789898425003
In this paper, we propose to combine the fuzzy sliding mode control to tolerate actuator faults of unknown nonlinear systems subject to external disturbances. In particular, the idea of using adaptive fuzzy system to tolerate actuator faults of unknown nonlinear systems by approximating the system functions and the effects caused by actuator faults are avoided by the control structure. On the basis of Lyapunov stability theory its shown that the resulting adaptive closed loop system can be guaranteed to be asymptotically stable in the presence of faults on actuators and disturbances.
this paper proposes a new method for control car-like vehicles maneuvering. For this purpose, traditional planning and tracking algorithms has been modified in order to follow complex maneuvers in a frame of a distrib...
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ISBN:
(纸本)9789896740009
this paper proposes a new method for control car-like vehicles maneuvering. For this purpose, traditional planning and tracking algorithms has been modified in order to follow complex maneuvers in a frame of a distributed control architecture. thus, planning and tracking algorithm run in different platforms exchanging data in order to controlthe maneuvers performance.
the paper presents a concept of intelligent hierarchical control for complex dynamical processes and suggests architecture of control system consisting of robust, adaptive, and self-organizing levels. Intelligent feat...
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ISBN:
(纸本)9789898111999
the paper presents a concept of intelligent hierarchical control for complex dynamical processes and suggests architecture of control system consisting of robust, adaptive, and self-organizing levels. Intelligent features of the proposed system are mostly concentrated at self-organizing level incorporated into self-learning, self-configuring, self-optimizing, and decision making algorithms. State-of-the-art at each level is described. Case studies have been chosen from the area of plasma control in tokamak-reactors.
the implementation of a recursive algorithm for the estimation of parameters of a linear single-input single-output errors-in-variables system is re-considered. the objective is to reduce the computational complexity ...
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ISBN:
(纸本)9789896740016
the implementation of a recursive algorithm for the estimation of parameters of a linear single-input single-output errors-in-variables system is re-considered. the objective is to reduce the computational complexity in order to reduce the computation time per recursion, which, in turn, will allow a wider applicability of the recursive algorithm. the technique of stationary iterative methods for least squares is utilised, in order to reduce the complexity from cubic to quadratic order with respect to the model parameters to be estimated. A numerical simulation underpins the theoretically obtained results.
Detection and reporting structural breaks arising in system during monitoring, is one of the main task of statistical process control. An ignorance of such breaks can cause an associated regression model misspecificat...
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this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated ...
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In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but...
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A flexible, ubiquitous, and universal solution for management of distributed dynamic systems will be presented. It allows us to grasp complex systems on a higher than usual, semantic level, penetrating their infrastru...
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An algorithm for the recursive identification of single-input single-output linear discrete-time time-invariant errors-in-variables system models in the case of white input and coloured output noise is presented. the ...
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ISBN:
(纸本)9789896740016
An algorithm for the recursive identification of single-input single-output linear discrete-time time-invariant errors-in-variables system models in the case of white input and coloured output noise is presented. the approach is based on a bilinear parametrisation technique which allows the model parameters to be estimated together withthe auto-correlation elements of the input/output noise sequences. In order to compensate for the bias in the recursively obtained least squares estimates, the extended bias compensated least squares method is used. An alternative for the online update of the associated pseudo-inverse of the extended observation covariance matrix is investigated, namely an approach based on the matrix pseudo-inverse lemma and an approach based on the recursive extended instrumental variables technique. A Monte-Carlo simulation study demonstrates the appropriateness and the robustness against noise of the proposed scheme.
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