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Minimum-energy neural-fuzzy approach for current/voltage-controlled electromagnetic suspension system

Minimum-energy neural-fuzzy approach for current/voltage-con...

引用

2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Chang, Yen-Chen Wu, Shinq-Jen Lee, Tsu-Tian Dept. of Electr. Eng. Da-Yeh Univ. Chang-Hwa Taiwan Department of Electrical and Control Engineering National Chiao-Tung University Hsinchu Taiwan

ISBN: (纸本)0780378660

In this paper, the electromagnetic suspension system is modeled as a neural-based linear T-S fuzzy system, and then the optimal fuzzy control design scheme is proposed to control the current and voltage-controlled system with minimum current and voltage-controlled system with minimum current and voltage consumption, respectively. The proposed linear self-constructing neural fuzzy inference network is a six layer neural network (linear SONFIN) modified form the well-known SONFIN network, which can construct a linear T-S fuzzy model of the system just by the input and output (I/O) information. Based on the linear T-S model, we can construct the optimal fuzzy control scheme to efficiently regulate the highly nonlinear complex and uncertain electromagnetic suspension system to the equilibrium state. © 2003 ieee.

关键词： Fuzzy inference

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Composite Visual Servoing for Catching a 3-D Flying Object Using RLS Trajectory Estimation from a Monocular Image Sequence

Composite Visual Servoing for Catching a 3-D Flying Object U...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Herrejon, R. Kagami, S. Hashimoto, K. Tohoku Univ Intelligent Control Syst Lab Dept Syst Informat Sci Sendai Miyagi 980 Japan

ISBN: (纸本)9781424448081

Online coordination of visual information with slow speed manipulator control is studied in the specific task of three dimensional robotic catching using position based visual servoing. The problem involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. The measured data are the noisy image plane coordinates of object match taken from image in the sequence. Image plane noise levels are allowed and investigated. The target trajectory estimation is formulated as a tracking problem, which can use an arbitrary large number of images in a sequence and is done using Recursive Least Squares (RLS). The feasibility of our methods for catching are demonstrated by both simulations and experiments using a a real-time vision system and a six-degree-of-freedom robotic arm with speed capabilities of up to 1.0 m/s.

关键词： Visual servoing

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On control system design of a human-machine cooperative system considering self-shaping characteristics of its human operator and recognition of object dynamics variation

On control system design of a human-machine cooperative syst...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Inaba, T Matsuo, Y Tokai Univ Dept Appl Comp Engn Hiratsuka Kanagawa 25912 Japan

ISBN: (纸本)0780378660

This paper deals with control of human-machine cooperative systems considering maneuverability for their human operators. At first, the general structure and the parameterization of the controlled systems axe outlined. Second, it is experimentally verified that self-shaping characteristics of a human operator exists in a human-machine cooperative system similarly in manual control systems and that the characteristics can be used for specifying desirable frequency characteristics of the maneuver transfer function, a transfer function from operational force to motion of object at the operational point. Then, a control design procedure that specifies two closed-loop transfer functions of the controlled system independently is proposed. On the procedure, the maneuver transfer function is specified suitably corresponding to the self-shaping characteristics, and the transfer function of object dynamics variation is also specified considering recognition of the variation. Finally, experiments on human-machine cooperative task to trace a boundary of object dynamics variation are carried out, and the validity of the proposed design procedure is confirmed.

关键词： control systems Man machine systems Cooperative systems Humans Character recognition Transfer functions Frequency control design Machining Manuals

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Moore automata for flexible routing and flow control in manufacturing workcells 3

Moore automata for flexible routing and flow control in manu...

引用

3rd ieee International symposium on computational intelligence in Robotics and automation, CIRA 1999

作者： Ramirez, A. Zhu, S.C. Benhabib, B. Computer Integrated Manufacturing Laboratory Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Road TorontoONM5S 3G8 Canada

ISBN: (纸本)0780358066

The potential of flexible-manufacturing workcells (FMCs) to produce a family of parts in many possible orders of operations and choices of different machines is advantageous. Despite intensive research on the theoretical control of discrete-event systems (DESs), however, current techniques can still only be used for the supervisory control of simple cells. In this article, a novel modeling and control synthesis technique is presented for FMCs that allow part-routing flexibility. Our proposed methodology combines Extended Moore Automata (EMA) and controlled-Automata theories to synthesize supervisors for such FMCs. © 1999 ieee.

关键词： Automata theory

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control of the blunting process of the residual water from a foundry

Control of the blunting process of the residual water from a...

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7th ieee International symposium on Applied computational intelligence and Informatics, SACI 2012

作者： Mureşan, V. Abrudean, M. Ungureşan, M.L. Coloşi, T. Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania Technical University of Cluj-Napoca Department of Physics and Chemistry Cluj-Napoca Romania

ISBN: (纸本)9781467310116

In this paper, a variant for the pH control of the residual water from a foundry is presented. The blunting process of the residual water, being a distributed parameters one, is modeled using equations with partial derivatives. For the numerical simulation is used a method based on the matrix of the partial derivatives of the state vector (Mpdx) associated with Taylor series. ©2012 ieee.

关键词： Foundries

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Validation of a parametric identification technique through a derivative CESTAC method

Validation of a parametric identification technique through ...

引用

International symposium on computational intelligence in Robotics and automation

作者： Marcassus, N. Vandarjon, P. O. Janot, A. Gautier, M. Inst Rech Commun & Cybernet Nantes 1 Rue NoeBP 92101 F-44321 Nantes 03 France Lab Ctr Ponts Chaussees Bouguenais France

ISBN: (纸本)9781424407897

Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we know that these techniques are not intrinsically robust. An alternative consists in justifying the use of the LS technique. This paper focuses on this issue and introduces a derivation of the CESTAC method which will be applied to a 6 degrees of freedom (DOF) serial robot.

关键词： Identification (control systems)

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Sliding Mode Observer Based Fuzzy control for TS Systems

Sliding Mode Observer Based Fuzzy Control for TS Systems

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2023 ieee symposium Series on computational intelligence, SSCI 2023

作者： Lazar, Bogdan Lendek, Zsofia Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania

ISBN: (纸本)9781665430654

This paper presents a sliding mode observer based fuzzy control. The sliding mode observer is developed for a linear dominant system, but taking into account the model mismatch. After that a fuzzy state feedback controller is designed. To ensure the stability of the closed loop system in the presence of uncertainties, Lyapunov synthesis is used. The results are illustrated on a numerical example. Simulations on the nonlinear system are presented to demonstrate the effectiveness of the observer based control. © 2023 ieee.

关键词： linear dominant model sliding mode observer state feedback control

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Rendering of Environmental Force Feedback in Mobile Robot Teleoperation based on Fuzzy Logic

Rendering of Environmental Force Feedback in Mobile Robot Te...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Farkhatdinov, Ildar Ryu, Jee-Hwan Poduraev, Jury Korea Univ Technol & Educ Sch Mech Engn 307 Gajeon Ri Cheonan 330708 South Korea Moscow State Tech Univ STANKIN Fac Mech & Control Dept Robot & Mechatron Moscow 127994 Russia

ISBN: (纸本)9781424448081

In this paper a study on rendering of environmental force feedback in mobile robot teleoperation based on fuzzy logic is presented. To ensure safety of mobile robot teleoperation it is often necessary to provide environmental force feedback which is related to the distance between the obstacles and the mobile robot. In previous approaches force feedback was rendered based on the measured distance between the obstacles and the mobile robot. In this work, a novel method for force feedback rendering using fuzzy logic is presented. In proposed approach derivative of the distance to the obstacle is used for defining the amount of environmental force feedback which is displayed to human-operator. Fuzzy rules and controller are designed and simulation results are shown. Advantages of the proposed approach are discussed.

关键词： Computer circuits

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A framework to simulate and support the design of distributed automation and decentralized control systems: Application to control of indoor building comfort

A framework to simulate and support the design of distribute...

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ieee symposium on computational intelligence in control and automation, cica

作者： Jean-Paul Jamont Eduardo Mendes Michel Occello LCIS Laboratories University of Grenoble II Valence France LCIS Laboratories Grenoble Institute of Technology (INPG) Valence France

This paper deals with the design and the simulation of decentralized artificial intelligent systems (multiagent systems) in the context of distributed automation and decentralized control systems. It presents an origi... 详细信息

关键词： Mathematical model Multi-stage noise shaping Hardware Multiagent systems Software Context Protocols

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Research on Collaborative control Method of Manufacturing Process Based on Distributed Multi-Agent Cooperation 11

Research on Collaborative Control Method of Manufacturing Pr...

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11th International symposium on computational intelligence and Design (ISCID)

作者： Li, Zhipeng Jiang, Xuesong Yao, Shuaishuai Li, Dongwang Qilu Univ Technol Shandong Acad Sci Jinan Shandong Peoples R China

ISBN: (纸本)9781538685273

In view of the relatively backward situation of automation information technology in manufacturing enterprises, this paper analyzes the manufacturing process of industry, designs and constructs a HD_MAS (Hierarchical Distributed Multi-Agent Systems(MAS)) architecture for collaborative control of process industry process so as to achieve collaborative control optimization for the whole manufacturing process. Based on MAS technology, this paper constructs a collaborative control model for manufacturing system that integrates multiple production units. This model combines several intelligent modules and physical entities organically. Based on the cooperation between Multi-agents, the improved MADDPG (Multi-Agent Deep Deterministic Policy Gradient) algorithm is proposed. A new algorithm framework called DS_MADDPG (Distributed Multi-Agent Deep Deterministic Policy Gradient) is applied to this model. Through the cooperation of Multi-agents, a certain intelligent control system is formed so that it can accurately complete complex production tasks and achieve distributed collaborative control of the manufacturing process, which will drive manufacturing companies to transform into the smart manufacturing.

关键词： MAS DS_MADDPG collaborative control

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