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Fuzzy approach for disturbance reduction

Fuzzy approach for disturbance reduction

引用

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

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

ISBN: (纸本)0780378660

The basic principles of the fuzzy set theory are applied to the signal restoration problems. The estimated values obtained form the fuzzy model are in the form of fuzzy numbers which present the possibility of the system structure. Both L-R and symmetric triangular type membership functions are employed to derive the fuzzy disturbance reduction. The quarter-car semi-active suspension system with unknown disturbance caused by roughness of road is provided to demonstrate the applicability and effectiveness of the proposed fuzzy algorithm in disturbance reduction problem. © 2003 ieee.

关键词： Fuzzy set theory

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Longitudinal vehicle guidance using neural networks

Longitudinal vehicle guidance using neural networks

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Tahirović, Adnan Konjicija, Samim Avdagić, Zikrija Meier, Gerald Wurmthaler, Christoph Department of Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Zmaja od Bosne bb Sarajevo Bosnia and Herzegovina Friedrich-Alexander-Universitaet Erlangen-Nuernberg Germany

The purpose of this paper is to show a simple ability of using neural networks in longitudinal vehicle guidance. The main motivation is an opportunity of neural networks to learn from acquired real driver data, as well as to reproduce many driver behaviour styles raging from extremely comfort to extremely sportive ones. This possibility is shown with a simulated model based longitudinal trajectory generation. This model has used an adjustable comfort parameter for different sorts of driver behaviour. Experiment results, obtained with Audi test vehicle, are also presented. © 2005 ieee.

关键词： Electronic guidance systems

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A semi-autonomous replicating robotic system

A semi-autonomous replicating robotic system

引用

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

作者： Suthakorn, Jackrit Kwon, Yong T. Chirikjian, Gregory S. Department of Mechanical Engineering Johns Hopkins University BaltimoreMD21218 United States

ISBN: (纸本)0780378660

The concept of self-replicating machines was introduced more than fifty years ago by John von Neumann. However, a fully autonomous self-replicating robot has yet to be implemented. This paper discusses our ongoing research on self-replicating robots. Here we describe a semi-autonomous prototype that can demonstrate replication under human supervision. This work builds on our previous results in remote-controlled robotic replication with the added feature that many subtasks in the replication process are now autonomously performed by the robot. We believe this to be an important step in the realization of fully autonomous self-replicating robots. © 2003 ieee.

关键词： Remote control

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Adaptive trajectory tracking of stratospheric airship based on input-output stability theory

Adaptive trajectory tracking of stratospheric airship based ...

引用

2011 4th International symposium on computational intelligence and Design, ISCID 2011

作者： Wu, Yongmei Zhu, Ming Zuo, Zongyu Zheng, Zewei School of Aeronautical Science and Engineering Beijing University of Aeronautics and Astronautics Beijing China School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing China

ISBN: (纸本)9780769545004

Based on input-output stability theory a new approach is introduced about cruise trajectory tracking adaptive control of a fully-actuated stratospheric airship. Firstly the dynamic model is expressed by the generalized coordinates. In view of the imprecisely unknown inertial parameters, online inertial parameter estimator and trajectory tracking law are designed to realize autonomous tracking of any continuous time-varying desired trajectory from an arbitrary initial condition. The stability of the closed-loop control system is proved by using the Lyapunov stability theory. Finally, simulation results of tracking a typical trajectory for such a fully-actuated airship show the validity of the proposed method. © 2011 ieee.

关键词： Closed loop control systems

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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

ieee symposium on computational intelligence in control and automation, cica

作者： Ehab H. E. Bayoumi Department of Electrical and Electronics Engineering Technology Abu Dhabi Mens College (ADMC) Higher Colleges of Technology Abu Dhabi UAE

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： Torque Stators Optimization Vectors Inverters Microorganisms Couplings

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Optimal robust control for generalized fuzzy dynamical systems: A novel use on fuzzy uncertainties

Optimal robust control for generalized fuzzy dynamical syste...

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ieee symposium on computational intelligence in control and automation, cica

作者： Jin Huang Jiaguang Sun Xibin Zhao Ming Gu School of Software TNLIST KLISS Tsinghua University China

ISBN: (纸本)9781479945290

A novel approach for optimal robust control of a class of generalized fuzzy dynamical systems is proposed. This is a novel use of fuzzy uncertainty in doing dynamical system control. The system may have nonlinear nominal terms and the other terms with uncertainty, including unknown parameters and input disturbances. The Fuzzy sets theory is creatively employed in presenting the system parameter and input uncertainty, and then the control structure is deterministic (versus if-then rule-based as is typical in Mamdani-type fuzzy control). The desired controlled system performance is also deterministic, with guaranteed performances of uniform boundedness and uniform ultimate boundedness. Fuzzy informations on the uncertainties are used in searching optimal control gain under a proposed LQG-like quadratic cost index. The control gain design problem is formulated as a constrained optimization problem with the solution be proved to be always existed and unique. Systematic procedure is summarized for such control design.

关键词： Uncertainty Indexes control systems Equations Optimization System performance Robust control

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Simulation study of multitrailer control system using neurocontrollers evolved by a modified GA

Simulation study of multitrailer control system using neuroc...

引用

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

作者： Kiyuna, Ayaki Nakazono, Kunihiko Kinjo, Hiroshi Yamamoto, Tetsuhiko School of Engineering University of the Ryukyus Japan Faculty of Engineering University of the Ryukyus Japan

ISBN: (纸本)0780378660

In this paper, we propose a design method of neurocontrollers (NCs) evolved by a genetic algorithm (GA) for the backward movement control of multitrailer systems. In a previous study, we proposed a control method using NCs evolved by a modified GA to solve the backward movement control problem for a two-trailer-connected truck system. In the report, the modified GA which adaptively changes the number of offspring and the mutation rate according to the diversity of NC population has good control performance. However, the difficult and complexity of the backward movement control depends on the number of connected trailers, then the method of NCs with GA evolution is often not able to produce a better controller, or the GA process takes too much time to obtain NCs that can control the trailer-truck system successfully. For the multitrailer (three of more connected trailer) system, the control performance of NCs by the modified GA method is not clear. In this paper, we apply the modified GA to the multitrailer control system. The simulation results show that the modified GA still improves the search performance of NCs for the three-and four-trailer-connected systems. © 2003 ieee.

关键词： Light trailers

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An adaptive task assignment method for multiple mobile robots via swarm intelligence approach

An adaptive task assignment method for multiple mobile robot...

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2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Zhang, Dandan Xie, Guangming Yu, Junzhi Wang, Long Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing 100871 China

This paper describes an adaptive task assignment method for a team of fully distributed mobile robots with initially identical functionalities in unknown environments. The method is applicable for mediate- to large-scaled robot groups and tasks. A hierarchical architecture for task assignment is established for each individual robot. In the higher hierarchy, the self-reinforcement learning model inspired by the behaviors of social insects is employed to differentiate the initially identical robots into different kinds of high-level task "specialists";while in the lower hierarchy, Ant System algorithm is adopted to organize low-level task assignment. To avoid using a centralized component, "local blackboard" communication mechanism is utilized for knowledge sharing. The proposed method allows the robot team members to adapt themselves to the unknown dynamic environments, respond flexibly to the environment perturbations and robustly to the modifications in the team arising from mechanical failure. Simulations of a cooperative collection task validate the effectiveness of the presented method. © 2005 ieee.

关键词： Mobile robots

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Tutorial cica-T Computing with intelligence for identification and control of nonlinear systems

Tutorial CICA-T Computing with intelligence for identificati...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： Ganesh Kumar Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology USA

System characterization and identification are fundamental problems in systems theory and play a major role in the design of controllers. System identification and nonlinear control has been proposed and implemented using intelligent systems such as neural networks, fuzzy logic, reinforcement learning, artificial immune system and many others using inverse models, direct/indirect adaptive, or cloning a linear controller. Adaptive Critic Designs (ACDs) are neural networks capable of optimization over time under conditions of noise and uncertainty. The ACD technique develops optimal control laws using two networks - critic and action. There are merits for each approach adopted will be presented. The primary aim of this tutorial is to provide control and system engineers/researchers from industry/academia, new to the field of computational intelligence with the fundamentals required to benefit from and contribute to the rapidly growing field of computational intelligence and its real world applications, including identification and control of power and energy systems, unmanned vehicle navigation, signal and image processing, and evolvable and adaptive hardware systems.

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Comparison of three change detection algorithms for an electronics manufacturing process

Comparison of three change detection algorithms for an elect...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Ruusunen, Mika Paavola, Marko Pirttimaa, Mika Leiviskä, Kauko Control Engineering Laboratory University of Oulu 90014 Oulun yliopisto Finland Nokia Corporation Oulu Finland VTI Technologies Helsinki Finland

In a sequential manufacturing process, a product proceeds through different manufacturing stages. At these stages, sensors monitor the features of the product. In this paper, the information produced by the sensors is employed to detect abrupt changes in process variables. The developed algorithms contribute to an on-line application to a manufacturing system. A literature survey revealed the most common methods utilized in change detection. On-line applicability and transferability to new manufacturing lines are the most important features for real applications. During both on-line and off-line tests, some of the presented methods showed satisfactory results. Real-time, on-line manufacturing environment sets also its requirements for the applications. In the future, the possibility of combining expert knowledge with the aforementioned methods is the crucial point to study. The information thus received has usage in the preventive maintenance and quality control. © 2005 ieee.

关键词： Electronic equipment manufacture

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