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Adaptive unified predictive control applied to first-order-plus-dead-time processes to eliminate unknown class of deterministic disturbance

Adaptive unified predictive control applied to first-order-p...

引用

ieee symposium on computational intelligence in control and automation

作者： Lin, Shu-Kai Lee, An-Chen Department of Mechanical Engineering National Chiao-Tung University Hsinchu Taiwan

ISBN: (纸本)9781424499038

A novel Adaptive Unified Predictive control method (Adaptive-UPC) is proposed and applied to the first-order-plus-dead-time (FOPDT) process models with model uncertainties under unknown deterministic disturbances. Based on Indirect Self-tuning Regulator, this new control structure is constructed by combining UPC controller, Recursive Least-Squares Estimation with forgetting factor (RLS with forgetting factor) and Variable Regression Estimation (VRE). The simulation results show that the method can be effectively applied to first-order-plus-dead-time (FOPDT) process models with uncertain process parameters (gain, time constant and dead-time) and unknown deterministic disturbance. © 2011 ieee.

关键词： Uncertainty analysis

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Intelligent PD-type fuzzy controller design for mobile satellite antenna tracking system with parameter variations effect

Intelligent PD-type fuzzy controller design for mobile satel...

引用

ieee symposium on computational intelligence in control and automation

作者： Lin, Jium-Ming Chang, Po-Kuang Dept. of Communication Engineering Chung-Hua University Hsin-Chu Taiwan Ph.D. Program in Engineering Science College of Engineering Chung-Hua University Hsin-Chu Taiwan

ISBN: (纸本)9781424499038

This research applied both the traditional and the fuzzy control methods for mobile satellite antenna tracking system design. Firstly, the antenna tracking and the stabilization loops were designed according to the traditional bandwidth and phase margin requirements. However, the performances would be degraded if the tacking loop gain is reduced due to parameter variations. On the other hand a PD-type fuzzy controller was also applied for tracking loop design. It can be seen that the system performances obtained by the fuzzy controller were better for both low and high antenna tracking loop gains, and the tracking loop gain parameter variations effect can be reduced. © 2011 ieee.

关键词： Fuzzy control

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A novel training method based on variable structure systems theory for fuzzy neural networks

A novel training method based on variable structure systems ...

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ieee symposium on computational intelligence in control and automation

作者： Cigdem, Ozkan Kayacan, Erdal Khanesar, Mojtaba Ahmadieh Kaynak, Okyay Teshnehlab, Mohammad Department of Electrical and Electronics Engineering Bogazici University 34342 Istanbul Turkey Department of Control Engineering Faculty of Electrical Engineering K. N. Toosi University of Tech. 16314 Tehran Iran

ISBN: (纸本)9781424499038

Uncertainty is an inevitable problem in real-time industrial control systems and, to handle this problem and the additional one of possible variations in the parameters of the system, the use of sliding mode control theory-based approaches is frequently suggested. In this paper, instead of using a conventional sliding mode controller, a sliding mode control theory-based learning algorithm is proposed to train the fuzzy neural networks in a feedback-error-learning structure. The parameters of the fuzzy neural network are tuned by the proposed algorithm not to minimize the error function but to ensure that the error satisfies a stable equation. The parameter update rules of the fuzzy neural network are derived, and the proof of the learning algorithm is verified by using the Lyapunov stability method. The proposed method is tested on a real-time servo system with time-varying and nonlinear load conditions. © 2011 ieee.

关键词： Fuzzy neural networks

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Decentralized direct I-term fuzzy-neural control of an anaerobic digestion bioprocess plant

Decentralized direct I-term fuzzy-neural control of an anaer...

引用

ieee symposium on computational intelligence in control and automation

作者： Baruch, Ieroham S. Hernandez, Sergio-Miguel Department of Automatic Control CINVESTAV-IPN Mexico City Mexico

ISBN: (纸本)9781424499038

The paper proposed to use recurrent Fuzzy-Neural Multi-Model (FNMM) identifier for decentralized identification of distributed parameter anaerobic wastewater treatment digestion bioprocess, carried out in fixed bed and recirculation tank. The distributed parameter analytical model of the digestion bioprocess is used as a plant data generator. It is reduced to a lumped system using the orthogonal collocation method, applied in four collocation points (plus one point of the recirculation tank), which are used as centres of the membership functions of the fuzzyfied plant output variables with respect to the space variable. The local and global weight parameters and states of the proposed FNMM identifier are learnt by the Levenberg-Marquardt learning algorithm and they are implemented by a Hierarchical Fuzzy-Neural Multi-Model Direct controller with Integral Term. The graphical simulation results of the digestion system direct fuzzy-neural I-term learning control, exhibited a good convergence, and precise reference tracking. © 2011 ieee.

关键词： Membership functions

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On control-specific derivation of affine Takagi-Sugeno models from physical models: Assessment criteria and modeling procedure

On control-specific derivation of affine Takagi-Sugeno model...

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ieee symposium on computational intelligence in control and automation

作者： Kroll, A. Durrbaum, A. Department of Measurement and Control University of Kassel 34125 Kassel Germany

ISBN: (纸本)9781424499038

Models are commonly derived and their performance is assessed wrt. minimal prediction error on a closed data set. However, if no perfect model can be used, the degrees of freedom in modeling should be used to adjust the model to application-specific metrics. For model-based controller design, control-oriented performance metrics (e.g. performance wrt. to control-critical properties) are important, but not primarily prediction (i.e. prognosis- and simulation-oriented) ones. This motivates the derivation of control-specific models. The contribution introduces structured and quantitative measures on "model suitability for control" for the class of affine dynamic Takagi-Sugeno models. A method is suggested that derives control-specific dynamic models from a physical model given as a set of nonlinear differential equations. Within a case study, the proposed method demonstrates its significance: Using control-specific models improves control performance metrics such as set-point tracking quality, stability region and energy efficiency. © 2011 ieee.

关键词： Degrees of freedom (mechanics)

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A Proposal of QLearning to control the Attack of a 2D Robot Soccer Simulation Team

A Proposal of QLearning to Control the Attack of a 2D Robot ...

引用

ieee Latin American Robotics symposium, LARS

作者： José Rodrigo Ferreira Neri Maicon Rafael Zatelli Carlos Henrique Farias dos Santos João Alberto Fabro Department of Automation and Systems (DAS) Federal University of Santa Catarina Florianopolis Santa Catarina Brazil Robotic Research Group Center of Engineering and Exact Sciences (CECE) State University of West of Paraná Foz do Iguacu Parana Brazil Computational Intelligence Research Group Informatics Department (DAINF) Federal University of Technology of Paraná (UTFPR) Curitiba Parana Brazil

This document presents a novel approach to control the attack behavior of a team of simulated soccer playing robot of the Robocup 2D category. The presented approach modifies the behavior of each player only when in the state "controlling the ball". The approach is based on a modified Q-Learning algorithm that implements a continuous machine learning process. After an initial learning phase, each player uses its previous experience during the simulation of the game to decide if it should dribble, pass or kick the ball to the adversary goal. Simulation results show that the proposed approach is capable of learn how to score goals, even when faced with the-champion of the previous world championship.

关键词： Robots Games Learning Educational institutions Learning systems Estimation Proposals

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Generalized H2 filter design for T-S fuzzy systems with quantization and packet loss

Generalized H2 filter design for T-S fuzzy systems with quan...

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ieee symposium on computational intelligence in control and automation

作者： Zhang, Changzhu Feng, Gang Qiu, Jianbin Dept. of Manufacturing Engineering and Engineering Management City University of Hong Kong Kowloon Hong Kong Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424499038

In this paper, the problem of generalized H2 filtering is concerned for a class of discrete-time T-S fuzzy systems with measurement quantization and packet loss. The quantized measurements are transmitted to the filter via an imperfect communication channel, where the phenomenon of packet loss can be encountered. A random binary process is utilized to describe the packet dropouts, while the quantization errors are treated as sector bound uncertainties. Attention is focused on the design of generalized H2 piecewise filter such that the filtering error system is stochastically stable and preserves a guaranteed generalized H2 performance. The developed filter gains can be obtained by solving a set of linear matrix inequalities. Finally, an illustrative example is provided to show the effectiveness of the proposed method. © 2011 ieee.

关键词： Packet loss

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control parameter design for robot vehicle based on numerical simulation and heuristic optimization - Feed-back controller design for trajectory tracking under strict physical constraints in wide speed range

Control parameter design for robot vehicle based on numerica...

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ieee symposium on computational intelligence in control and automation

作者： Watanabe, Atsushi Ohya, Akihisa Yuta, Shin'ichi University of Tsukuba Graduate School of Systems and Information Engineering Tennoudai 1-1-1 Ibaraki Tsukuba Japan

ISBN: (纸本)9781424499038

For the construction of the mobile robot system, it is necessary to determine a lot of parameters like the feedback gain and the clip parameters of artificial saturation. And it is difficult to decide suitable parameters by analytical technique because of its non-linearity and complexity. In this paper, we propose the method of the mobile robot control system parameter design by a numerical simulation and heuristic optimization using the enough computer power. We describe the model of the system as iterative numerical calculation instead of analytical time function. This model can suit the real control system, and it is straightforward to be built. And we show the experimental results of the automatically decided feedback gains by using proposed method for the linear feedback trajectory tracking controller of the small-sized autonomous mobile robot system, which runs in relatively high speed up to 5 meters per second as an example. © 2011 ieee.

关键词： Feedback

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A control system design for hand elevator based on PLC

A control system design for hand elevator based on PLC

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

作者： Wang, Peng Baoding University Hebei Province Baoding China

ISBN: (纸本)9780769545004

The article analyzed the situation of elevator and the elevator industry in China. This paper proposes an idea that programmable logic controller (PLC) control the hand elevator, and discusses the specific structure of the system and the method of implementation. Meanwhile, this paper analyzed hardware and software of the elevator system, used reasonable hardware and software together to achieve the objective that move with the elevator automation and simplified the control circuit, and the method greatly improved the reliability and stability of the elevator. © 2011 ieee.

关键词： Elevators

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Adaptive dynamic programming for optimal control of unknown nonlinear discrete-time systems

Adaptive dynamic programming for optimal control of unknown ...

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ieee symposium on Adaptive Dynamic Programming and Reinforcement Learning

作者： Liu, Derong Wang, Ding Zhao, Dongbin Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781424498888

An intelligent optimal control scheme for unknown nonlinear discrete-time systems with discount factor in the cost function is proposed in this paper. An iterative adaptive dynamic programming (ADP) algorithm via globalized dual heuristic programming (GDHP) technique is developed to obtain the optimal controller with convergence analysis. Three neural networks are used as parametric structures to facilitate the implementation of the iterative algorithm, which will approximate at each iteration the cost function, the optimal control law, and the unknown nonlinear system, respectively. Two simulation examples are provided to verify the effectiveness of the presented optimal control approach. © 2011 ieee.

关键词： Cost functions

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