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A receding horizon control approach to obstacle avoidance

A receding horizon control approach to obstacle avoidance

引用

6th ieee International symposium on Applied computational intelligence and Informatics, SACI 2011

作者： Kiss, Domokos Tevesz, Gábor Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781424491094

The dynamic window approach to collision avoidance is a well-known method in the mobile robotics field. It provides an elegant way to navigate safely in the presence of obstacles, also taking the dynamic properties of the robot into account. There are different variants of this method, all having the same limitation, namely they use an objective function consisting of weighted terms. Different situations require different weights, however, there is no algorithm for choosing them. An inappropriate weighting can inhibit reaching the goal. This paper presents a navigation scheme based on the idea of dynamic window approach (DWA) and using receding horizon control (RHC). This method uses an objective function that does not contain weights. Kinematic and dynamic constraints of the robot are taken into account and a safe and goal-oriented motion is ensured. © 2011 ieee.

关键词： Robots

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SACI 2011 - 6th ieee International symposium on Applied computational intelligence and Informatics, Proceedings

SACI 2011 - 6th IEEE International Symposium on Applied Comp...

引用

6th ieee International symposium on Applied computational intelligence and Informatics, SACI 2011

ISBN: (纸本)9781424491094

The proceedings contain 117 papers. The topics discussed include: predictive control of the multivariable time delay processes in an isotope separation column;discovering automation level of software change request process from qualitative empirical data;monitoring and control of liquid nitrogen level of the 13C separation column using NI PXI-1031;multidimensional risk aversion with mixed parameters;evolutionary pruning of non-nested generalized exemplars;implementation of hardware-in-the-loop system for drum-boiler-turbine decoupled multivariable control;performance of Fourier versus wavelet analysis for magnetocardiograms using a SQUID acquisition system;anomaly detection in data mining hybrid approach between filtering-and- refinement and DBSCAN;generating OMNeT++ specifications from UML models for PSoC distributed applications;and detecting strong Berge Pareto equilibrium in a non-cooperative game using an evolutionary approach.

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Monitoring and control of liquid nitrogen level of the 13C separation column using NI PXI-1031

Monitoring and control of liquid nitrogen level of the 13C s...

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6th ieee International symposium on Applied computational intelligence and Informatics, SACI 2011

作者： Neaga, A.O. Festila, C. Dulf, E.H. Both, R. Szelitzky, T. Gligan, M. Technical University of Cluj Napoca Department of Automatic Control Faculty of Automation and Computer Science Cluj Napoca Romania National Institute for Research and Development of Isotopic and Molecular Technologies Cluj Napoca Romania

ISBN: (纸本)9781424491094

This paper is a step forward by making real time control system design to monitor and control process variables to ensure its smooth operation and desired reliability. Liquid nitrogen level in the condenser is a core component of isotopic separation process to obtain (13C), so is needed a special focus on monitoring and control. The goal of the work is to design a controller for the liquid nitrogen in the condenser of (13C) isotope separation column using NI-PXI 1031 (PCI eXtensions for Instrumentation) from National Instruments. The designed ON-OFF controller is implemented in LabVIEW and are discussed the advantages and disadvantages. © 2011 ieee.

关键词： controllers

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Predictive control of the multivariable time delay processes in an isotope separation column

Predictive control of the multivariable time delay processes...

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6th ieee International symposium on Applied computational intelligence and Informatics, SACI 2011

作者： Pop, C.I. Dulf, E.H. De Keyser, R. Ionescu, C. Muresan, B. Festila, Cl. Technical University of Cluj-Napoca Department of Automatic Control 26-28 Gh. Baritiu Str. 400027 Cluj-Napoca Romania Ghent University Department of Electrical Energy Systems and Automation Technologiepark 913 9052 Gent Belgium

ISBN: (纸本)9781424491094

The secondary processes in a pilot plant carbon isotope cryogenic separation column are multivariable time delay processes. In general, for these types of processes, Smith Predictor control schemes are frequently used, however they exhibit poor robustness due to the explicit use of the process model in the compensation loop and require additional control techniques to enhance robustness against modeling uncertainties. An alternative solution used in this paper is a predictive controller, with intrinsic time delay compensation. The simulations presented show that the predictive controller is also robust to significant time delay estimation errors, without further need to design additional filters for increasing robustness. © 2011 ieee.

关键词： Pilot plants

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Parametric sensitivity reduction of PI-based control systems by means of evolutionary optimization algorithms

Parametric sensitivity reduction of PI-based control systems...

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6th ieee International symposium on Applied computational intelligence and Informatics, SACI 2011

作者： David, Radu-Codrut Precup, Radu-Emil Preitl, Stefan Tar, Jozsef K. Fodor, Janos Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Óbuda University Budapest Hungary

ISBN: (纸本)9781424491094

This paper proposes new optimization algorithms for the optimal tuning of PI controllers dedicated to a class of second-order processes with integral component and variable parameters. The sensitivity analysis with respect to the parametric variations of the controlled process leads to the sensitivity models. The augmentation of the output sensitivity functions over the integral of absolute error criterion results in the definition of objective functions, and the corresponding optimization problems are solved by Particle Swarm Optimization (PSO) and Gravitational Search Algorithms (GSA). The algorithms are tested in a case study associated with several analyses. © 2011 ieee.

关键词： Sensitivity analysis

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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...

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ieee symposium on computational intelligence in control and automation, cica

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

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.

关键词： Mathematical model Learning systems Adaptation models Artificial neural networks control systems Equations Bismuth

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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, cica

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

In this paper, the problem of generalized H 2 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 H 2 piecewise filter such that the filtering error system is stochastically stable and preserves a guaranteed generalized H 2 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.

关键词： Quantization Loss measurement Fuzzy systems Symmetric matrices Linear matrix inequalities Communication channels State estimation

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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, cica

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

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.

关键词： Fuzzy control Fuzzy neural networks DC motors Artificial neural networks control systems Neurons Mathematical model

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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, cica

作者： Atsushi Watanabe Akihisa Ohya Shin'Ichi Yuta Graduate School of Systems and Information Engineering University of Tsukuba Tsukuba Ibaraki Japan

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.

关键词： Trajectory Mobile robots Optimization Acceleration Indexes

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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, cica

作者： A. Kroll A. Dürrbaum Department of Measurement and Control University of Kassel Kassel Germany

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. Nonlinear dynamic modeling, Takagi-Sugeno systems, modeling for control performance metrics such as set-point tracking quality, stability region and energy efficiency.

关键词： Mathematical model controllability Predictive models Analytical models Stability criteria

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