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Stabilizing unstable equilibria using observer-based neural networks with applications in chaos suppression

Stabilizing unstable equilibria using observer-based neural ...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： P. Yadmellat S.K.Y. Nikravesh Amirkabir University of Technology슠 Tehran Iran Electrical Engineering Department Amirkabir University of Technology슠 Tehran Iran

In this paper, the observer-based stabilization of unstable equilibrium points of a class of unknown nonlinear systems is proposed. The controller is based on feedback linearization where the observer system and control signal are directly estimated by a nonlinear in parameter neural network (NLPNN). A modified back propagation (BP) algorithm with e-modification was used to update the weights of the network. Globally uniformly ultimately boundedness of overall closed-loop system is ensured using Lyapunov's direct method. To verify the effectiveness of the proposed observer-based controller, a set of simulations was performed on a Rossler and Lorenz chaotic systems.

关键词： Neural networks Chaos control systems Nonlinear control systems Adaptive control Nonlinear dynamical systems Nonlinear systems Backstepping Programmable control Linear feedback control systems

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Modeling and control of a nonholonomic Wheeled Mobile Robot with wheel slip dynamics

Modeling and control of a nonholonomic Wheeled Mobile Robot ...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： Yu Tian Naim Sidek Nilanjan Sarkar Mechanical Engineering Department Vanderbilt University Nashville TN USA Electrical Engineering Department Vanderbilt University Nashville TN USA

In order to model a wheeled mobile robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.

关键词： Mobile robots Wheels Robot kinematics Torque control Feedback control control systems Robot control Linear feedback control systems Convergence Roads

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Fuzzy Lyapunov decentralized control of Takagi-Sugeno interconnected descriptors

Fuzzy Lyapunov decentralized control of Takagi-Sugeno interc...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： Dalel Jabri Kevin Guelton Noureddine Manamanni Mohamed N. Abdelkrim MACS laboratory University of Gabès Tunisia CReSTIC-URCA University of Reims Champagne Ardennes France CReSTIC-URCA University of Reims Champagne Ardennes Reims France MACS laboratory University of Gabès Gabès Tunisie

This paper deals with decentralized stabilization of nonlinear systems composed of interconnected Takagi-Sugeno fuzzy descriptors. To ensure the stability of the overall closed-loop system, a set of decentralized Parallel Distributed Compensations (PDC) controllers is employed. The stability conditions are then derived into Linear Matrix Inequalities (LMI) using a fuzzy Lyapunov function for less conservatism. Nevertheless, it contains decision parameters that are not available in practice. So the LMIs are casted into relaxed quadratic conditions using simple assumptions. Finally, a numerical example is proposed to illustrate the effectiveness of the suggested decentralized approach.

关键词： Fuzzy control Distributed control Takagi-Sugeno model Fuzzy systems Nonlinear systems Stability Interconnected systems Fuzzy sets control system synthesis Lyapunov method

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Minimum-delay link determination in networked control systems using Asexual Reproduction Optimization

Minimum-delay link determination in networked control system...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： A. Farasat A. M. Amani M. B. Menhaj Operation Research University of Tehran Tehran Iran PHD student of control Engineering Amirkabir University of Technology슠 Tehran Iran Faculty of Electrical Engineering Amirkabir University of Technology슠 Tehran Iran

Networked control systems (NCS) have gained an increasing attention in recent years due to their flexibility and cost reduction. The two main problems affecting stability and performance of closed-loop NCS are packet delay and drop. The problem of delay is severe in large scale NCS where the sensor-controller-actuator are connected via a network with large number of switches and routers. In this paper, we propose a real time optimization algorithm, called asexual reproduction optimization (ARO) which is inspired by asexual reproduction, to find the least delay link in the control loop. Simulation results reveal that the proposed algorithm remarkably outperforms the recently cited genetic algorithm (GA) in finding the minimum delay link.

关键词： Networked control systems Communication system control control systems Stability Delay effects Large-scale systems Switches Genetic algorithms Actuators Intelligent sensors

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Design of online soft sensors based on combined adaptive PCA and RBF neural networks

Design of online soft sensors based on combined adaptive PCA...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： Karim Salahshoor Mojtaba Kordestani Majid S. Khoshro

An accurate on-line measurement of important quality variables is essential for successful monitoring and controlling of chemical processes. However, these variables are usually difficult to measure on-line due to the practical limitations such as the time-delay, high cost and reliability considerations. To overcome this problem, two online soft sensors are proposed based upon a combined adaptive principal component analysis (PCA) and a radial basis functions (RBF) artificial neural network. For this purpose, a recursive PCA and a PCA based on a sliding window scheme are presented to adaptively extract the inherent features inside the measurements with high dimensions. The extracted low-dimension features are then used recursively as the main inputs to the RBF neural network. The developed online soft sensors are finally tested on a highly nonlinear distillation column benchmark problem to illustrate their effective performances. The simulation results demonstrate the superiority of the proposed soft sensor based on the combined recursive PCA and the RBF neural network.

关键词： Principal component analysis Neural networks Chemical sensors Artificial neural networks Feature extraction Monitoring Process control Chemical processes Costs Testing

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Use of combined ARX - NARX model in identification of neuromuscular system

Use of combined ARX - NARX model in identification of neurom...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： Sina Tafazoli Karim Salahshoor Mohammad B. Menhaj Tehran South Azad University Tehran Iran Department of Instrumentation and Automation Petroleum University of Technology Tehran Iran Amirkabir University of Technology슠 Tehran Iran

Neural system that controls movement and posture is a highly nonlinear complex system. Its adaptability and easy accommodation to changes in environment and task specifications make it an ideal system. In this paper, the muscle control system from spinal cord to muscle displacement has been studied. At first, a detailed nonlinear model is simulated in Simulink based on an already developed work. Then, three system identification techniques are examined to estimate the behavior of this complex system. The first one is based on popular linear ARX model. Then, the system is modeled by NARX neural network (Nonlinear Autoregressive Network with Exogenous Inputs) which has a powerful structural network in modeling dynamical systems. Finally, a new method of modeling using combined NARX and ARX structure is proposed in which ARX gets the linear part of the system and the NARX picks up the nonlinearities. The simulation results demonstrate the superiority of the latter method with respect to other examined approaches.

关键词： Neuromuscular Muscles Spinal cord Biological system modeling control systems Power system modeling Feedback loop Negative feedback Force feedback control system synthesis

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Semi-autonomous formation control of a single-master multi-slave teleoperation system

Semi-autonomous formation control of a single-master multi-s...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： Yushing Cheung Jae H. Chung Norman P. Coleman Department of Mechanical Engineering Castle Point on Hudson Stevens Institute of Technology Hoboken NJ USA US Army RDECOM-ARDEC Picatinny Arsenal NJ USA

The primary objective of this paper is to develop an adaptive formation control method for a team of mobile robotic agents, which implements formation control, obstacle avoidance, and operator induced error compensation for unconstrained motions. In this approach, a leader robot is selected and teleoperated by an operator and the follower robots are autonomously coordinated to make a formation to perform a variety of tasks such as searching and/or pursuing targets, reconnaissance, etc. The formation can be reconfigured to avoid collisions with stationary obstacles and among the member robots. The performance of the developed method was investigated through haptic simulations and experiments. In the simulation study, a haptic device was used as the master robot, and three virtual nonholonomic mobile platforms were employed. The developed method was implemented on two differentially driven Pioneer-AT platforms. Both studies demonstrated consistent performance of the semi-autonomous formation control method in the presence of time-varying communication delays, erroneous operator commands, and stationary obstacles.

关键词： control systems Robot kinematics Motion control Mobile robots Haptic interfaces Programmable control Adaptive control Error compensation Reconnaissance Communication system control

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Influencing customers through customers - Simulation of herd behavior in supermarkets

Influencing customers through customers - Simulation of herd...

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ieee symposium on computational intelligence in control and automation, cica

作者： Zeeshan-ul-hassan Usmani Amina Tariq National University of Computer and Emerging Sciences Islamabad Pakistan Department of Computer Science Florida Institute of Technology Melbourne FL USA

This work proposes a supermarket optimization simulation model called Swarm-Moves is based on self organized complex system studies to identify parameters and their values that can influence customers to buy more on impulse in a given period of time. In the proposed model, customers are assumed to have trolleys equipped with technology like RFID that can aid the passing of products' information directly from the store to them in real-time and vice-versa. Therefore, they can get the information about other customers purchase patterns and constantly informing the store of their own shopping behavior. This can be easily achieved because the trolleys ldquoknowrdquo what products they contain at any point. The Swarm-Moves simulation is the virtual supermarket providing the visual display to run and test the proposed model. The simulation is also flexible to incorporate any given model of customers' behavior tailored to particular supermarket, settings, events or promotions. The results, although preliminary, are promising to use RFID technology for marketing products in supermarkets and provide several dimensions to look for influencing customers via feedback, real-time marketing, target advertisement and on-demand promotions.

关键词： Marketing and sales Radiofrequency identification Inventory management computational modeling Computer simulation Marketing management Humans Computer science Displays Testing

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Adaptive robot manipulator control based on plant-controller model reference using soft computing and performance index analyzer

Adaptive robot manipulator control based on plant-controller...

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ieee symposium on computational intelligence in control and automation, cica

作者： N. Nahapetian M. R. Jahed Motlagh M. Analoui Post graduate Computer Engineering student Iran University of science and technology Tehran Iran Computer Engineering Department Iran University of science and technology Tehran Iran

This paper addresses an application that involves the adaptive control of robot manipulator joint. It tries to explore the potential of using soft computing methodologies in control of plant (robot manipulator) with unknown internal behavior and environmental changes. The main methodology is based on using dual controller instead of one. One of them is for controlling identified plant (plant model) which used as model reference, and the other one for controlling the real plant (manipulator). The real controller presents a PID tuning method that uses a fuzzy logic as a main gain estimator and a signal analyzer, which extract some performance indexes (overshoot, rise time and steady state error) from controller error signal. By defining these PI parameters and the one which is available as a reference (from reference model), the controller tries to match its output to reach the desired PIs, come from model reference. The suggested approach is used to tune the PID gains for different response specifications. Experimental results demonstrate that better performance can be achieved with suggested adaptive controller. Robot manipulator which was used as case study in this work was simulated with professional simulation software package consist of Matlab/Simulink, Solid work and Visual Nastran.

关键词： Performance analysis Programmable control Adaptive control Manipulators Robot control Mathematical model Error correction Solid modeling Three-term control Fuzzy logic

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Orthogonal-type robot with a CAD/CAM-based position/force controller

Orthogonal-type robot with a CAD/CAM-based position/force co...

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ieee symposium on computational intelligence in control and automation, cica

作者： Fusaomi Nagata Shintaro Tani Takanori Mizobuchi Tetsuo Hase Zenku Haga Masaaki Omoto Keigo Watanabe Department of Electronics and Computer Science Tokyo University of Science Yamaguchi Japan Research and Development Center Meiho Company Limited Nogata Japan R&D Center Meiho Co. Ltd. Nogata Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 mum, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a ball-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.

关键词： Force control Service robots Force sensors Force feedback Robot sensing systems Feedback loop Force measurement Lenses Surface finishing Electrical equipment industry

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