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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

作者： Cheung, Yushing Chung, Jae H. Coleman, Norman P. Stevens Inst Technol Dept Mech Engn Hoboken NJ 07030 USA US Army RDECOM ARDEC Picatinny Arsenal NJ 07806 USA

ISBN: (纸本)9781424427529

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： Slave robots

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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...

引用

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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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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Neural Network Fitting for Input-Output Manifolds of Online control Laws in Constrained Linear Systems 4

Neural Network Fitting for Input-Output Manifolds of Online ...

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ieee symposium on computational intelligence in control and automation (cica)

作者： do Carmo, Samronne N. de Almeida, Marconi O. de Castro, Flavio A. Campos, Rafael F. R. Araujo, Jose M. Dorea, Carlos E. T. Inst Fed Educ Ciencia & Tecnol Bahia Dept Automacao & Sistemas BR-40301015 Salvador BA Brazil Univ Fed Rio Grande do Norte Ctr Tecnol Dept Engn Comp & Automacao BR-59078900 Lagoa Nova Natal RN Brazil

ISBN: (纸本)9781479945306

control techniques for systems with constraints on control and state are somewhat attractive, mainly in cases where these constraints represent safety or critical points of operation. An important approach for control of constrained linear systems is based on the concept of set invariance, whose main advantages are the inclusion of constraints in the whole design, the non-conservative nature of the controllers and the ability to cope with noise measurement and disturbance entering in the system. Some disadvantage are a possibly high complexity of the control law for higher order systems or the absence of an analytical, off-line control law in some cases, as, for instance, in the output feedback case. The online computation of the control input at each step is ever possible, but the computational cost involved may turn the solution impracticable in the case of systems with fast dynamics. Neural networks, on the other hand, is an interesting alternative for function approximation, and works well in capturing the characteristics of the input-output manifold of the online control law, starting from a training set generated by simulation of the control system. In this paper, neural networks are applied to substitute in an efficient way the online control computation. A real case based example is used to verify the effectiveness of the proposed neural controller.

关键词： feedback function approximation linear systems neurocontrollers constrained linear system input-output manifold neural network fitting noise measurement online control law set invariance computational modeling Manifolds Neural networks Noise Output feedback Runtime function approximation Linear system Noise measurement Manifolds Output feedback Neurocontrollers Neural network Runtime control law computational modeling Noise Feedback

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SOFC for TS fuzzy systems: Less Conservative and Local Stabilization Conditions 4

SOFC for TS fuzzy systems: Less Conservative and Local Stabi...

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ieee symposium on computational intelligence in control and automation (cica)

作者： Mozelli, L. A. Souza, F. O. Mendes, E. M. A. M. Univ Fed Sao Joao del Rei UFSJ CELTA Ctr Studies Elect Engn & Automat Rod MG 443Km 7 BR-36420000 Ouro Branco MG Brazil Univ Fed Minas Gerais Dept Elect Engn BR-31270010 Belo Horizonte MG Brazil

ISBN: (纸本)9781479945306

The static output feedback control (SOFC) for Takagi-Sugeno (TS) fuzzy systems is addressed in this paper. Based on Lyapunov theory the proposed methods are formulated as Linear Matrix Inequalities (LMIs). To obtain less conservative conditions the properties of membership functions time-derivative are explored. Wiht this new methodology SOFC with higher H-infinity attenuation level can be designed. Moreover, the method is extended to local stabilization using the concepts of invariant ellipsoids and regions of stability. These local conditions overcome some difficulties associated with estimating bounds for the time-derivative of the membership functions. Examples are given to illustrate the merits of the proposed approaches.

关键词： H∞ control Lyapunov methods feedback fuzzy control fuzzy systems linear matrix inequalities stability H∞ attenuation level LMI Lyapunov theory SOFC TS fuzzy system Takagi-Sugeno fuzzy system invariant ellipsoids less conservative conditions local stabilization conditions membership functions time-derivative properties stability regions static output feedback control Asymptotic stability Attenuation Indexes Numerical models Stability analysis Vectors Fuzzy systems Lyapunov methods linear matrix inequalities Solid oxide fuel cells Fuzzy control asymptotic stability region numerical models Interim Local Management Interface Stability analysis Output Feedback control local stability Feedback Attenuation Attenuation

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Improved multiobjective particle swarm optimization for designing PID controllers applied to robotic manipulator 4

Improved multiobjective particle swarm optimization for desi...

引用

4th ieee symposium on computational intelligence in control and automation, cica 2014

作者： Pierezan, Juliano Ayala, Helon H. V. Da Cruz, Luciano F. Freire, Roberto Z. Dos S. Coelho, Leandro Federal University of Parana- UFPR Electrical Engineering Graduate Program - PPGEE Curitiba Brazil Pontifical Catholic University of Parana - PUCPR Industrial and Systems Engineering Graduate Program - PPGEPS Curitiba Brazil Federal University of Parana - UFPR Department of Electrical Engineering - DEE/PPGEE Curitiba Brazil

ISBN: (纸本)9781479945313

In order to improve equipment efficiency in terms of performance, energy consumption and degradation for example, the industry has increased the use of control systems as the PID (proportional-integral-derivative) to a new baseline. This structure has few parameters to adjust and it is easy to implement practically. However, there are some requirements often included on multivariable systems that cannot be solved concurrently by classical methods. To solve this problem, the current paper approaches the application of Multiobjective Differential Evolution (MODE), Multiobjective Harmony Search (MOHS) and Multiobjective Particle Swarm Optimization (MOPSO) on multivariable PID controllers tuning. Moreover, an improved version of MOPSO (I-MOPSO) is proposed and its performance is compared with the other algorithms. In order to validate it under control systems, the optimization technique is applied on a two degree of freedom robotic manipulator. Finally, a detailed analysis is made on the I-MOPSO achievements. © 2014 ieee.

关键词： Three term control systems

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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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2009 ieee symposium on computational intelligence in control and automation, cica 2009

作者： Nahapetian, N. Jahed Motlagh, M.R. Analoui, M. Iran University of Science and Technology Tehran Iran Computer Eng. Department Iran University of Science and Technology Tehran Iran

ISBN: (纸本)9781424427529

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. ©2009 ieee.

关键词： controllers

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Glucose Level Regulation for Diabetes Mellitus Type 1 Patients using FPGA Neural Inverse Optimal control 4

Glucose Level Regulation for Diabetes Mellitus Type 1 Patien...

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ieee symposium on computational intelligence in control and automation (cica)

作者： Romero-Aragon, Jorge C. Sanchez, Edgar N. Alanis, Alma Y. CINVESTAV Unidad Guadalajara Zapopan 45019 Jalisco Mexico Univ Guadalajara CUCEI Zapopan 45080 Jalisco Mexico

ISBN: (纸本)9781479945306

In this paper, the field programmable gate array (FPGA) implementation of a discrete-time inverse neural optimal control for trajectory tracking is proposed to regulate glucose level for type 1 diabetes mellitus (T1DM) patients. For this controller, a control Lyapunov function (CLF) is proposed to obtain an inverse optimal control law in order to calculate the insulin delivery rate, which prevents hyperglycemia and hypoglycemia levels in T1DM patients. Besides this control law minimizes a cost functional. The neural model is obtained from an on-line neural identifier, which uses a recurrent high-order neural network (RHONN), trained with an extended Kalman filter (EKF). A virtual patient is implemented on a PC host computer, which is interconnected with the FPGA controller. This controller constitutes a step forward to develop an autonomous artificial pancreas.

关键词： Kalman filters Lyapunov methods discrete time systems diseases field programmable gate arrays medical computing medical control systems neurocontrollers nonlinear filters optimal control recurrent neural nets sugar CLF EKF FPGA controller FPGA neural inverse optimal control PC host computer RHONN T1DM patients autonomous artificial pancreas control Lyapunov function cost functional minimization diabetes mellitus type 1 patients discrete-time inverse neural optimal control extended Kalman filter field programmable gate array glucose level regulation hyperglycemia level hypoglycemia level insulin delivery rate inverse optimal control law neural model online neural identifier recurrent high-order neural network trajectory tracking type 1 diabetes mellitus patients virtual patient Covariance matrices Field programmable gate arrays Mathematical model Optimal control Sugar Field programmable gate arrays Optimal control Kalman filters Type 1 Diabetes Mellitus sugar trajectory tracking recurrent neural nets medical control systems chlorofibre Neurocontrollers medical computing discrete time systems Nonlinear filters Extended Kalman filters Lyapunov methods

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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

作者： Nagata, Fusaomi Tani, Shintaro Mizobuchi, Takanori Hase, Tetsuo Haga, Zenku Omoto, Masaaki Watanabe, Keigo Tokyo Univ Sci Dept Elect & Comp Sci Yamaguchi Japan Meiho Co Ltd R&D Ctr Nogata Japan Saga Univ Grad SchSci & Engn Dept Adv Syst Control Engn Saga Japan

ISBN: (纸本)9781424427529

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 I pm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a bull-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： Computer aided design

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Requirement to standardise self reconfigurable robotics

Requirement to standardise self reconfigurable robotics

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ieee International symposium on computational intelligence in Robotics and automation

作者： Duhaut, D University de Bretagne Sud France

Selfreconfigurable robots are built on a set of elementary modules. Actually the different works in this field are not compatible. This can be seen as an useless dispersion. We propose here an analyse of the condition... 详细信息

ISBN: (纸本)0780378660

关键词： Mechanical sensors Crystallization Robot sensing systems Level control Actuators Sensor systems Manipulators Joining processes Power generation Communication system control

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