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Fuzzy extension of discrete event supervisory control

Fuzzy extension of discrete event supervisory control

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： A. Lavrov Fraunhofer Institute for Industrial Mathematics Kaiserslautern Germany

This paper proposes an enhancement of industrial control through a combination of discrete event supervisory control methods and fuzzy techniques. Such a combination enables a control system not only to perform standard tasks of preventing the forbidden states, driving through the shortest path, etc., but also to make more flexible and sophisticated decisions using additional uncertain and/or incomplete information, e.g. on "safer" or "faster" trajectories, "preferable" states, etc. Forms of introducing fuzziness into a discrete event control framework are analyzed. Three possible implementations are considered: fuzzy assignment of strategies, fuzzy strategy, and fuzzy synchronization. Formal considerations are accompanied by illustrative examples from automated manufacturing.

关键词： Fuzzy control Supervisory control Electrical equipment industry Industrial control control systems Automatic control Petri nets Mathematics Manufacturing automation Manufacturing processes

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Direct adaptive control design for reachable linear discrete-time uncertain systems

Direct adaptive control design for reachable linear discrete...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： S.H. Fu C.C. Cheng Department of Mechanical and ElectreMechanical Engineering National Sun Yat-Sen University Kaohsiung Taiwan

In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems. The proposed adaptive controller addresses adaptive stabilization while under the reachability assumption. The method can be easily extended to the system with bounded exogenous disturbances and /spl lscr//sub 2/ disturbances, where the disturbance rejection can be addressed. The framework is Lyapunov-based and the adaptive laws are characterized by Kronecker calculus. Finally, several numerical examples are provided to demonstrate the efficacy of the proposed framework.

关键词： Adaptive control Uncertain systems Programmable control Stability MIMO control systems Adaptive systems Parameter estimation Neural networks Linear systems

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Using evolved paths for control in robot-soccer

Using evolved paths for control in robot-soccer

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： P.J. Thomas R.J. Stonier Faculty of Engineering and Physical System Central Queensland University Rockhampton QLD Australia Faculty of Informatics and Communication Central Queensland University Rockhampton QLD Australia

In this paper we use an evolutionary algorithm to evolve paths using robot velocity profiles from an initial configuration to a configuration behind the ball. Physical conditions for wheel lift are incorporated as well as forward and reverse motion of the robot. A fuzzy clustering technique is used to build the fuzzy control knowledge base from optimised paths found for a large grid of initial configurations.

关键词： Robot control Robot kinematics Mobile robots Fuzzy control Fuzzy systems Wheels control systems Evolutionary computation Fuzzy logic Fuzzy sets

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Optimal fuzzy control of radial active magnetic bearing systems

Optimal fuzzy control of radial active magnetic bearing syst...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Shin-Shiung Yu Shinq-Jen Wu Tsu-Tian Lee Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Electrical Engineering Da Yeh University Changhua Taiwan

ISBN: (纸本)0780378660

In this paper, a neural-fuzzy approach to develop the optimal fuzzy control of a highly nonlinear radial current-controlled active magnetic bearing (AMB) systems is proposed. A linear self-constructing neural fuzzy inference network is proposed to neural-fuzzy modeling the radial current-controlled AMB system first. Then, the corresponding optimal fuzzy control design scheme is obtained to stabilize the AMB system with minimize current consumption. Simulation results show that the proposed optimal fuzzy controller can operate in widely range of shaft position.

关键词： Fuzzy control Magnetic levitation Fuzzy systems Optimal control Nonlinear control systems control systems Fuzzy neural networks Shafts Nonlinear magnetics Turbines

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Co-emergence process on the humans' cooperation for walk-support

Co-emergence process on the humans' cooperation for walk-sup...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： T. Muto Y. Miyake Department ofComputational Intelligence and Systems Science Tokyo Institute of Technology Japan

We analyzed the co-emergence process on the cooperative walks between two humans. As the results, we found the cyclic process based on the following two control processes. One is the process to realize the footstep's coherence between the cooperative walkers. The other is the process to control the coherence by the mutual relations with the fluctuations of the arms' swing, connected with the attention. Additionally we found that the arms' fluctuations take flexible synchronizations between the cooperative walkers. These results suggest that the synchronization of the cyclic process realize the co-emergence of the cooperative walk flexibly.

关键词： Humans Legged locomotion Senior citizens Fluctuations Rhythm Intelligent systems Process control Man machine systems Prosthetics Poles and towers

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Internal model controller with diagonal recurrent neural network for pneumatic robot servo system

Internal model controller with diagonal recurrent neural net...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Xuesong Wang Guangzheng Peng Yang Xue SMC-BIT Pneumahcs Center Department of Automahc Control Beijing Institute of Technology Beijing China

ISBN: (纸本)0780378660

A new internal model controller for pneumatic robot servo system is presented, which has a three-layer feedforward neural network as controller (NNC) and a diagonal recurrent neural network (DRNN) as model predictor (NNM). The topology structures and learning algorithm for both NNM and NNC networks are discussed in this paper. The proposed control scheme is applied to a single rod pneumatic cylinder position control system and the experiment results indicate that the system has strong robustness for variation of system parameters and significantly improves the control performances of pneumatic actuators.

关键词： Recurrent neural networks Servomechanisms Predictive models control systems Robot control Neural networks Feedforward neural networks Network topology Position control Robust control

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Compensation of discrete contact state errors in multi-fingered manipulation

Compensation of discrete contact state errors in multi-finge...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： T. Schlegl Siemens VDO Automotive AG Germany

This article embeds the control problem of multi-fingered robotic manipulation in the framework of hybrid discrete-continuous dynamical systems. A hybrid discrete-continuous control architecture enables a hand to robustly manipulate objects. The paper focuses on the ability of the hybrid controller to compensate for errors in the discrete contact state of the manipulation system. Such deviations of the actual contact situation of fingers in the systems from the desired one may degrade the performance of task execution or even cause instability of the grasp. An active contact search and a following grasp stabilization sequence corrects the contact state and allows for further regrasping tasks. Results of dynamic simulations with a four-fingered hand manipulating a sample object demonstrate the robustness improvement in grasping control as achieved by the proposed approach for discrete error compensation.

关键词： Fingers Error correction Vehicle dynamics Manipulator dynamics Force control control systems Robots Robust control Grasping Automatic control

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Time-optimal coordinated control of the relative formation of multiple vehicles

Time-optimal coordinated control of the relative formation o...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： T. Furukawa H.F. Durrant-Whyte F. Bourgault G. Dissanayake Poly-Grames Research Center Ecole Polytechnique de Montréal Montréal QC Canada Australian Centre for Field Robotics University of Sydney Sydney Australia Faculty of Engineering University of Technology Sydney Australia

This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.

关键词： control systems Optimal control Australia Motion control Nonlinear control systems Remotely operated vehicles Cooperative systems Pulp manufacturing Automotive engineering Robot kinematics

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Attitude control using CMAC for electric wheelchairs equipped with hydraulic cylinder

Attitude control using CMAC for electric wheelchairs equippe...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： S. Fujisawa K. Akazawa R. Kurozumi K. Kawada T. Yamamoto H. Uenaka Department of Electro-Mechanical Systems Takamatsu National College of Technology Japan Department of Technology and Information Education Hiroshima University Japan INDEX Company Limited

We developed a posture control system for an electric wheelchair equipped with active suspension, using CMAC which is a neural network type of control. Testing of the posture control of the wheelchair, which considers a learning result as an output to the target value inputted on-line using the learning function of CMAC (cerebellar model arithmetic controller), was performed. In this paper, testing of the learning control which holds the posture horizontally both by the simulation and in the experiment by the system, is performed, and the validity of CMAC is verified.

关键词： Wheelchairs Educational technology Proportional control Petroleum control systems Electrohydraulics Wheels Brain modeling Educational institutions Arithmetic

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Direct adaptive control for linear discrete-time uncertain systems with exogenous disturbances and /spl lscr//sub 2/ disturbances

Direct adaptive control for linear discrete-time uncertain s...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： S.H. Fu C.C. Cheng Department of Mechanical and Electre-Mechanical Engineering National Sun Yat-Sen University Kaohsiung Taiwan

In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems with exogenous bounded disturbances and /spl lscr//sub 2/ disturbances. The proposed adaptive controller addresses adaptive stabilization and disturbance rejection. For bounded energy /spl lscr//sub 2/ disturbances the proposed method guarantees a nonexpansivity constraint on the closed-loop input-to-states map. The framework is Lyapunov-based and the adaptive laws are characterized by Kronecker calculus. The only assumption is reachability of the pair (A,B). Finally, several numerical examples are provided to demonstrate the efficacy of the proposed frameworks.

关键词： Adaptive control Uncertain systems Programmable control control systems MIMO Equations Vectors Feedback control Power engineering and energy Electronic mail

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