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Parallel Distributed Compensation based sector sliding mode control of Takagi-Sugeno type polytopic models

Parallel Distributed Compensation based sector sliding mode ...

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International symposium on Applied Machine intelligence and Informatics (SAMI)

作者： Béla Takarics Computer and Automation Research Institute Cognitive Informatics Research Group Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The main contribution of this paper is a new sliding mode design methodology for nonlinear systems, which utilizes the Parallel Distributed Compensation based multi-objective LMI control design for Takagi-Sugeno type polytopic representations of qLPV models. It is partially extension and combination of the classical optimal manifold design for linear (or linearized) system and sector sliding mode control. This new approach enables a systematic design and decomposition of optimal sliding sector by the High Order Singular Value Decomposition based canonical description of a wide class of nonlinear systems. This brings the advantages of the LMI based control design to the field of sliding mode control. The effectiveness of the methodology is validated by simulation results.

关键词： Sliding mode control Vectors control design Stability criteria Tensile stress Trajectory Linear systems

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A Neural Network-Based Approach for the Identification and Compensation of Magnetic Disturbances in Mobile Robot Localization

A Neural Network-Based Approach for the Identification and C...

引用

International symposium on Applied computational intelligence and Informatics ( SACI)

作者： Massimo Stefanoni Ákos Odry Peter Sarcevic Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Budapest Hungary Department of Mechatronics and Automation University of Szeged Szeged Hungary

Magnetometers are widely used in sensor fusion frameworks of mobile robots due to their ability to work as compasses. The measurements of these sensors are largely influenced by hard iron and soft iron effects that are caused by nearby ferromagnetic objects. In this paper, an artificial neural network (ANN)-based method is proposed for the identification of such effects, which can be compensated from the measurements. The method utilizes both the distance and the angle of the detected object based on the coordinate frame of the mobile robot as the inputs of the Multi-Layer Perceptron (MLP) ANN. The MLP provides on its outputs the disturbance levels in the three axes, which need to be subtracted from the measurements to obtain the compensated values. The method was tested with three different types of objects to evaluate the performance of the method. Measurements were collected using an industrial robotic arm in a grid around the objects. The disturbance levels generated by the objects were computed by subtracting measurements recorded in an undisturbed scenario. Three-layer MLPs were tested with various numbers of hidden layer neurons to find the optimal configurations. The achieved results show that the disturbance levels can be significantly decreased using the proposed method.

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Automatic Classification of Acquisition Problems Affecting Fingerprint Images in Automated Border controls

Automatic Classification of Acquisition Problems Affecting F...

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ieee symposium Series on computational intelligence (SSCI)

作者： Ruggero Donida Labati Angelo Genovese Enrique Munoz Ballester Vincenzo Piuri Fabio Scotti Gianluca Sforza Department of Computer Science Università degli Studi di Milano Italy Universita degli Studi di Milano Milano Lombardia IT

Automated Border control (ABC) systems are technologies designed to increase the speed and accuracy of the identity verifications performed at international borders. A great number of ABCs deployed in different countries use fingerprint recognition techniques because of their high accuracy and user acceptability. However, the accuracy of fingerprint recognition methods can drastically decrease in this application context due to user-sensor interaction factors. This paper presents two main contributions. The first of them consists in an experimental evaluation performed to search the main negative aspects that could affect the usability and accuracy in ABCs based on fingerprint biometrics. The mainly considered aspects consists in the presence of luggage and cleanness of the finger skin. The second contribution consists in a novel approach for automatically identifying the type of user-sensor interaction that caused quality degradations in fingerprint samples. This method uses a specific feature set and computational intelligence techniques to detect non-idealities in the acquisition process and to suggest corrective actions to travelers and border guards. To the best of our knowledge, this is the first method in the literature designed to detect problems in user-sensor interaction different from improper pressures on the acquisition surface. We validated the proposed approach using a dataset of 2880 images simulating different scenarios typical of ABCs. Results shown that the proposed approach is feasible and can obtain satisfactory performance, with a classification error of 0.098.

关键词： Biometrics (access control) Image recognition Quality assessment Surface treatment Context Airports computational intelligence

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Hierarchical neurocontroller architecture for intelligent robotic manipulation

Hierarchical neurocontroller architecture for intelligent ro...

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ieee International Conference on Robotics and automation (ICRA)

作者： L.C. Rabelo X.J.R. Avula Center for Technology Transfer University of Missouri Rolla Rolla MO USA Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri Rolla Rolla MO USA

A hierarchical neurocontroller architecture consisting of two artificial neural network systems for the manipulation of a robotic arm is presented. The higher-level neural system participates in the delineation of the robot arm workspace and coordinates transformation and the motion decision-making process. The lower one provides the correct sequence of control actions. The capabilities, including speed, adaptability, and computational efficiency, of the developed architecture are illustrated by an example.< >

关键词： Intelligent robots Neurocontrollers Robot kinematics Artificial neural networks Manipulators Artificial intelligence Robot control computational modeling Motion analysis Decision making

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PLC controlled industrial processes on-line simulator

PLC controlled industrial processes on-line simulator

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2007 ieee International symposium on Industrial Electronics (ISIE 2007), vol.7

作者： Valter Pinto Silviano Rafael J. F. Martins LaboratoriesEI (Laboratório de sistemas Eléctricos Industriais) Escola Superior Tecnologia de Setú Instituto Politécnico de Setúbal Setubal Portugal

The practical tryout of a PLC controlled automation process is a well known problem. This paper presents a process simulation tool, developed under the windows operating system, which can be used with any type of programmable logic controller. The process editor is comprehensive and is easy to use. An inexpensive hardware interface is established between the serial port of a personal computer and the digital and analog inputs/outputs of the PLC.

关键词： Programmable control Process control Industrial control Automatic control Electrical equipment industry automation computational modeling Operating systems Hardware Microcomputers

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Multi-Criteria Identification of a controllable Descending System

Multi-Criteria Identification of a Controllable Descending S...

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ieee symposium on computational intelligence in Multi-Criteria Decision-Making, MCDM

作者： Vladimir N. Dobrokhodov Roman B. Statnikov Departments of Mechanical Engineering Naval Postgraduate School Monterrey CA USA Information Sciences Naval Postgraduate School Monterrey CA USA

This paper introduces an effective computational environment for multi-objective decision-making, optimization and identification. The paper adopts multi-objective vector identification methodology and performance assessment provided by the parameter space investigation method (PSI). The main feature of this methodology is in the fact that various design objectives are taken into consideration in their natural form without reducing dimensionality of the problem and therefore without distorting its nature. Therefore, there is no need for artificial convolution and weighting of multiple criteria. Moreover, the design alternatives are assessed explicitly versus multiple given requirements. The main practical purpose of this work is of twofold. First, we introduce an optimization framework and technique that allows to determine feasible and Pareto sets of the numerous uncertainties inherent for real-world engineering systems. This framework tightly couples principal advantages of MatLab/Simulink simulation engine with the unique properties of the multi-objective PSI method. Second, we show key benefits of the MatLab/PSI bundle on the example of identification of the principal aerodynamic characteristics and apparent masses of the controllable circular parachute

关键词： control systems Decision making Pareto optimization Mathematical model Design optimization computational intelligence Mechanical engineering Convolution Uncertainty Systems engineering and theory

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Miniature accelerometer precision improvement using intelligent control

Miniature accelerometer precision improvement using intellig...

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International symposium on Applied computational intelligence and Informatics ( SACI)

作者： T.L. Grigorie M. Lungu I.R. Edu R. Obreja Faculty of Electrical Engineering/Avionics Division University of Craiova Craiova Romania

The paper presents a way to improve the transient regime of a miniature accelerometer by using a fuzzy controller to close its loop. The fuzzy controller replaces an electronic block on the feedback path of the closed loop, block that, in the classical architecture, assured the system damping and, in the same time, played the role of elastic link of the accelerometer proof mass. For the proposed controller, proportional-derivative variant is chosen, and its input-output mapping is derived. The membership functions for inputs are s-functions, π-functions, respectively z-functions, while the output membership functions have constant values. To define the rules, a zero-order Sugeno fuzzy model is chosen. Finally, a comparative numerical study between the classical and the proposed accelerometer architectures is made.

关键词： Accelerometers Coils Mathematical model Transducers Voltage control Filtering Force

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Maritime Ship Tracking Algorithm Based On Improved YOLOv8 and StrongSORT

Maritime Ship Tracking Algorithm Based On Improved YOLOv8 an...

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2024 ieee International Conference on Unmanned Systems, ICUS 2024

作者： Wu, Chen Song, Yucun Ge, Quanbo College of Automation Nanjing University of Information Science and Technology Nanjing China School of Artificial Intelligence School of Future Technology Nanjing University of Information Science and Technology Nanjing China

ISBN: (纸本)9798350384185

Maritime targets detection and tracking play an important role in the development of intelligent maritime technology, but the current research on maritime ship tracking is still deficient. For the maritime tracking process, the ship movement, UAV shooting camera jitter and other factors lead to the target recognition fuzzy or lost and aerial photography detection of the existence of small targets difficult to recognize and other issues, this paper proposes a combination of improved YOLOv8 and Strongsort based on maritime ship tracking method. Firstly, an improved GhostConv module is used to replace some of the convolutional layers in the YOLOv8 backbone network, and BiFormer attention is added to the header, which improves the detection accuracy and computational efficiency of the model, and also improves the detection ability of small targets to a certain extent;secondly, the original optimizer of the model is replaced with Lion, which makes the training model lighter and the training speed is faster;and finally. WIOU loss function is used instead of the original CIOU to improve the generalization ability and overall performance of the model. The improved YOLOv8 model is validated on the VOC2007 dataset, and the mAP50 of the improved algorithm is improved by 1.3%.The training is also performed on the produced unmanned boat dataset, and the trained weights are used in the Strongsort algorithm to track the ship, and the results show that the improved tracking algorithm combining YOLOv8 and Strongsort has a better performance effect in ship tracking. © 2024 ieee.

关键词： Aerial photography

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Experimental study on robust force control of a flexible arm with a symmetric rigid tip body

Experimental study on robust force control of a flexible arm...

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ieee International Conference on Robotics and automation (ICRA)

作者： F. Matsuno S. Umeyama S. Kasai Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Japan Department of Computer and Systems Engineering Faculty of Engineering Kobe University Kobe Japan Department of Electronic Engineering Kobe College of Technology Kobe Japan

In this paper, an experimental study on robust control of bending and torsional vibrations and contact force of a one-link flexible arm is discussed. The flexible arm carries a symmetric rigid tip body, of which the mass center lies on the center axis of the arm. We derive dynamic equations of the joint angle, the vibrations of the flexible link, and the contact force. On the basis of a finite-dimensional modal model of a distributed-parameter system, robust controllers are constructed. Some experimental results are shown.

关键词： Robust control Force control Manipulators Vibration control Equations Orbital robotics Rotors computational intelligence Systems engineering and theory Educational institutions

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Improved delay-range-dependent stability analysis of a T-S Fuzzy system with time varying delay

Improved delay-range-dependent stability analysis of a T-S F...

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International symposium on computational intelligence and Informatics

作者： Rajeeb Dey Valentina. E. Balas T.C. Lin G. Ray Dept. of Electronics and Communication Engineering Sikkim Manipal University Sikkim India Dept. of Automation & Applied Informatics Aurel Vlaicu University of Arad Romania Dept. of Electronic Engineering Feng Chia University Taiwan

This paper presents a new & improved stability analysis for Takagi-Sugeno (T-S) Fuzzy system subjected to interval time-varying delay. The stability analysis provides a sufficient stability condition in an Linear Matrix Inequality (LMI) frame work that can estimate less conservative delay upper bound for a given lower bound of delay. The analysis is carried out by proposing new and modified Lyapunov-Krasovskii (L-K) functional along with the judicious use of Jensen's integral for eliminating the integral terms arising out from the time derivative of L-K functional, these modifications in turn leads to convex combination of the LMIs. Few numerical examples are included to illustrate the effectiveness of the obtained stability condition compared to some recently published stability conditions for different delay nature while delay is varying in intervals.

关键词： Delays Stability analysis Fuzzy systems Upper bound Symmetric matrices Time-varying systems Numerical stability

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