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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

共 1447 条记录，以下是1331-1340 订阅

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Run-time reconfigurable solutions for adaptive control applications

Run-time reconfigurable solutions for adaptive control appli...

引用

4th international conference on informatics in control, automation and robotics

作者： Economakos, George Economakos, Christoforos Xydis, Sotirios NTU Athens Sch ECE muLab Iroon Polytexneiou 9 GR-15780 Athens Greece Halkis Inst Technol Dept Automat GR-34400 Psachna Evia Greece

ISBN: (纸本)9789728865849

The requirement for short time-to-market has made FPGA devices very popular for the implementation of general purpose electronic devices. Modem FPGA architectures offer the advantage of partial reconfiguration, which allows an algorithm to be partially mapped into a small and fixed FPGA device that can be reconfigured at run time, as the mapped application changes its requirements. Such a feature can be beneficial for modem control applications, that may require the change of coefficients, models and control laws with respect to external conditions. This paper presents an embedded run-time reconfigurable architecture and the corresponding design methodologies that support flexibility, modularity and abstract system specification for high performance adaptive control applications. Through experimental results it is shown that this architecture is both technically advanced and cost effective so, it can be used in increasingly demanding application areas like automotive control.

关键词： hardware adaptive control run-time systems

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Robust adaptive Wavelet Neural Network to control a class of nonlinear systems

Robust adaptive Wavelet Neural Network to control a class of...

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4th international conference on informatics in control, automation and robotics

作者： Hussain, A. Essounbouli, N. Hamzaoui, A. Zaytoon, J. IUT Troyes CReSTIC 9Rue Quebec Troyes France Univ Reims CReSTIC Reims France

ISBN: (纸本)9789728865825

This paper deals with the synthesis of a Wavelet Neural Network adaptive controller for a class of second order systems. Due to its fast convergence, the wavelet neural network is used to approximate the unknown system dynamics. The proposed approximator will be on-line adjusted according to the adaptation laws deduced from the stability analysis. To ensure the robustness of the closed loop system, a modified sliding mode control signal is used. In this work, variable sliding surface is considered to reduce the starting energy without deteriorating the tracking performances. Furthermore, the knowledge of the upper bounds of both the external disturbances and the approximation errors is not needed. The global stability of the closed loop system is guaranteed in the sense of Lyapunov. Finally, a simulation example is presented to illustrate the efficiency of the developed approach.

关键词： adaptive control adaptive wavelet neural network systems adaptive identification nonlinear systems sliding mode control

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Predictive control by local visual data - Mobile robot model predictive control strategies using local visual information and odometer data

Predictive control by local visual data - Mobile robot model...

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4th international conference on informatics in control, automation and robotics

作者： Pacheco, Lluis Luo, Ningsu Univ Girona Inst Informat & Applicat Girona Spain

ISBN: (纸本)9789728865832

Nowadays, the local visual perception research, applied to autonomous mobile robots, has succeeded in some important objectives, such as feasible obstacle detection and structure knowledge. This work relates the on-robot visual perception and odometer system information with the nonlinear mobile robot control system, consisting in a differential driven robot with a free rotating wheel. The description of the proposed algorithms can be considered as an interesting aspect of this report. It is developed an easily portable methodology to plan the goal achievement by using the visual data as an available source of positions. Moreover, the dynamic interactions of the robotic system arise from the knowledge of a set of experimental robot models that allow the development of model predictive control strategies based on the mobile robot platform PRIM available in the Laboratory of robotics and Computer Vision. The meaningful contribution is the use of the local visual information as an occupancy grid where a local trajectory approaches the robot to the final desired configuration, while avoiding obstacle collisions. Hence, the research is focused on the experimental aspects. Finally, conclusions on the overall work are drawn.

关键词： autonomous mobile robots computer vision control system identification model based control predictive control trajectory planning obstacle avoidance robot vision

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General formulation of system design process - Design process formulation as a controllable dynamic system

General formulation of system design process - Design proces...

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4th international conference on informatics in control, automation and robotics

作者： Zemliak, Alexander Galindo-Silva, Roberto Puebla Autonomous Univ Dept Math & Phys Av San Claudio S-N Puebla 72570 Mexico Natl Tech Univ Ukraine Inst Tech Phys Kiev Ukraine Puebla Autonomous Univ Dept Elect Puebla Mexico

ISBN: (纸本)9789728865849

The formulation of the process of analogue circuit design has been done on the basis of the control theory application. This approach produces the set of different design strategies inside the same optimization procedure. Basic equations for this design methodology were elaborated. The problem of the time-optimal design algorithm construction is defined as the problem of a functional minimization of the optimal control theory. By this context the design process is defined as a controllable dynamic system. Numerical results of some electronic circuit design demonstrate the efficiency of the proposed methodology and prove the non-optimality of the traditional design strategy.

关键词： circuit design control theory formulation time minimization

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Tracking control design for a class of affine MIMO Takagi-Sugeno models

Tracking control design for a class of affine MIMO Takagi-Su...

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4th international conference on informatics in control, automation and robotics

作者： Arino, Carlos Sala, Antonio Navarro, Jose Luis Jaume 1 Univ Dept Syst Engn & Design Sos Baynat S-N Castellon de La Plana Spain Univ Politecn Valencia Dept Syst Engn & Control Valencia Spain

ISBN: (纸本)9789728865825

When controlling Takagi-Sugeno fuzzy systems, verification of some sector conditions is usually assumed. However, setpoint changes may alter the sector bounds. Alternatively, setpoint changes may be considered as an offset addition in many cases, and hence affine Takagi-Sugeno models may be better suited to this problem. This work discusses a nonconstant change of variable in order to carry out offset-ellimination in a class of MIMO canonical affine Takagi-Sugeno models. Once the offset is cancelled, standard fuzzy control design techniques can be applied for arbitrary setpoints. The canonical models studied use as state representation a set of basic variables and their derivatives. Some examples are included to illustrate the procedure.

关键词： fuzzy control affine Takagi-Sugeno models local models LMI setpoint change

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Active learning in regression, with application to stochastic dynamic programming

Active learning in regression, with application to stochasti...

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4th international conference on informatics in control, automation and robotics

作者： Teytaud, Olivier Gelly, Sylvain Mary, Jeremie Univ Paris Sud INRIA CNRS UMR 8623TAO Paris France Univ Lille Inria Grappa Villeneuve Dascq France

ISBN: (纸本)9789728865825

We study active learning as a derandomized form of sampling. We show that full derandomization is not suitable in a robust framework, propose partially derandomized samplings, and develop new active learning methods (i) in which expert knowledge is easy to integrate (ii) with a parameter for the exploration/exploitation dilemma (iii) less randomized than the full-random sampling (yet also not deterministic). Experiments are performed in the case of regression for value-function learning on a continuous domain. Our main results are (i) efficient partially derandomized point sets (ii) moderate-derandomization theorems (iii) experimental evidence of the importance of the frontier (iv) a new regression-specific user-friendly sampling tool less-robust than blind samplers but that sometimes works very efficiently in large dimensions. All experiments can be reproduced by downloading the source code and running the provided command line.

关键词： intelligent control systems and optimization machine learning in control applications active learning

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GPC based on operating point dependent parameters linear model for thermal process

GPC based on operating point dependent parameters linear mod...

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4th international conference on informatics in control, automation and robotics

作者： Riadi, Riad Tawegoum, Rousseau Chasseriaux, Gerard Rachid, Ahmed UA Unite Sci Agron Appl Hort SAGAH A 462 INRA INH 2 Rue Notre F-49045 Angers France Univ Picardie Jules Verne IUP GEII F-80000 Amiens France

ISBN: (纸本)9789728865849

This paper presents the application of generalized predictive control strategy (GPC) based on an OPDPLM (Operating Point Dependent Parameters Linear Model) structure to a heating and ventilation nonlinear-subsystem of a complex passive air-conditioning unit. For this purpose, several discrete-time models were identified with respect to measurable exogenous events. The parameters of the identified models change according operating conditions (sliding opening window). The objective of the studied subsystem was to guarantee a microclimate with controlled temperature set-points. The on line adaptive strategy was implemented to compute the controller parameters in order to adapt to the operating conditions variations. Efficiency of the resulting algorithm is illustrated by a real experiment.

关键词： HVAC system non linear system generalized predictive control operating point dependent parameters model temperature control

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A distributed multi-robot sensing system using an infrared location system

A distributed multi-robot sensing system using an infrared l...

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4th international conference on informatics in control, automation and robotics

作者： Kemppainen, Anssi Haverinen, Janne Rning, Juha Univ Oulu Dept Elect & Informat Engn Oulu Finland

ISBN: (纸本)9789728865832

Distributed sensing refers to measuring systems where, instead of one sensor, multiple sensors are spatially distributed to improve the robustness of the system, increase the relevancy of the measurements and cut costs, since smaller and less precise sensors are used. Spatially distributed sensors fuse their measurements into the same co-ordinates, which requires the relative positions of the sensors. In this paper we present a distributed multi-robot sensing system in which the relative poses (positions and orientations) of the robots are estimated using an infrared location system. The relative positions are estimated using intensity and bearing measurements of received infrared signals. The relative orientations are obtained by fusing the position estimates of the robots. The location system enables a group of robots to perform distributed and co-operative environment sensing by maintaining a given formation while the group measures distributions of light and a magnetic field, for example. In the experiments, a group of three robots moved and collected spatial information (i.e. illuminance and compass headings) from the given environment. The information was stored on grid maps that present illuminance and compass headings. The experiments demonstrated the feasibility of using the distributed multi-robot sensing system in mobile sensing applications.

关键词： distributed sensing relative pose estimation multi-robot system formation control

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Robust adaptive control using a fractional feedforward, based on SPR condition

Robust adaptive control using a fractional feedforward, base...

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4th international conference on informatics in control, automation and robotics

作者： Ladaci, Samir Loiseau, Jean Jacques Charef, Abdelfatah Ecole Cent Nantes IRRCCyN 1 Rue NoeBP 92101 F-44321 Nantes France Univ Mentouri Dept Elect Constantine 25000 Algeria

ISBN: (纸本)9789728865849

This paper presents a new approach for robust adaptive control, using fractional order systems as parallel feedforward in the adaptation loop. The basic adaptive algorithm used here is Model Reference Adaptive control (MRAC), which do not require explicit parameter identification. The problem is that such a control system may diverge when confronted with finite sensor and actuator dynamics, or with parasitic disturbances. One of the classical robust adaptive control solutions to these problems, makes use of parallel feedforward and simplified adaptive controllers based on the concept of positive realness. This control scheme is based on the ASPR property of the plant. We show that this condition implies also robust stability in case of fractional order controllers. A simulation example of a SISO robust adaptive control system illustrates the interest of the proposed method in the presence of disturbances and noises.

关键词： robust adaptive control fractional adaptive control model reference adaptive control feedforward fractional order systems

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Explicit predictive control laws - On the geometry of feasible domains and the presence of nonlinearities

Explicit predictive control laws - On the geometry of feasib...

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4th international conference on informatics in control, automation and robotics

作者： Olaru, Sorin Dumur, Didier Dobre, Simona Supelec Automat Control Dept 3 Rue Joliot Curie Gif Sur Yvette France Nancy Univ CRAN CNRS UMR 7039 F-54506 Vandoeuvre Les Nancy France

ISBN: (纸本)9789728865849

This paper proposes a geometrical analysis of the polyhedral feasible domains for the predictive control laws under constraints. The fact that the system dynamics influence the topology of such polyhedral domains is well known from the studies dedicated to the feasibility of the control laws. Formally the system state acts as a vector of parameters for the optimization problem to be solved on-line and its influence can be fully described by the use of parameterized polyhedra and their dual constraints/generators representation. Problems like the constraints redundancy or the construction of the associated explicit control laws at least for linear or quadratic cost functions can thus receive fully geometrical solutions. Convex nonlinear constraints can be approximated using a description based on the parameterized vertices. In the case of nonconvex regions the explicit solutions can be obtain by constructing Voronoi partitions based on a collection of points distributed over the borders of the feasible domain.

关键词： predictive control parameterized polyhedra explicit control laws

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