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7th World Congress on intelligent control and Automation

作者： Yu, Miao Dong, Xiaomin Liao, Changrong Chen, Weimin Li, Zushu Chongqing Univ Educ Minist China Key Lab Optoelect Technol & Syst Chongqing 630044 Peoples R China Chongqing Univ Dept Automat Chongqing Peoples R China

ISBN: (纸本)9781424421138

It is very important to hold the wheeled robot's attitude while running. The Adaptive suspension system with magneto-rheological (NM) damper can optimize its attitude by providing continuously variable real-time damping control based on road profile. To address this problem, a control strategy with schema-based human simulated intelligent control (HSIC) theory is proposed and studied. According to a seven DOFs dynamic model, eight states of robot's attitude are divided and relevant schemas are designed. The performances of the control system under two types of road excitations are evaluated by computer simulation. The results indicate that HSIC can achieve better attitude stability than LQG and passive system.

关键词： human simulated intelligent control Schema theory Attitude control Robot

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Schema theory and human simulated intelligent control

Schema theory and human simulated intelligent control

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IEEE International Conference on Robotics, intelligent Systems and Signal Processing

作者： Li, ZS Wang, GP Chongqing Univ Inst Intelligent Automat Chongqing 400044 Peoples R China

ISBN: (纸本)078037925X

Schema theory is a methodology in cognitive science analyzing the dynamic biologic system of human being and other creatures. It is mainly used in explaining the origin of human intelligence, the structure and organization of human cognition, etc. Since 1970s, schema theory has been successfully applied to the fields, such as brain science, artificial intelligence, robot control and artificial neural network, etc. In this paper based on introducing schema theory in detail, the inner relations between schema theory and human simulated intelligent control (HSIC) are discussed. In addition, the applications of schema theory are studied in the control of complex systems, such as robots, swinging up of cart-double pendulum system, etc.

关键词： intelligent control artificial intelligence large-scale systems mobile robots cognition pendulums schema theory human simulated intelligent control cognitive science dynamic biologic system human intelligence origin brain science artificial intelligence robot control artificial neural network complex systems control cart-double pendulum system

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Improvement of the prototype algorithm of human simulated intelligent control

Improvement of the prototype algorithm of Human Simulated In...

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7th International Conference on Machine Learning and Cybernetics

作者： Wang, Pei-Jin Yantai Univ Sch Comp Sci & Technol Yantai 264005 Peoples R China

ISBN: (纸本)9781424420957

The prototype algorithm of human simulated intelligent control leads to the overshoot easily, it can not simulate human control Strategies completely. The modified algorithm of HSIC which is called human-Like intelligent control is pointed out in this paper, it divides control process into three stages: initial stage, adjusting stage and eliminating disturbance stage. The different control algorithms will be used in different stage, the control method do its best to simulate human control intelligences more nearly. The test results are given, it proves that the experimental result of the prototype algorithm is relatively stable hut oscillating, the experimental result of the modified algorithm is better than the prototype algorithm, there is a consistency among stability, fast response and the best accuracy. The HLIC can be used in the process control.

关键词： intelligent control human simulated intelligent control control algorithm

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A New Lane Keeping Method Based on human-simulated intelligent control

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IEEE TRANSACTIONS ON intelligent TRANSPORTATION SYSTEMS 2022年第7期23卷 7058-7069页

作者： Chen, Jin Sun, Dihua Zhao, Min Li, Yang Liu, Zhongcheng Chongqing Univ Sch Automat Chongqing 400044 Peoples R China Chongqing Univ Minist Educ Key Lab Dependable Serv Comp Cyber Phys Soc Chongqing 400044 Peoples R China

In this paper, a novel lane keeping control method for automated vehicles based on human-simulated intelligent control (HSIC) is proposed, which is inspired by human expert drivers' steering characteristics including good foresight, precise execution and notable intermittency. The novelty of the paper is to introduce the HSIC concept into lateral control of vehicles, which is a multi-mode control scheme implemented by the combination of the feedforward control for curve tracking and actand-wait control for intermittent error correction. Theoretically, the stabilization problem of the HSIC method is investigated based on the switched system related method. Experiments on the joint simulation platform of PreScan and CarSim show that the newly presented HSIC scheme has better matching performance to the expert driver and good robustness. For automated lane keeping systems, the HSIC method could provide human-like qualities, which may be one of the essential points to determine whether the driver is comfortable or not when the driver hands over the steering authority, improve the transition smoothness in the scenario of human vehicle co-piloting, and eliminate the potential conflicts between manual driving and automated driving vehicles in the future mixed traffic flow.

关键词： human simulated intelligent control lane keeping act and wait driver behavior modeling human vehicle co-piloting

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IMPROVEMENT OF THE PROTOTYPE ALGORITHM OF human simulated intelligent control

IMPROVEMENT OF THE PROTOTYPE ALGORITHM OF HUMAN SIMULATED IN...

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2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

作者： PEI-JIN WANG School of Computer Science and Technology Yantai University Yantai China 264005

The prototype algorithm of human simulated intelligent control leads to the overshoot easily, it can not simulate human control Strategies completely. The modified algorithm of HSIC which is called human-Like intelligent control is pointed out in this paper, it divides control process into three stages: initial stage, adjusting stage and eliminating disturbance stage. The different control algorithms will be used in different stage, the control method do its best to simulate human control intelligences more nearly. The test results are given , it proves that the experimental result of the prototype algorithm is relatively stable but oscillating, the experimental result of the modified algorithm is better than the prototype algorithm, there is a consistency among stability, fast response and the best accuracy. The HLIC can be used in the process control.

关键词： intelligent control human simulated intelligent control control Algorithm

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Research on the human simulated intelligent PID control Method for Servo Feed Driver System 17

Research on the Human Simulated Intelligent PID Control Meth...

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17th IEEE International Conference on Cognitive Informatics and Cognitive Computing (ICCI*CC)

作者： Xie, Dong Chen, Guorong Li, Jie Zhu, Jianqu Li, Zhengzhong Wang, Feng Chongqing Univ Sci & Technol Sch Elect & Informat Engn Chongqing 401331 Peoples R China Chongqing Univ Sci & Technol Engn Training Ctr Chongqing 401331 Peoples R China

ISBN: (纸本)9781538633601

In the conventional CNC servo feed system, using traditional PID control method is difficult to control the tracking error reduced effectively and quickly, so its result of processing geometric accuracy is not satisfactory. The human simulated intelligent PID control method is introduced to the servo feed control system in the paper. The transfer function of the servo driver system model is derived and the human simulated intelligent PID control algorithm is designed. Simulation results show that the human simulated intelligent PID control method has the advantages of good stability and robustness in the servo driver control system, which can effectively inhibit the influence of the tracking error.

关键词： Servo feed system human simulated intelligent control PID control MATLAB models

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human-simulated intelligent control Of Brushless DC Motor System

Human-Simulated Intelligent Control Of Brushless DC Motor Sy...

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21st Chinese control and Decision Conference

作者： Yang Hao Li Zu-shu Xue Fang-zheng Luo Gang Zhong Zao-sheng Chongqing Univ Inst Intelligent Automat Chongqing 400030 Peoples R China

ISBN: (纸本)9781424427239

A double-loop control system based on human-simulated intelligent control (HSIC) is designed using a mathematical model of a brushless DC motor (BLDCM). In the double-loop motor control system, a conventional PI controller is implemented for the current loop and an HSIC speed controller using the characteristic model-based multi-mode control is adopted for the speed loop. The controller parameters are set and optimized using an improved genetic algorithm (IGA). Compared with the double-loop motor subject to adaptive PID control, fuzzy control, neural-network control and conventional PID control, simulation results show the double-loop motor control system of the HSIC-based BLDCM has high dynamic and static performances as well as high adaptability and robustness.

关键词： human simulated intelligent control brushless DC motor double-loop control system improved genetic algorithm multi-mode control

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human simulated intelligent controller with Fuzzy Online Self-Tuning of Parameters and its Application to a Cart-Double Pendulum

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JOURNAL OF COMPUTERS 2008年第9期3卷 67-76页

作者： Li, Zushu Liang, Dongwu Chongqing Inst Technol Inst Artificial Intelligence Chongqing Peoples R China Chongqing Univ Inst Intelligent Automat Chongqing Peoples R China

Using the basic concepts and design methods of human simulated intelligent control (HSIC), we have designed the master control level of an HSIC controller for the swinging-up and handstand control of a cart-double pendulum. Then, the self-tuning structure of the self-tuning level of the HSIC controller is implemented using fuzzy logic rules. This structure has fuzzy self-tuning abilities in the swing-up control of a cart-double pendulum system and achieves online self-tuning of the control parameters of the HSIC controller efficiently with a hierarchical and multi-mode control structure. The computer simulation and real-time experiments of the swing-up control of a cart-double pendulum system show that the fuzzy online self-tuning of the control parameters markedly enhances the robustness and adaptability of the HSIC.

关键词： human simulated intelligent control cart-double pendulum system fuzzy logic rule online parameter self-tuning

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Fuzzy self-tuning of parameters online for human simulated intelligent controller

Fuzzy self-tuning of parameters online for human simulated i...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Li, Zushu Liang, Dongwu Chen, Guiqiang Chongqing Univ Inst Intelligent Automat Chongqing 400044 Peoples R China

ISBN: (纸本)9781424409907

Using fuzzy logic rules, a Self-tuning structure for the self-tuning level of a human simulated intelligent controller (HSIC) has been designed. This structure has fuzzy self-tuning abilities in the swing-up control of a cart-double pendulum system. It efficiently accomplishes the online self-tuning of the control parameters of a HSIC with hierarchical and multi-mode control structure. The computer simulation and real-time experiments of the swing-up control of a cart-double pendulum system show that the online fuzzy self-tuning of the control parameters markedly enhances the robustness and adaptability of the HSIC.

关键词： human simulated intelligent control cart-double pendulum system fuzzy logic rule parameter self-tuning online

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Multi-mode control based on HSIC for double pendulum robot

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JOURNAL OF VIBROENGINEERING 2015年第7期17卷 3683-3692页

作者： Dan, Yuanhong Xu, Peng Tan, Zhi Li, Zushu Chongqing Univ Inst Intelligent Automat Chongqing 630044 Peoples R China Chongqing Univ Technol Inst Artificial Intelligent Syst Chongqing Peoples R China

Double pendulum robot has four equilibrium points: Down-Down, Down-Up, Up-Down, and Up-Up. Define the transfer control from one equilibrium point to another equilibrium point as acrobatic action of DPR, and there are total of 20 acrobatic actions. This paper proposes the multi-mode control algorithm based on human simulated intelligent control theory for the realization process of those acrobatic actions, which has the structure of multi sub-controllers and multi control modes. As an example, the acrobatic action from Down-Up to Up-Down is realized in simulation and real-time experiments, and the results demonstrate the effectiveness of the proposed algorithm.

关键词： double pendulum robot multi-mode control human simulated intelligent control multi sub-controllers

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