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Application of fuzzy sliding mode based on genetic algorithms to control of robotic manipulators

Application of fuzzy sliding mode based on genetic algorithm...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Moshiri M. Jalili-Kharaajoo F. Besharati Electrical and Computer Engineering Department Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran

The paper presents the design of fuzzy sliding mode control based on genetic algorithms. An optimal design criterion is not required in the design of a fuzzy sliding mode control. Therefore, we design a fuzzy sliding mode controller for the general nonlinear control systems as an optimization problem and apply the optimal searching algorithms and genetic algorithms to find the optimal rules and membership functions of the controller. The proposed approach has the merit to determine the optimal structure and the inference rules of fuzzy siding mode controller simultaneously. Using the proposed approach, the tracking problem of two-degree-of-freedom rigid robot manipulator is studied. Simulation results of the close-loop system with the proposed controller based on genetic algorithms show the effectiveness of the approach.

关键词： Fuzzy control Genetic algorithms Robot control Sliding mode control Manipulators Optimal control Nonlinear control systems Algorithm design and analysis control systems Fuzzy systems

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Minimization of actuator repositioning in delayed processes using flexible neural networks

Minimization of actuator repositioning in delayed processes ...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： M.J. Yazdanpanah E. Semsar C. Lucas Depanment of Electrical and Computer Engineering and Intelligent Control & Processing Center of Excellence University of Tehran Tehran Iran

In process control the main goal is not only the output tracking, but also the design of a suitable control signal because it is dealt with the actuators directly. This means that the undesired oscillations should be removed to alleviate the malfunction of actuators. In this paper, a nonlinear saturating element is designed with the help of an adaptive neural network. This element would chop the undesired oscillations of the control signal. The performance of the system is guaranteed by the use of a central controller such as PID and implementation of a performance measurement index to reduce the error between the output and desired input signal. The multilayer perceptron network, with its adaptive activation function is used and trained with Error Back Propagation algorithm. The simulations applied to a Heating, Ventilating and Air Conditioning (HVAC) system, demonstrates the good performance of the new design method.

关键词： Actuators Neural networks Adaptive systems Process control Signal design Signal processing Centralized control control systems Three-term control Measurement

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Nonlinear control and disturbance decoupling of an HVAC system via feedback linearization and back-stepping

Nonlinear control and disturbance decoupling of an HVAC syst...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： E. Semsar M.J. Yazdanpanah C. Lucas Department of Electrical and Computer Engineering and Intelligent Control & Processing Center of Excellence University of Tehran Tehran Iran

In this paper a backstepping controller for a nonlinear, MIMO HVAC system is introduced. Feedback linearization method with introduction of a feedback of states and disturbances is used for the purposes of disturbance decoupling and nonlinear model linearization. The backstepping controller is applied to the linearized model of the system. It is shown that by this method, heat and moisture loads can be compensated, considering them as measurable disturbances. In this way the system can adapt itself to load variations fast and without any offset. Finally the simulation results are brought to show the ability of the method to present a controller with high disturbance decoupling and good tracking properties.

关键词： Linear feedback control systems Nonlinear control systems control systems Space heating Moisture Humidity Thermal loading Water heating Temperature control State feedback

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Robust control of mobile robots using the computed torque plus H/sub /spl infin// compensation method

Robust control of mobile robots using the computed torque pl...

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IEEE Conference on Decision and control

作者： M.J. Yazdanpanah G.K. Khosrowshahi Department of Electrical and Computer Engineering Tehran University Control & Intelligent Processing Center of Excellence Tehran Iran

This paper introduces robust control architecture for nonholonomic mobile robots. The proposed technique linearizes and decouples the nonlinear and coupled dynamic equations of the robot by computed torque approach. Since the computed torque technique requires the exact knowledge of the corresponding nonlinear dynamics, therefore, any mismatch in this regard may leave some nonlinear and also uncertain parts in the resulting system. The effect of mentioned parts may be compensated via a robust controller. As a result, in the present work, the remaining uncertainty is compensated by the H/sub /spl infin// technique, which requires the boundedness of the uncertain part. It is shown that the elements of the said uncertainty are L/sub 2/ -bounded. Numerical simulations demonstrate the effectiveness of the proposed H/sub /spl infin// based robust control scheme.

关键词： Robust control Mobile robots Sliding mode control Uncertainty Torque Robot control Error correction Symmetric matrices Nonlinear dynamical systems Adaptive control

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Sliding mode traction control of an electric vehicle with four separate wheel drives

Sliding mode traction control of an electric vehicle with fo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： M. Jalili-Kharaajoo F. Besharati Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

This paper, presents a traction control algorithm for an electric vehicle (EV) with four separate wheel drives. This algorithm is necessary to improve the handling and stability of EV during cornering or under slippery road condition. It distributes the traction power among four drives and especially an independent torque reference on each wheel. The proposed algorithm is implemented in terms of a hierarchical architecture, which incorporates all new known vehicle systems ABS (anti-lock brake system), ASR (anti slip regulation), ESP (electronic stability program). To achieve good performances, a robust sliding mode control strategy is implemented. Several simulation results, which show the potential of such an algorithm, are presented.

关键词： Sliding mode control Electric vehicles Wheels Stability Roads Drives Torque Automatic speech recognition Electrostatic precipitators Robust control

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Optimal nonlinear transient control with neuro-AVR of single-machine infinite-bus power systems

Optimal nonlinear transient control with neuro-AVR of single...

引用

IEEE Conference on Decision and control

作者： M.J. Yazdanpanah M. Jalili-Kharaajoo Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)0780379241

In this paper, a method to design a nonlinear optimal controller using approximate solution of the HJB equation is presented. Using this method, the power system stabilizer is designed. In order to regulate generator terminal voltage to its nominal value, we use a simple neuro-automatic voltage regulator. The final control action is the sum of nonlinear optimal controller and neuro-voltage regulator. Also, the advantages of the controller with nonlinear feedback in some grounds like increasing domain of validity of the system are shown. Simulation results show that the nonlinear control action exhibits a better performance compared to that of corresponding linear counter part. As a result, the fault tolerance of the system using the nonlinear control law is increased. Also, the proposed voltage regulator, which can be trained on-line, shows satisfactory performance.

关键词： Power system transients Optimal control Nonlinear control systems control systems Power system control Power systems Voltage Regulators Design methodology Nonlinear equations

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Intelligent predictive control of a solar power plant with neuro-fuzzy identifier and evolutionary programming optimizer

Intelligent predictive control of a solar power plant with n...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： M. Jalili-Kharaajoo F. Besharati Control & Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

The paper presents an intelligent predictive control to govern the dynamics of a solar power plant system. This system is a highly nonlinear process; therefore, a nonlinear predictive method, e.g., neuro-fuzzy predictive control, can be a better match to govern the system dynamics. In our proposed method, a neuro-fuzzy model identifies the future behavior of the systems over a certain prediction horizon while an optimizer algorithm based on EP determines the input sequence. The first value of this sequence is applied to the plant. Using the proposed intelligent predictive controller, the performance of outlet temperature tracking problem in a solar power plant is investigated. Simulation results demonstrate the effectiveness and superiority of the proposed approach.

关键词： Intelligent control Predictive control Solar energy Genetic programming Predictive models Temperature control nonlinearities Petroleum Nonlinear dynamical systems Power system modeling

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Neuro predictive control of a heat exchanger: comparison with generalized predictive control

Neuro predictive control of a heat exchanger: comparison wit...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： M. Jalili-Kharaajoo B.N. Araabi Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

In this paper, a neural network-based predictive controller is designed to govern the dynamics of heat exchanger process. Heat exchanger is a highly nonlinear process; therefore, a nonlinear prediction method can be a better match in a predictive control strategy. Advantages of neural networks for the process modeling are studied and a neural network based predictor is designed, trained and tested as a part of the predictive controller. The neuro predictive controller is utilized in setpoint tracking of a heat exchanger plant. The performance of the proposed controller is compared with that of Generalized Predictive control (GPC) through simulation studies. Obtained results demonstrate the effectiveness and superiority of the proposed approach.

关键词： Predictive control Neural networks Temperature control Predictive models Water heating Water resources Fluid flow control Proportional control Reservoirs Valves

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Impulse noise removal based on long-range correlation in an image

Impulse noise removal based on long-range correlation in an ...

引用

IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： M.T. Harandi B.N. Araabi Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Images are often contaminated by impulse noise. The major drawback of median filtering and its variants - that are widely used for removing impulsive noise - is the blurring effect for large window sizes and low noise suppression for small window sizes. In this paper, an algorithm for removing impulse noise in images is proposed. The long-range correlation information in a competitive scheme is utilized to find the gray level of degraded pixels. The experimental results show that the performance of our method in removing impulse noise is better than that of most other state-of-the-art methods.

关键词： Pixel Filtering Detection algorithms Process control Intelligent control Degradation Noise generators Communication channels Adaptive filters Linear approximation

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Automatic landmark detection on chromosomes' images for feature extraction purposes

Automatic landmark detection on chromosomes' images for feat...

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International Symposium on Image and Signal Processing and Analysis

作者： M. Moradi S.K. Setarehdan S.R. Ghaffari Electrical and Computer Engineering Department Faculty of Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering Faculty of Engineering University Of Tehran Tehran Iran Cancer Institute School of Medicine University of Tehran Iran

Valuable medical information can be achieved by analysing shape and appearance of human chromosomes. Karyotype, an image of collection of all 23 pairs of human chromosomes, is usually used for this purpose. Making a Karyotype is hard and time consuming, encouraging experts in the image processing and machine vision field to work towards an automatic Karyotyping method. The first step in automation of this process is to define the geometric (morphologic) and intensity based features of the chromosome originating mostly from its banding pattern. As part of a complete project, which is defined to develop a new knowledge based classification technique for chromosomes, a number of new features in addition to the commonly used geometric and intensity based features, are introduced in this paper. Some of the features are computed using the so-called medial axis transform (MAT). For an accurate determination of most of these features it is necessary, however, to identify some key points or landmarks in the image (mostly over the MAT). This paper describes novel algorithms developed to locate such landmarks as centromere, end points of chromosome and two points defined as branching points on the chromosome axis. The algorithms have been tested on the real images supplied by the cytogenetic laboratory of Cancer Institute, University of Tehran. The automatically defined positions of the landmarks have been compared to those manually identified by an expert. In most of the cases the results were in complete agreement.

关键词： Biological cells Feature extraction Humans Biomedical imaging Information analysis Shape Image processing Machine vision Automation Testing

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