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共 2105 条记录，以下是2001-2010 订阅

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Adaptive fuzzy-behavior hierarchy for autonomous navigation

Adaptive fuzzy-behavior hierarchy for autonomous navigation

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Tunstel H. Danny T. Lippincott M. Jamshidi NASA Jet Propulsion Laboratory Pasadena CA USA NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

Adaptive behavioral capabilities are necessary for robust navigation in non-engineered environments. A control approach to adaptive behavior is described which exploits the approximate reasoning facility of fuzzy logic. In particular, a behavior-based architecture for hierarchical fuzzy control of mobile robots is presented. Its structure is described as well as mechanisms of control decision-making which give rise to adaptive behavior. control decisions result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Indoor navigation examples demonstrate the practicality of the approach and reveals characteristics of multiple behavior interaction.

关键词： Navigation Fuzzy logic Programmable control Adaptive control Mobile robots Fuzzy control Intelligent robots Fuzzy sets NASA Decision making

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Autonomous navigation using an adaptive hierarchy of multiple fuzzy-behaviors

Autonomous navigation using an adaptive hierarchy of multipl...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： E. Tunstel H. Danny T. Lippincott M. Jamshidi Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

Adaptive behavioral capabilities are necessary for robust mobile robot navigation in non-engineered environments. Robust behavior requires that uncertainty be accommodated in the robot control system, especially when autonomy is desired. Fuzzy logic control technology enables development of controllers which can provide the necessary computational intelligence in real-time. This paper presents the incorporation of fuzzy logic, into the framework of behavior-based control. An architecture for hierarchical behavior control is presented in which control decisions result from a consensus of behavioral recommendations. Multiple fuzzy-behavior coordination is discussed and applied to autonomous navigation without explicit maps. Performance and robustness is demonstrated by implementation on a mobile robot with significant mechanical imperfections.

关键词： Mobile robots Fuzzy control Robust control Competitive intelligence Fuzzy logic Intelligent robots Aircraft navigation Programmable control Adaptive control Uncertainty

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Interlaced systems and recursive designs for global stabilization 4

Interlaced systems and recursive designs for global stabiliz...

引用

4th European control Conference, ECC 1997

作者： Sepulchre, R. Janković, M. Kokotović, P.V. Universite Catholique de Louvain Av. G. Lemaitre 4 Louvain-La-NeuveB1348 Belgium Ford Scientific Research Laboratories P.O. Box 2053 DearbornMI48121 United States Center for Control Engineering and Computation Dept. of Electrical and Computer Engineering University of California Santa BarbaraCA93106 United States

ISBN: (纸本)9783952426906

Interlaced systems constitute a class of systems only characterized by the zero entries of their matrix configuration and a local stabilizability condition. All these systems are globally stabilizable by a recursive design procedure which combines steps of backstepping and forwarding. When a nonlinear system misses this structural characterization, other types of conditions (sign, growth) are needed to ensure global stabilization.

关键词： Design

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Adaptive fuzzy sliding mode control of a direct drive motor

Adaptive fuzzy sliding mode control of a direct drive motor

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Y.T. Kim M.R. Akbarzadeh-T. Dong Wook Lee Soo Ryong Lee NASA Center for Autonomous Control Engineering (ACE) Electrical Engineering and Computer Engineering Building University of New Mexico Albuquerque NM USA University of New Mexico Albuquerque NM US Academy Board KTMA South Korea

A new approach to stable adaptive fuzzy sliding mode control of systems is proposed. The proposed scheme does not require an accurate mathematical model, yet it guarantees asymptotic stability. It incorporates an integral term in the sliding surface which eliminates steady state error. To verify the actual performance of the proposed controller, it is then applied to a position control of direct drive motor with payload and parameter uncertainty. Since direct drive motors do not have reduction gears, the variation of the load and the disturbance torque directly influence parameter changes in motor dynamics.

关键词： Programmable control Adaptive control Fuzzy control Sliding mode control Fuzzy systems Mathematical model Asymptotic stability Steady-state Position control Payloads

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A PLZT-based dynamic diffractive optical element for high speed, random-access beam steering

A PLZT-based dynamic diffractive optical element for high sp...

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Conference on Optical Scanning Systems - Design and Applications

作者： Thomas, JA Lasher, M Fainman, Y Soltan, P Dept. of Electrical and Computer Engineering MC 0407 University of California at San Diego San Diego CA 92093-5003 9500 Gilman Drive United States Naval Command Control and Ocean Surveillance Center Research Development Test and Evaluation Division Advanced Technology Branch San Diego CA 92152-5732 53490 Dow Street United States

ISBN: (纸本)0819425532

A novel type of electro-optic diffractive element is presented which can satisfy the requirements for a high space-time bandwidth deflector while providing for two-dimensional random access beam steering control. The basic device consists of a multichannel array of phase modulators fabricated using Lanthanum-modified Lead Zirconate Titanate (PLZT) operating as a programmable diffractive optical element. Two-dimensional deflection control can be readily obtained by crossing two one-dimensional arrays. This device is useful for wavelengths in the Visible to Mid-IR range and is based on PLZT ceramic materials which can be readily mass-produced. It possesses the versatility and multifunctionality of liquid crystal based optical phased array systems while allowing for very fast switching speeds with good thermal stability. We present a brief comparison of this novel deflector with other scanning technologies and outline the benefits and trade-offs of the PLZT-based device. Experiments on 16- and 32-channel arrays with fullwave voltages less than 400 volts demonstrate continuous lateral beam steering control of a HeNe laser beam. We also demonstrate full deflection control with a minimum number of control lines using a modified deflector arrangement. And we present measurements showing sub-microsecond switching speeds from such PLZT-based phase modulators. Mature versions of this type of scanner will find use in a wide variety of applications including 2-D and 3-D laser displays, laser communications, and LIDAR systems.

关键词： Light modulators

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State feedback adaptive control of a direct drive motor

State feedback adaptive control of a direct drive motor

引用

Southeastern Symposium on System Theory

作者： Y.T. Kim M.R. Akbarzadeh-T. Dong Wook Lee NASA Center for Autonmous Control Engineering Electrical Engineering and Computer Engineering Building University of New Mexico Albuquerque NM USA University of New Mexico Albuquerque NM US EE. Department Dongguk University Seoul South Korea

Since direct drive motors do not have reduction gears, the variation of the load and the disturbance torque directly influence parameter changes in motor dynamics. In order to solve this problem, the paper presents a state feedback adaptive control method for position control of a direct drive motor. The proposed control scheme does not require an accurate mathematical model of the system. The controller consists of a feedforward signal from the desired trajectory based on the inverse system model, feedback from the actual trajectory, and an auxiliary input. The feedforward terms are adjusted by an adaptation law that eliminated the steady-state position errors. In order to compensate for incorrect motor parameters, feedback terms are employed. The auxiliary input is introduced to improve the tracking performance. The proposed controller is applied to position control of a direct drive motor with payload and parameter uncertainty, and the effectiveness is verified by simulation results.

关键词： State feedback Adaptive control Position control Drives Gears Torque Mathematical model control system synthesis Inverse problems Steady-state

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Reusable launch vehicle trajectory control in sliding modes

Reusable launch vehicle trajectory control in sliding modes

引用

American control Conference (ACC)

作者： Yu. Shtessel D. Krupp Electrical and Computer Engineering Department University of Alabama Huntsville Huntsville AL USA Guidance and Control Systems Division NASA Marshall Space Flight Center AL USA

Trajectory control for a reusable launch vehicle (RLV) is considered in the reentry and launch modes. Decoupling sliding mode controllers are designed to achieve the asymptotic tracking of Euler angles' profiles upon plant uncertainties and external disturbances. Effectiveness of the sliding mode controllers is confirmed by simulations of trajectory tracking in a trimmed condition for the WB001 RLV studied at NASA Marshall Space Flight center.

关键词： Vehicles Sliding mode control control systems Aerodynamics Trajectory Automatic control Equations Gravity Navigation NASA

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Sliding mode control of reusable launch vehicle in launch and re-entry modes

Sliding mode control of reusable launch vehicle in launch an...

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Southeastern Symposium on System Theory

作者： Y. Shtessel D. Krupp Electrical and Computer Engineering Department University of Alabama Huntsville Huntsville AL USA Guidance and Control Systems Dlivision NASA Marshall Space Flight Center AL USA

Trajectory control for a reusable launch vehicle (RLV) is considered for two operational modes: reentry and launch modes are considered. Decentralized sliding mode controllers are designed to achieve the de-coupled asymptotic tracking of Euler angles' profiles upon plant uncertainties and external disturbances. Two sliding mode control strategies are investigated: direct Euler angles' profiles tracking and angular rates tracking in combination with a coordinated turn inversion. Effectiveness of the sliding mode controllers is confirmed by simulations of a trajectory tracking for the WB001 RLV studied at NASA Marshall Space Flight center.

关键词： Sliding mode control Vehicles Automatic control Trajectory control systems Equations Torque control Weight control Navigation NASA

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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Non-Wiener effects in LMS-implemented adaptive equalizers

Non-Wiener effects in LMS-implemented adaptive equalizers

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： M. Reuter J. Zeidler Department of Electrical and Computer Engineering University of California San Diego CA USA Control and Ocean Surveillance Center RDT&E Division Naval Command San Diego CA USA

An adaptive transversal equalizer based upon the least-mean-square (LMS) algorithm, operating in an environment with temporally correlated interference can exhibit better steady-state mean-square-error (MSE) performance than the corresponding Wiener filter. This phenomenon is a result of the nonlinear nature of the LMS algorithm and is obscured by traditional analysis approaches that utilize the independence assumption. We use a transfer function approach to quantify the MSE performance of the LMS algorithm and demonstrate that the degree to which LMS may outperform the corresponding Wiener filter is dependent on system parameters such as signal-to-noise ratio and the step-size parameter.

关键词： Adaptive equalizers Least squares approximation Wiener filter Adaptive filters Interference Steady-state Transfer functions Noise cancellation Oceans Surveillance

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