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Globally Stable Adaptive Fuzzy control for Strict-feedback Nonlinear systems

Globally Stable Adaptive Fuzzy Control for Strict-feedback N...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Jang-Hyun Park Chae-Joo Moon Seong-Hwan Kim Jin Lee Soon-Youl So Jun-Ho Choi School of Electrical Control System and Advanced Material Engineering Mokpo National University Muan South Korea Department of Electrical Engineering Chonnam National University South Korea

A new adaptive fuzzy controller for uncertain strict-feedback nonlinear systems is proposed. All the previous approximator-based adaptive control algorithms for the strict-feedback nonlinear systems are based on backstepping scheme and guarantee semi-global closed-loop system stability. This paper proposes a new globally stabilizing adaptive fuzzy controller for strict-feedback nonlinear system without backstepping. To this end, an online self-structuring adaptive fuzzy system is employed. The proposed adaptive fuzzy controller is considerably simpler than the previous ones based on backstepping. Only one FLS is employed to approximate a lumped uncertain nonlinearity, which highlights the simplicity of our proposed control scheme.

关键词： Programmable control Adaptive control Fuzzy control Nonlinear systems Fuzzy systems Backstepping Adaptive systems Nonlinear control systems control systems Stability

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Online Detection and Classification of Disasters by a Multiple-input/single-output Sensor for a Home Security system

Online Detection and Classification of Disasters by a Multip...

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International Joint Conference on Neural Networks (IJCNN)

作者： T. Ishigaki T. Higuchi K. Watanabe Department of Statistical Science The Graduate University for Advanced Studies (SOKENDAI) Tokyo Japan System Control Engineering Department Hoxi University Tokyo Japan Prediction and Knowledge Discovery Research Center Research Organization of Information and Systems Tokyo Japan System Control Engineering Department Hosei University Tokyo Japan

Conventional sensors have been designed to minimize noise effects. Any sensor that is designed to detect a certain physical variable is influenced to a certain degree by other physical variables. This suggests that any sensor is potentially tap able of detecting multiple physical variables. In the present study, we consider sensing devices that are easily influenced by several physical variables and make full use of their multi-sensing characteristics through statistical signal processing and machine learning techniques with a wide variety of prior information. The proposed sensor design approach is completely different from the conventional approach with respect to system design and has advantages in terms of cost and system simplification compared to existing approaches. This new idea can be realized by developing a novel multiple-input/single-output sensor that can detect various variables such as pressure, acceleration, temperature and light emission by a single device. The sensor is applied to monitor the symptoms of tire, earthquake and break-in for the purpose of home security. The proposed security system consists of the following three steps: (1) detection of disaster by a probabilistic outlier detection procedure using an auto-regressive model, (2) disaster feature extraction by Kalman filter on a state space model, and (3) disaster classification by multiclass support vector machine.

关键词： Sensor systems Security Sensor phenomena and characterization Temperature sensors Signal processing Machine learning Costs Acceleration Monitoring Tires

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Design of an Image Motion Compensation (IMC) algorithm for the Communication, Ocean, Meteorological Satellite (COMS)

Design of an Image Motion Compensation (IMC) algorithm for t...

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AIAA/AAS Astrodynamics Specialist Conference, 2006

作者： Jung, Taek-Seo Lee, Un-Seob Park, Sang-Young Choi, Yoon-Hyuk Bang, Hyo-Choong Ju, Gwanghyeok Yang, Koon-Ho Yonsei University Seoul 120-749 Korea Republic of Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of Korea Aerospace Research Institute Daejeon 305-333 Korea Republic of Astrodynamics and Control Lab. Dept. of Astronomy and Space Science Flight Dynamics and Control Lab. Dept. of Aerospace Engineering Communication Satellite System Department

ISBN: (纸本)1563478226

This paper presents an Image Motion Compensation (IMC) algorithm for Korea's Communication, Ocean, and Meteorological Satellite (COMS). An IMC algorithm is a priority component of the Image Navigation and Registration (INR) system to locate and register radiometric image data. To eliminate image distortions, depointing of the imager aiming direction must be adjusted. A compensation algorithm to correct depointing caused by satellite motion is designed, and the capability of the algorithm is compared with that of existing algorithm applied to the GOES's INR system. The algorithm developed in this paper improves pointing accuracy by efficiently compensating for depointing of the imager aiming direction. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Motion compensation

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A multi-variable detecting sensor and its application

A multi-variable detecting sensor and its application

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2006 SICE-ICASE International Joint Conference

作者： Koyama, Kenji Watanabe, Kajiro Kobayashi, Kazuyuki Kurihara, Yosuke Ishigaki, Tsukasa Higuchi, Tomoyuki Department of System Control Engineering Hosei University 3-7-2 Kajino-cho Koganei Tokyo 184-8584 Japan Department of Statistical Science Graduate University for Advanced Studies 4-6-7 Minami Azabu Minato-ku Tokyo 106-8569 Japan Institute of Statistical Mathematics 4-6-7 Minami Azabu Minato-ku Tokyo 106-8569 Japan

ISBN: (纸本)8995003855

Any sensor to detect a certain physical variable is influenced to some degree by other physical variables designated as "noise". The objective in conventional sensor design is to minimize such noise. In this study, conversely we welcome sensing devices that are easily influenced by many physical variables and make full use of their multi-sensing characteristic. We consider such devices as multiple-inputs and single-output sensors. The output signal derived from multiple input signals must be dissociated. The input signals resulting from physical realities have inherent characteristics and can be mathematically modeled. Application of a Kalman filter realized by such models can provide estimates of state variables of all input models, and thus the input signals can be dissociated. As an example, a novel sensor based on a microphone is presented. It can detect various variables such as pressure and acceleration in the frequency range of 0.1 Hz to 10 kHz, temperature, and even light emission. We use the sensor to monitor the symptoms of fire, earthquake and break-in by intruders from within a house. © 2006 ICASE.

关键词： Smart sensors

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Spectrum classification for early fault diagnosis of the LP gas pressure regulator based on the Kullback-Leibler kernel

Spectrum classification for early fault diagnosis of the LP ...

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2006 16th IEEE Signal Processing Society Workshop on Machine Learning for Signal Processing, MLSP 2006

作者： Ishigaki, Tsukasa Higuchi, Tomoyuki Watanabe, Kajiro Department of Statistical Science Graduate University for Advanced Studies JST CREST 4-6-7 Minami Azabu Minato-ku Tokyo 106-8569 Japan Institute of Statistical Mathematics JST CREST 4-6-7 Minami Azabu Minato-ku Tokyo 106-8569 Japan Department of System Control Engineering Hosei University 3-7-2 Kajinocho Koganei-shi Tokyo 184-8584 Japan

ISBN: (纸本)1424406560

The present paper describes a frequency spectrum classification method for fault diagnosis of the LP gas pressure regulator using Support Vector Machines. Conventional diagnosis methods are not efficient because of problems such as significant noise and nonlinearity of the detection mechanism. In order to solve these problems, a machine learning method with the Kullback-Leibler (KL) kernel based on the KL divergence is introduced into spectrum classification. We use the normalized frequency spectrum directly as input with the KL kernel. The proposed method demonstrates a higher accuracy than popular kernels, such as polynomial or Gaussian kernels, or the conventional fault diagnosis method and Gaussian Mixture Model with the KL kernel for the examined problem. The high classification performance is achieved by using an inexpensive sensor system and the machine learning method. This method is widely applicable to other spectrum classification applications without limitation on the generality if the spectrums are normalized.

关键词： Pressure control

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Spectrum Classification for Early Fault Diagnosis of the LP Gas Pressure Regulator Based on the Kullback-Leibler Kernel

Spectrum Classification for Early Fault Diagnosis of the LP ...

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IEEE Workshop on Machine Learning for Signal Processing

作者： Tsukasa Ishigaki Tomoyuki Higuchi Kajiro Watanabe Department of Statistical Science Graduate University for Advanced Studies and JST CREST Minato Tokyo Japan Institute of Statistical Mathematics and JST CREST Minato Tokyo Japan Department of System Control Engineering Hosei University Koganei Tokyo Japan

The present paper describes a frequency spectrum classification method for fault diagnosis of the LP gas pressure regulator using support vector machines. Conventional diagnosis methods are not efficient because of problems such as significant noise and nonlinearity of the detection mechanism. In order to solve these problems, a machine learning method with the Kullback-Leibler (KL) kernel based on the KL divergence is introduced into spectrum classification. We use the normalized frequency spectrum directly as input with the KL kernel. The proposed method demonstrates a higher accuracy than popular kernels, such as polynomial or Gaussian kernels, or the conventional fault diagnosis method and Gaussian mixture model with the KL kernel for the examined problem. The high classification performance is achieved by using an inexpensive sensor system and the machine learning method. This method is widely applicable to other spectrum classification applications without limitation on the generality if the spectrums are normalized.

关键词： Fault diagnosis Regulators Kernel Support vector machines Support vector machine classification Learning systems Vibration measurement Frequency Machine learning Data mining

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A control-design-based solution to robotic ecology: Autonomy of achieving cooperative behavior from a high-level astronaut command

A control-design-based solution to robotic ecology: Autonomy...

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作者： Wang, Jing Qu, Zhihua Ihlefeld, Curtis M. Hull, Richard A. Department of Electrical and Computer Engineering University of Central Florida Orlando FL 32816 United States Kennedy Space Center FL 32899 United States Lockheed Martin Missiles and Fire Control 5600 Sand Lake Rd. MP-450 Orlando FL 32819 United States School of Electrical and Computer Science University of Central Florida IEEE AIAA University of Central Florida Department of Electrical and Computer Engineering National Aeronautics and Space Administration Kennedy Space CenterKennedy Space Center Applied Physics Lab. Advanced Concepts Business Unit Science Applications International Corporation SAIC IEEE Control System Society

In this paper, we propose a cooperative control strategy for a group of robotic vehicles to achieve the specified task issued from a high-level astronaut command. The problem is mathematically formulated as designing the cooperative control for a general class of multiple-input-multiple-output (MIMO) dynamical systems in canonical form with arbitrary but finite relative degrees such that the outputs of the overall system converge to the explicitly given steady state. The proposed cooperative control for individual vehicle only need to use the sensed and communicated outputs information from its local neighboring vehicles. No fixed leader and time-invariant communication networks are assumed among vehicles. Particularly, a set of less-restrictive conditions on the connectivity of the sensor/communication networks are established, under which it is rigorously proven by using the newly found nice properties of the convergence of sequences of row stochastic matrices that the cooperative objective of the overall system can be achieved. Simulation results for a group of vehicles achieving a target and surrounding a specified object in formation are provided to support the proposed approach in this paper.

关键词： Robotics

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Synchronization of two different uncertain chaotic systems via adaptive control

Synchronization of two different uncertain chaotic systems v...

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EUROCON 2005 - The International Conference on Computer as a Tool

作者： Emadzadeh, Amir Abbas Haeri, Mohammad IEEE Iran Advanced Control System Lab. Electrical Engineering Department Sharif University of Technology Azadi Ave. Tehran Iran Electrical Engineering Department Sharif University of Technology Iran Advanced Control System Lab. Iran

ISBN: (纸本)142440049X

This paper presents chaos synchronization between two different chaotic systems when the parameters of the drive and response systems are fully unknown and uncertain. Based on Lyapunov stability theory, an adaptive control law is designed such that the two different chaotic systems are to be synchronized. The proposed technique is applied to achieve chaos synchronization for the Chen and Lorenz dynamical systems. Numerical simulations are implemented to verify the results. © 2005 IEEE.

关键词： Chaotic systems

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Design of a robust AQM strategy for dynamic TCP/AQM networks based on CDM

Design of a robust AQM strategy for dynamic TCP/AQM networks...

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2005 IEEE International Conference on control Applications, CCA

作者： Bigdeli, Nooshin Haeri, Mohammad IEEE Electrical Engineering Department Sharif University of Technology Tehran Iran Electrical Engineering Department Sharif University of Technology Advanced Control System Lab.

ISBN: (纸本)0780393538

A new robust AQM strategy for dynamically varying TCP/AQM networks is proposed. The developed AQM is designed based on Coefficient Diagram Method (CDM), which is a new indirect pole placement approach that considers the speed, stability and robustness of the closed loop system in terms of the time domain specifications. Computer simulation results are presented to compare the performance of the proposed method with those of PI and RED controllers. © 2005 IEEE.

关键词： Computer networks

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Adaptive generalized predictive control of active queue management in TCP networks

Adaptive generalized predictive control of active queue mana...

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EUROCON 2005 - The International Conference on Computer as a Tool

作者： Firuzi, Mehdi Farokhian Haeri, Mohammad IEEE Iran Electrical Engineering Department Sharif University of Technology Azadi Tehran Iran Electrical Engineering Department Sharif University of Technology Iran Advanced Control System Lab. Iran

ISBN: (纸本)142440049X

This paper develops methodology and technique tor the design, analysis, and impie mentation of an adaptive generalized predictive controller (AGPC) for Active Queue Management in TCP Networks. The TCP/AQM dynamic is modeled experimentally as a second-order system with a time delay where its parameters are estimated using the standard gradient algorithm. Based on this model, an AGPC is designed to gain the set-point tracking and robustness. AGPC, as a queue-based control mechanism, responds quickly to traffic changes, thus allowing for high utilization and small loss. We illustrate our results using ns-2 simulations and demonstrate the practical impact of adaptive model reference control on managing queue utilization and delay. ©2005 IEEE.

关键词： Predictive control systems

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