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Nonlinear system control using adaptive neural fuzzy networks based on a modified differential evolution

IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews 2009年第4期39卷 459-473页

作者： Chen, Cheng-Hung Lin, Cheng-Lin Lin, Chin-Teng Department of Electrical and Control Engineering National Chiao-Tung University Hsinchu 300 Taiwan Department of Computer Science and Information Engineering National Chin-Yi University of Technology Taiping City 411 Taiwan Department of Computer Science Department of Electrical and Control Engineering National Chiao-Tung University Hsinchu 300 Taiwan Brain Research Center University System of Taiwan Hsinchu 300 Taiwan

This study presents an adaptive neural fuzzy network (ANFN) controller based on a modified differential evolution (MODE) for solving control problems. The proposed ANFN controller adopts a functional link neural network as the consequent part of the fuzzy rules. Thus, the consequent part of the ANFN controller is a nonlinear combination of input variables. The proposed MODE learning algorithm adopts an evolutionary learning method to optimize the controller parameters. For design optimization, a new criterion is introduced. A hardware-in-the loop control technique is developed and applied to the designed ANFN controller using the MODE learning algorithm. The proposed ANFN controller with the MODE learning algorithm (ANFN-MODE) is used in two practical applications-the planetary-train-type inverted pendulum system and the magnetic levitation system. The experiment is developed in a real-time visual simulation environment. Experimental results of this study have demonstrated the robustness and effectiveness of the proposed ANFN-MODE controller. © 2009 IEEE.

关键词： controllers

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Asymptotically stable walking of a five-link underactuated 3-D bipedal robot

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IEEE Transactions on Robotics 2009年第1期25卷 37-50页

作者： Chevallereau, Christine Grizzle, J.W. Shih, Ching-Long 44321 Nantes France Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109-2122 United States Department of Electrical Engineering National Taiwan University of Science and Technology 106 Taipei Taiwan

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3-D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat;the contact between the robot and the walking surface is assumed to inhibit yaw rotation. The studied robot has 8 DOF in the single support phase and six actuators. In addition to the reduced number of actuators, the interest of studying robots with point feet is that the feedback control solution must explicitly account for the robot's natural dynamics in order to achieve balance while walking. We use an extension of the method of virtual constraints and hybrid zero dynamics (HZD), a very successful method for planar bipeds, in order to simultaneously compute a periodic orbit and an autonomous feedback controller that realizes the orbit, for a 3-D (spatial) bipedal walking robot. This method allows the computations for the controller design and the periodic orbit to be carried out on a 2-DOF subsystem of the 8-DOF robot model. The stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the HZD. Most periodic walking gaits for this robot are unstable when the controlled outputs are selected to be the actuated coordinates. Three strategies are explored to produce stable walking. The first strategy consists of imposing a stability condition during the search of a periodic gait by optimization. The second strategy uses an event-based controller to modify the eigenvalues of the (linearized) Poincaré map. In the third approach, the effect of output selection on the zero dynamics is discussed and a pertinent choice of outputs is proposed, leading to stabilization without the use of a supplemental event-based controller. © 2009 IEEE.

关键词： Anthropomorphic robots

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A communication-based distributed model predictive control scheme with time-varying consistency constraints 10

A communication-based distributed model predictive control s...

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2009 10th European control Conference, ECC 2009

作者： Dold, Johannes Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9783952417393

A communication-based distributed model predictive control scheme for a set of dynamically decoupled autonomous systems (agents) is proposed. The individual dynamics are described by discrete-time linear systems. Locally, each agent obeys a model predictive controller which minimizes a given local cost-function. Coupling between the agents occurs only through state-constraints. It is assumed that an initial feasible solution for the centralized optimization problem can only be found in a suboptimal manner due to computational limits. Then, the agents can decrease their local costs by replanning in each time step. This has to be done in a consistent way which is obtained by communicating local predicted trajectories under consideration of communication delays. © 2009 EUCA.

关键词： Cost functions

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Hierarchical hybrid modeling and control of flexible manufacturing systems 10

Hierarchical hybrid modeling and control of flexible manufac...

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2009 10th European control Conference, ECC 2009

作者： Paschedag, Tina Rungger, Matthias Ding, Hao Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9783952417393

In current manufacturing systems, short times for product development and ramp-up as well as high production rates and customized products are of increasing importance. To push the efficiency (and thus the economic gain) of production further, recent investigations combine aspects of flexible manufacturing systems with modeling and optimization techniques from the hybrid systems domain. Within this context, the contribution of this paper is two-fold: (1) a hierarchical modeling scheme is presented which suitably represents the plant dynamics on two distinct levels of detail comprising timed and hybrid automata, (2) an approach to adapt production online to changes in product specifications or production constraints by combining high-level generation of optimal production schedules with low-level learning- and model-based control. © 2009 EUCA.

关键词： Flexible manufacturing systems

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Optimal control for deterministic hybrid systems using dynamic programming

Optimal control for deterministic hybrid systems using dynam...

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作者： Rungger, Matthias Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9783902661593

Dynamic programming provides a method to solve hybrid optimal control problems. This contribution extends existing numerical methods originally developed for purely continuous systems, to a class of hybrid systems with autonomous as well as controlled switching behavior. The hybrid dynamics is approximated by a locally consistent discrete Markov decision process. The original optimal control problem is then reformulated for the Markov decision process and solved by standard dynamic programming methods. The convergence of the discrete approximation to the original problem is ensured. The viability of the numerical scheme is illustrated by a two gear transmission system used previously in literature.

关键词： Markov processes

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A hybrid of cooperative particle swarm optimization and cultural algorithm for neural fuzzy networks and its prediction applications

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IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews 2009年第1期39卷 55-68页

作者： Lin, Cheng-Jian Chen, Cheng-Hung Lin, Chin-Teng Department of Computer Science and Information Engineering National Chin-Yi University of Technology Taichung County 411 Taiwan Department of Electrical and Control Engineering National Chiao-Tung University Hsinchu 300 Taiwan

This study presents an evolutionary neural fuzzy network, designed using the functional-link-based neural fuzzy network (FLNFN) and a new evolutionary learning algorithm. This new evolutionary learning algorithm is based on a hybrid of cooperative particle swarm optimization and cultural algorithm. It is thus called cultural cooperative particle swarm optimization (CCPSO). The proposed CCPSO method, which uses cooperative behavior among multiple swarms, can increase the global search capacity using the belief space. Cooperative behavior involves a collection of multiple swarms that interact by exchanging information to solve a problem. The belief space is the information repository in which the individuals can store their experiences such that other individuals can learn from them indirectly. The proposed FLNFN model uses functional link neural networks as the consequent part of the fuzzy rules. This study uses orthogonal polynomials and linearly independent functions in a functional expansion of the functional link neural networks. The FLNFN model can generate the consequent part of a nonlinear combination of input variables. Finally, the proposed FLNFN with CCPSO (FLNFN-CCPSO) is adopted in several predictive applications. Experimental results have demonstrated that the proposed CCPSO method performs well in predicting the time series problems. © 2008 IEEE.

关键词： Forecasting

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A boundary method for outlier detection based on support vector domain description

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Pattern Recognition 2009年第1期42卷 77-83页

作者： Guo, S.M. Chen, L.C. Tsai, J.S.H. Department of Computer Science and Information Engineering National Cheng-Kung University Tainan 701 Taiwan Control System Laboratory Department of Electrical Engineering National Cheng-Kung University Tainan 701 Taiwan

The support vector domain description (SVDD) is a popular kernel method for outlier detection, which tries to fit a class of data with a sphere and uses a few target objects to support its decision boundary. The problem is that even with a flexible Gaussian kernel function, the SVDD could sometimes generate such a loose decision boundary that the discrimination ability becomes poor. Therefore, a computationally intensive procedure called kernel whitening is often required to improve the performance. In this paper, we propose a simple post-processing method which tries to modify the SVDD boundary in order to achieve a tight data description with no need of kernel whitening. With the derivation of the distance between an object and its nearest boundary point in input space, the proposed method can efficiently construct a new decision boundary based on the SVDD boundary. The improvement from the proposed method is demonstrated with synthetic and real-world datasets. The results show that the proposed decision boundary can fit the shape of synthetic data distribution closely and achieves better or comparable classification performance on real-world datasets. © 2008 Elsevier Ltd. All rights reserved.

关键词： Data description

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Design of the scales for the power boiler fuel feeding system based on the process identification

Design of the scales for the power boiler fuel feeding syste...

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作者： Bialic, G. Zmarzly, M. Stanislawski, R. Department of Electrical Engineering Automatic Control and Computer Science Opole University of Technology 31 K. Sosnkowskiego St. PL45-272 Opole Poland

ISBN: (纸本)9783902661555

In the paper the mathematical modeling methods were employed to solve the problem of fuel mass estimation supplied to the power generating boiler grid. It was shown that popular polynomial and neural network based identification algorithms can be used to measure amount of fuel supplied to the boiler combustion chamber. Furthermore the original conception and exemplary realization of the mass stream measuring system was presented.

关键词： Boilers

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Cross-layer design of wireless networked control systems with energy limitations 10

Cross-layer design of wireless networked control systems wit...

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2009 10th European control Conference, ECC 2009

作者： Chamaken, A. Litz, L. Kraemer, M. Gotzhein, R. Institute of Automatic Control Electrical Engineering and Information Technology University of Kaiserslautern Germany Networked Systems Research Group Computer Science University of Kaiserslautern Germany

ISBN: (纸本)9783952417393

A new approach to the cross-layer design of wireless networked control systems under limited computing and energy resources is presented. The idea is to provide a methodology that jointly takes the aspects of control e.g. control algorithms, Communication e.g. communication protocols, and Computation e.g. energy consumption into consideration. The design objective is the predictability and optimization of the control performance for a given control application. The control performance is a complex function of network parameters e.g. delay, packet loss, network throughput and control system parameters e.g. sampling period, control algorithm. control performance predictability and optimization can only be achieved by imposing requirements on the wireless network design. A cross-layer design methodology is shown to be very useful for this purpose. To illustrate the methodology, an inverted pendulum system with low-energy wireless network is used for the cross-layer design of control algorithms and communication protocols under computing and energy constraints. © 2009 EUCA.

关键词： Energy utilization

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Fault detection in processes with multiple operation modes using switch-PCA and analysis of grade transitions 10

Fault detection in processes with multiple operation modes u...

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2009 10th European control Conference, ECC 2009

作者： Garcia-Alvarez, D. Fuente, M.J. Vega, P. Department of Systems Engineering and Automatic Control University of Valladolid Valladolid47011 Spain Department of Computer Science and Control University of Salamanca ETSII Bejar Salamanca37700 Spain

ISBN: (纸本)9783952417393

In this paper Principal Components Analysis (PCA) is used for detecting faults in a plant with multiple operation modes. PCA reduces the dimensionality of the original historical data by projecting it onto a lower dimensionality space. It obtains the principal causes of variability in a process. If some of these causes change, it can be due to a fault in the process. The classical PCA approach confuses changes in operation mode with faults. This paper deals with this problem using a switching structure to deal with different operation modes. The transitory states between the operation modes are dealt with using a PCA approach used in batch processes. The implemented method has been proved in a simulated two-communicated-tanks plant. © 2009 EUCA.

关键词： Principal component analysis

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