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Output Tracking Control of a Nonlinear System Based on Takagi-Sugeno Fuzzy Model: Generalized Partial Eigenstructure Assignment Approach

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IEEE Access 2024年 12卷 18520-18535页

作者： Soltanian, Farzad Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2M9 Canada Shiraz University of Technology Electrical Engineering Faculty Shiraz71557-13876 Iran National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces an innovative optimal control approach to achieve output tracking while incorporating H2-performance specifications in a specific class of nonlinear dynamics modeled by the Takagi-Sugeno fuzzy model (TSFM). The primary innovation lies in extending partial eigenstructure assignment to TSFM-based nonlinear systems within the framework of sliding mode control (SMC). We propose a two-step methodology for designing optimal sliding surface gains. Initially, optimal state feedback gains are computed for each rule consequence containing a linear subsystem, adhering to predetermined eigenvalues and satisfying H2-performance criteria. Subsequently, using a convex combination, the overall state feedback gain is calculated and utilized to design sliding matrix gains. The sliding matrix gains are then determined by strategically combining previously calculated state-feedback gains in a convex optimization problem. We reframe the output tracking strategy as a stabilization problem using a virtual control input and reformulate the optimization task concerning tracking state errors. This process yields state feedback gains, sliding gains, and the formulation of the virtual control input. The effectiveness of our approach is verified through comprehensive simulations, emphasizing its capability in addressing output tracking challenges within nonlinear systems. © 2013 IEEE.

关键词： Transient analysis

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ReRobo Walker: Robotic Walker with Fall Detection and Active Safety 18

ReRobo Walker: Robotic Walker with Fall Detection and Active...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Ding, Damin Wang, Yagang Zhang, Houji Meng, Qiaoling Yu, Hongliu Lin, Yanzhao Chen, Qiu University of Shanghai for Science and Technology Rehabilitation Engineering and Technology Institute School of Optical-Electrical and Computer Engineering Shanghai China Rehabilitation Engineering and Technology Institute School of Optical-Electrical School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai China Guangzhou Foreign Language School Guangzhou China University of Shanghai for Science and Technology Rehabilitation Engineering and Technology Institute Shanghai China University of Shanghai for Science and Technology School of Optical-Electrical and Computer Engineering Shanghai China Kogakuin University Major of Electrical Engineering and Electronics Graduate School of Engineering Tokyo Japan

ISBN: (纸本)9798350312201

In recent years, Chinese society has become increasingly ageing while the fertility rate continues to decline. This situation has led to a growing public demand for rehabilitation devices such as walking aids. A novel intelligent robotic walker named ReRobo Walker is proposed which can assist groups of elderly people with dysfunctional legs with rehabilitation training and indoor and outdoor walking. We design robust mechanical structures for robotic walker, install special 3D force sensor, 2D LIDAR and other sensors, and design new algorithms to enable intelligent functionality while guaranteeing the safety of robotic walker.(1) Real-time monitoring of the user's physical status, such as falls, through laser range sensors and 3D force sensor;(2) Modelling of the scene through 2D LIDAR for path planning, obstacle avoidance and navigation functions;(3) Precise control through LADRC-based algorithm for uphill assistance, downhill control and prevention of sharp shifts of the robotic walker. Experiment results demonstrate the solid mechanical structure, stable reliability and the effectiveness of intelligent control algorithms of the intelligent robotic walker. © 2023 IEEE.

关键词： Walking aids

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Fuzzy Logic for Assessing the Health of a Corn Crop within Family Farming

Fuzzy Logic for Assessing the Health of a Corn Crop within F...

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2024 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2024

作者： Mendonca, Vanessa Santos, Mikael Munoz, Daniel M. Humberto Llanos, Carlos Federal Institute of Brasilia Department of Computer Science Brazil Mechatronics Graduate Program Department of Mechanical Engineering Brazil Federal Institute of Brasilia Department of Agronomy Brazil University of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program Brasilia Brazil

ISBN: (纸本)9798350374575

Technological advancements are increasingly evident across various sectors, including automobiles, industry, and healthcare. In precision agriculture, significant progress has been made, with AgroTICs and Smart Agriculture gaining substantial traction in the market. However, a gap remains between cutting-edge technology and family farming, presenting a challenge from both social and applied research perspectives. However, there is still a gap between cutting-edge technology and family farming, which creates a challenge from a social and applied research point of view. In this context, this paper proposes a monitoring model based on Fuzzy Logic and sensor automation applied to estimate the health of a corn crop. The proposed Fuzzy inference system involves calculating an indicator of nutrients as well as the average color and area of corn plants. The nutrient indicator is automatically computed by an ESP32 microcontroller using sensor readings, while the average color and area inputs are manually entered via a mobile application. Additionally, the Fuzzy inference is integrated into the ESP32. The model underwent experimental validation on the health of the plantation, and the results were evaluated in four areas: one was designated for testing, and three were for validation. The model achieved an accuracy of 97.5% in Scenario 3, categorized as 'Very Favorable', and an accuracy of 65% in Scenarios 2 and 4, categorized as 'Unfavorable'. The implications of this research contribute to the advancement of AgroTICs among small producers, with the potential to enhance and automate the monitoring of their harvest production. © 2024 IEEE.

关键词： Agribusiness

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Sampled-data synchronization for heterogeneous delays inertial neural networks with generally uncertain semi-Markovian jumping and its application

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Neural Computing and Applications 2024年第33期36卷 20963-20982页

作者： Wang, Junyi He, Wenyuan Xu, Hongli Cai, Haibin Chen, Xiangyong Faculty of Robot Science and Engineering Northeastern University Shenyang110819 China Foshan Graduate School of Innovation Northeastern University Foshan528311 China College of Information Science and Engineering Northeastern University Liaoning Shenyang110819 China Department of Computer Science Loughborough University LoughboroughLE11 3TU United Kingdom School of Automation and Electrical Engineering Linyi University Linyi276000 China

This article is concerned with sampled-data synchronization problem of heterogeneous delays inertial neural networks (INNs) with generally uncertain semi-Markovian (GUSM) jumping. Different from traditional Markovian inertial neural networks (MINNs), the INNs with GUSM are investigated in this paper by fully considering the sojourn time and the lacking transition rates, which is more general and applicable for practical system. The new extended two-sided looped-functional (ETSLF) approach is adopted in this paper, and some improved less conservative criteria are derived to achieve the synchronization of the drive and response INNs. The controller gain matrices are acquired based on synchronization criteria. Finally, the viability of the method is presented through three examples. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Markov processes

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Enhancing EV Charging Demand Forecasting for Highway Rest Area Stations: Integrating Day Type, Traffic Volume, and Weather Conditions

Enhancing EV Charging Demand Forecasting for Highway Rest Ar...

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2024 IEEE International Conference on Big Data, BigData 2024

作者： Lee, Yeaeun Kim, Byeongchang Kim, Dongju Hwang, Euiseok Choi, Jaehyuk Kim, Hyunsup Gwangju Institute of Science and Technology School of Electrical Engineering and Computer Science Gwangju Korea Republic of Gwangju Institute of Science and Technology Ai Graduate School Gwangju Korea Republic of Hyundai Motors Company Korea Republic of

ISBN: (纸本)9798350362480

With global EV sales projected to reach 3.5 million units by 2023 and public charging stations increasing by 40%, effective management and optimization of charging infrastructure have become critical. While current research primarily focuses on models that address either users or charging stations, these approaches often overlook external factors such as weather and traffic conditions, which significantly impact driving patterns and energy consumption. The integration of these external variables into forecasting models is thus critical for enhancing prediction accuracy and infrastructure optimization. In this study, we conducted an in-depth analysis of EV charging patterns at highway rest areas. This study employed deep learning models, GRU, and LSTM architectures, trained using various data combinations. The experiments revealed that the inclusion of traffic data notably improves forecasting precision. In particular, the LSTM model demonstrated a 10.5% reduction in mean absolute percentage error(MAPE), decreasing the standard deviation from 4.95 to 3.87 when external factors were included. © 2024 IEEE.

关键词： deep learning demand forecasting Electric vehicle charging station external variables

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Adopting Centroid and Bandwidth to Shape Security Line 4

Adopting Centroid and Bandwidth to Shape Security Line

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4th IEEE International Conference of computer science and Information Technology, ICOSNIKOM 2022

作者： Pratiwi, Heni Ispur Kartowisastro, Iman Herwidiana Soewito, Benfano Budiharto, Widodo Doctorate Program School of Computer Science Bina Nusantara University Jakarta Indonesia Bina Nusantara University Binus Graduate Program Doctorate Program of Computer Science Computer Science Department Jakarta Indonesia Bina Nusantara University Faculty of Engineering Computer Engineering Department Jakarta Indonesia Bina Nusantara University Computer Science Binus Graduate Program Computer Science Jakarta Indonesia School of Computer Science Bina Nusantara University Computer Science Department Jakarta Indonesia

ISBN: (纸本)9798350399073

The voice patterns of gender and age have been used as speaker's identity and implied into sectors such as smart cards, healthcare, banking, and other security access controls. However, age, illness, and ambient noise factors exist challenging issues of voice changes in speech recognition systems to be resolved. This paper presents experiment results of observing those issues, and its goal was obtaining the elements of voice features to secure the speaker's identity. Mel-frequency Cepstral Coefficient (MFCC) was used to conduct observations on spectral centroid and bandwidth, it has effectively performed capturing features of individual speech signal. The experiment was conducted with data split into three groups: under 13, range 13 to 19, and above 19 years old for both male and female. The results showed that both gender under 13 have centroid voices reached to 98%, age of 13 to 19 remain with centroid reached 98% of bandwidth for male and passing over 100% for female, then above 19 for both genders speak lower with centroid 50% of bandwidth, and male above age of 19 remains to keep centroid about 50% and female changes to 95%. MFCC fits to expose the speech spectrum for the purpose of an analysis frame on specific local spectral properties of voices, and the finding is to form a security line or an individual profiling adoption. © 2022 IEEE.

关键词： Bandwidth

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Improving Supplier Evaluation Model using Ensemble Method-Machine Learning for Food Industry 8

Improving Supplier Evaluation Model using Ensemble Method-Ma...

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8th International Conference on computer science and Computational Intelligence, ICCSCI 2023

作者： Asrol, Muhammad Wahyudi, Sofyan Suharjito Harito, Christian Utama, Ditdit N. Syafrudin, Muhammad Industrial Engineering Department BINUS Graduate Program - Master of Industrial Engineering Bina Nusantara University Jakarta11480 Indonesia Computer Science Department BINUS Graduate Program - Master of Computer Science Bina Nusantara University Jakarta11480 Indonesia Department of Artificial Intelligence Sejong University Seoul05006 Korea Republic of

Supplier evaluation has a crucial role in maintaining efficiency in the food industry supply chain. Machine learning approaches can be employed to formulate models aimed at analyzing and evaluating supplier performance. Previous research has successfully designed decision tree and neural network models for assessing suppliers in the food industry with accuracies of 84.2% and 92.8% separately. Recognizing the opportunity to improve the model's performance, this study aims to advancing the machine learning models accuracy for analyzing and evaluating suppliers in the food industry. Two main models are proposed to enhance model accuracy: ensemble methods and support vector machine. This research has successfully designed a supplier evaluation model and demonstrated that the ensemble method - gradient boosting model outperforms other ensemble methods and support vector machine which is achieved a accuracy of 93.6% on a cross-validation dataset. The development of a dashboard is required to implement the supplier evaluation model using machine learning, facilitating decision-makers in evaluating and controlling supplier performance. © 2023 The Authors. Published by Elsevier B.V.

关键词： Ensemble Method Food Machine Learning Supply chain Supplier evaluation

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Aerodynamic Effects Compensation on Multi-Rotor UAVs Based on a Neural Network Control Allocation Approach

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 295-312页

作者： Sarah P.Madruga Augusto H.B.M.Tavares Saulo O.D.Luiz Tiago P.do Nascimento Antonio Marcus N.Lima Graduate Program of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil Department of Electrical Engineering Universidade Federal de Campina GrandeCampina Grande-PBBrazil IEEE Department of Computer Systems Universidade Federal da ParaibaJoao Pessoa-PBBrazil

This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural ***,the system performance can be improved by replacing the classic allocation matrix,without using the aerodynamic inflow equations *** network training is performed offline,which requires low computational *** target system is a Parrot MAMBO drone whose flight control is composed of PD-PID controllers followed by the proposed neural network control allocation *** a quadrotor is particularly susceptible to the aerodynamics effects of interest to this work,because of its small *** compared the mechanical torques commanded by the flight controller,i.e.,the control input,to those actually generated by the actuators and established at the *** was observed that the proposed neural network was able to closely match them,while the classic allocation matrix could not achieve *** allocation error was also determined in both ***,the closed-loop performance also improved with the use of the proposed neural network control allocation,as well as the quality of the thrust and torque signals,in which we perceived a much less noisy behavior.

关键词： Aerodynamics effects control allocation minidrone multi-rotor UAV neural networks

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Learning orientation detection system and its application to RGB images

Learning orientation detection system and its application to...

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2024 International Conference on Optics, Electronics, and Communication engineering, OECE 2024

作者： Chen, Tianqi Qiu, Zhiyu Hua, Yuxiao Todo, Yuki Tang, Zheng Division of Electrical Engineering and Computer Science Graduate School of Natural Science & Technology Kanazawa University Ishikawa Kanazawa920-1152 Japan Faculty of Electrical Information and Communication Engineering Kanazawa University Ishikawa Kanazawa920-1192 Japan Faculty of Engineering University of Toyama Toyama930-8555 Japan

ISBN: (纸本)9781510685437

Our previous research showed that emulating dendritic neuron structure effectively addresses orientation detection challenges in learning tasks, reducing both learning time and costs compared to alternative neural network approaches. Our simulation model incorporates an On-Off Response mechanism in bipolar cells (BCs) and horizontal cells (HCs) for processing grayscale input images. To overcome limitations with single-channel input, we introduce color-selective cells. By integrating these cells, we enhance and select outputs of local orientation detection dendritic neurons, generating specific feature maps. These feature maps are generated using a biologically-inspired model that mimics the mechanism of color-selective cells. Additionally, global neurons are used to capture overall image features by aggregating outputs from local dendritic neurons. Our system utilizes backpropagation to update parameters of local orientation detection dendritic neurons. Furthermore, we integrate a learnable orientation detection neural network after the dendritic neuron stage. © 2024 SPIE.

关键词： RGB color model

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Algorithms of Sampling-Frequency-Independent Layers for Non-integer Strides 31

Algorithms of Sampling-Frequency-Independent Layers for Non-...

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31st European Signal Processing Conference, EUSIPCO 2023

作者： Imamura, Kanami Nakamura, Tomohiko Takamune, Norihiro Yatabe, Kohei Saruwatari, Hiroshi Graduate School of Information Science and Technology The University of Tokyo Tokyo Japan Department of Electrical Engineering and Computer Science Tokyo University of Agriculture and Technology Tokyo Japan

ISBN: (纸本)9789464593600

In this paper, we propose algorithms for handling non-integer strides in sampling-frequency-independent (SFI) convolutional and transposed convolutional layers. The SFI layers have been developed for handling various sampling frequencies (SFs) by a single neural network. They are replaceable with their non-SFI counterparts and can be introduced into various network architectures. However, they could not handle some specific configurations when combined with non-SFI layers. For example, an SFI extension of Conv-TasNet, a standard audio source separation model, cannot handle some pairs of trained and target SFs because the strides of the SFI layers become non-integers. This problem cannot be solved by simple rounding or signal resampling, resulting in the significant performance degradation. To overcome this problem, we propose algorithms for handling non-integer strides by using windowed sinc interpolation. The proposed algorithms realize the continuous-time representations of features using the interpolation and enable us to sample instants with the desired stride. Experimental results on music source separation showed that the proposed algorithms outperformed the rounding- and signal-resampling-based methods at SFs lower than the trained SF. © 2023 European Signal Processing Conference, EUSIPCO. All rights reserved.

关键词： Network architecture

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