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第三十三届中国控制会议

作者： Mahdi Zarghami Ahmad Fakharian Amin Ganjali Poudeh Aras Adhami-Mirhosseini Faculty of Electrical Biomedical and Mechatronics EngineeringMechatronics Research Laboratory (MRL)Qazvin BranchIslamic Azad University Advanced Control Systems Lab. School of Electrical and Computer EngineeringCollege of EngineeringUniversity of Tehran

ISBN: (纸本)9781479947249

In dynamic environments, Omni-directional mobile robots sometimes are required to accomplish accurate and stable tracking of trajectories, but rare researches are addressed in the literature, which specifically deal with time-delay *** order to cope with such situation, the trajectory tracking of an Omni-directional mobile robot is handled by model predictive control in presence of input-delay. The main innovation of this work is that MPC controller is employed to the end of ***, a significant reduction is yielded in the time of robot motion. This strategy forces that MPC method uses nearly good model approximation in which, the model deficiency can be compensated by modifying the novel kinematic model for ***, in this study, the proposed controller is compared with PID controller that achieve about 40% enhancement in amount of time to reach target and also results in to the more precise robot control in target point error.

关键词： input delay Omni-directional mobile robots predictive control motion control

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Model-based Predictive control of Wheeled Omni-directional Robots Considering Nonlinear Dynamical Constraints and Input Delay

Model-based Predictive Control of Wheeled Omni-directional R...

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International Conference on control, Automation, Robotics & Vision

作者： Mahdi Zarghami Ahmad Fakharian Amin Ganjali Poudeh Aras Adhami-Mirhosseini Mechatronics Research Laboratory (MRL) Faculty of Electrical Biomedical and Mechatronics Engineering Qazvin Branch Islamic Azad University Qazvin Iran Advanced Control Systems Lab. School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781479952007

The main enthusiasm of the use of MPC in this study relies on its ability in including state and control constraints that naturally comes up in practical problems. At the same time, nonlinearity of constraints compels the numerical solution of optimization problem. Therefore, a number of intelligent algorithms to overcome nonlinear optimization of the cost function is reviewed, however, their time consuming computations are considered as a dominant limitation. Meantime, due to its remarkable advantages, the motion control of Omni-directional mobile robot is handled by design of NMPC scheme. Furthermore, a novel kinematic model for the application of mobile robot is represented. As a demonstration for the proposed model, simulation results show that settling time is reduced 22% in comparison with ideal kinematic model and also the performance of the suggested control strategy shows its effectiveness in presence of disturbance and noise in all environments.

关键词： Robot kinematics Optimization Mobile robots Mathematical model Kinematics Trajectory

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ANN-based DTC scheme to improve the dynamic performance of an IM drive

ANN-based DTC scheme to improve the dynamic performance of a...

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7th IET International Conference on Power Electronics, Machines and Drives (PEMD 2014)

作者： K Bouhoune K Yazid M S Boucherit Power and Industrial Systems Laboratory Faculty of Electronics and Computer Science University of Science Algeria Process Control Laboratory Department of Electrical Engineering Polytechnic National School PO Box 182 10 Hassan Badi El-Harrach 16200 Algiers Algeria

In addition to simplicity, the DTC of the IM allows a good torque control in steady-state and transient operating conditions. However, high torque ripple is produced, which is reflected in speed estimation responses. It also increases acoustical noise and makes the voltage source inverter operated in high and variable switching frequency, requiring a high sampling frequency. In this paper, a simple effective ANN-based DTC of the induction machine is proposed. Neural networks with a simple architecture are designed and implemented in influential points of the direct torque control block of the three phase induction machine in order to improve its dynamic performance while preserving the DTC structure simplicity as much as possible. In particular, this paper proposes to reduce, on the one hand, the torque ripple and commutation frequency. Neural comparators are used to select the appropriate bandwidth for the torque and flux hysteresis controllers. Their aim is to optimize the ripple level in the developed torque and flux. On the other hand, a neural speed controller is designed in order to improve the system ability to respond rapidly to changes in process variables and mitigate the effects of external perturbations. The performance of the proposed control are tested in simulation and highlighted by comparing to the conventional DTC control based on conventional hysteresis comparators and conventional PI speed controller. The obtained results show the feasibility and good performances of the proposed control.

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A Framework for the Nonlinear control of Dual-Stage systems

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IFAC Proceedings Volumes 2014年第3期47卷 1140-1145页

作者： Aurélio T. Salton Jeferson V. Flores João M. Gomes da Silva Jinchuan Zheng Zhiyong Chen Group of Automation and Control Systems (GACS) Pontifícia Universidade Católica do Rio Grande do Sul Brazil Department of Electrical Engineering Universidade Federal do Rio Grande do Sul Brazil Faculty of Engineering and Industrial Sciences Swinburne University of Technology Australia School of Electrical Engineering and Computer Science The University of Newcastle Australia

This paper presents a framework for the nonlinear control of dual-stage actuators (DSA). Motivated by various nonlinear controllers that make use of sector bounded and £ ∞ nonlinearities for the control of saturated linear systems, a methodology for integrating such nonlinear functions in order to improve the performance of DSA is presented. The stability of the closed-loop system is assessed by casting the nonlinearities in a mixed sector-bounded plus quasi-Linear Parameter Varying (LPV) framework, leading to a set of linear matrix inequalities (LMIs) to be satisfied by the controller parameters. Taking advantage of the developed framework, a new £ ∞ function is proposed to avoid the saturation of the secondary actuator. Simulation results illustrate the validity of the proposed framework and its potential for the performance improvement of DSA.

关键词： DSA Nonlinear Feedback Time-Optimal Performance Macro-Micro Manipulator

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Cooperative control in Production and Logistics

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IFAC Proceedings Volumes 2014年第3期47卷 4246-4265页

作者： László Monostori Paul Valckenaers Alexandre Dolgui Hervé Panetto Mietek Brdys Balázs Csanád Csáji Institute for Computer Science and Control Hungarian Academy of Sciences Hungary Faculty of Mechanical Engineering Budapest University of Technology and Economics Hungary Department of Health Care and Technology KHLeuven Belgium LIMOS UMR 6158 CNRS Ecole Nationale Supérieure des Mines de Saint-Etienne France Centre de Recherche en Automatique de Nancy (UMR 7039) Université de Lorraine CNRS France School of Electronic Electrical and Computer Engineering University of Birmingham United Kingdom Department of Control Systems Engineering Gdansk University of Technology Gdansk Poland

This is a milestone paper of the Coordinating Committee on Manufacturing and Logistics systems (CC5) of the International Federation of Automatic control (IFAC). Classical applications of control engineering and information and communication technology (ICT) in production and logistics are often done in a rigid, centralized and hierarchical way. These inflexible approaches are typically not able to cope with the complexities of the manufacturing environment, such as the instabilities, uncertainties and abrupt changes caused by internal and external disturbances, or a large number and variety of interacting, interdependent elements. A paradigm shift, e.g., novel organizing principles and methods, is needed for supporting the interoperability of dynamic alliances of agile and networked systems. Several solution proposals argue that the future of manufacturing and logistics lies in network-like, dynamic, open and reconfigurable systems of cooperative autonomous entities. The paper overviews various distributed approaches and technologies of control engineering and ICT that can support the realization of cooperative structures from the resource level to the level of networked enterprises. Standard results as well as recent advances from control theory, through cooperative game theory, distributed machine learning to holonic systems, cooperative enterprise modelling, system integration, and autonomous logistics processes are surveyed. A special emphasis is put on the theoretical developments and industrial applications of Robustly Feasible Model Predictive control (RFMPC). Two case studies are also discussed: i) a holonic, PROSA-based approach to generate short-term forecasts for an additive manufacturing system by means of a delegate multi-agent system (D-MAS); and ii) an application of distributed RFMPC to a drinking water distribution system.

关键词： intelligent manufacturing systems complex systems agents production control distributed control predictive control adaptive control machine learning optimization

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About balance property of the p-ary generalized self-shrinking generator sequence

About balance property of the p-ary generalized self-shrinki...

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14th International Conference on computer systems and Technologies, CompSysTech 2013

作者： Tasheva, Antoniya Nakov, Ognyan Tasheva, Zhaneta Department of Computer Systems and Control Technical University of Sofia Bulgaria National Military University Faculty of Artillery AAD and KI University of Shumen Bulgaria

ISBN: (纸本)9781450320214

The Pseudo Random Sequences (PRSs) have been widely used for encrypting sensitive data in wireless networks, communication systems and other. The balance property of the previously proposed p-ary Generalized Self-Shrinking Generator (pGSSG) is examined. The theoretical value of the balance property of the sequences produced by the pGSSG is established and proven. Test results for it are compared to the theoretical ones. It is shown that the pGSSG sequences have the needed properties to be considered as balanced. © 2013 ACM.

关键词： Cryptography

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An introduction to the special issue on advanced control methods: Theory and application

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WSEAS Transactions on systems 2013年第6期12卷 301-303页

作者： Pekař, Libor Neri, Filippo Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlín Zlín Czech Republic WSEAS Transactions on Systems Department of Computer Science University of Naples Federico II Naples Italy

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied control and Automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Experiments with multifractal analysis for fabric wrinkledness assessment

Experiments with multifractal analysis for fabric wrinkledne...

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IEEE 9th International Conference on Computational Cybernetics, ICCC 2013

作者： Fazekas, Zoltán Talu, Ştefan Szalay, László Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary Technical University of Cluj-Napoca Faculty of Mechanical Engineering Dept. of AET Cluj-Napoca Romania INNOVATEXT Textile Engineering and Testing Institute Co. Budapest Hungary

ISBN: (纸本)9781479900633

Objective assessment of fabric wrinkledness using multifractal methodology is addressed in the paper. As a first experiment with this methodology in this application field, AATCC standard durable press rating replicas, which are used by textile experts worldwide, were photographed and then segmented using common image processing methods. The resulting skeleton images were then analyzed using the multifractal methodology. © 2013 IEEE.

关键词： Fractals

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