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Experimental verification of constrained iterative learning control using successive projection

Experimental verification of constrained iterative learning ...

引用

UKACC International Conference on control (control)

作者： Bing Chu Zhonglun Cai David H Owens Eric Rogers Chris T Freeman Paul L Lewin Electronics and Computer Science University of Southampton Southampton UK Faculty of Engineering and the Environment University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Italian Institute of Technology Genoa Italy

In many practical applications, constraints are often present on, for example, the magnitudes of the control inputs. Recently, based on a novel successive projection framework, two constrained iterative learning control (ILC) algorithms were developed with different convergence properties and computational requirements. This paper investigates the effectiveness of these two methods experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained demonstrate the effectiveness of the algorithms in solving one form of the general constrained ILC problem.

关键词： Convergence Robots Algorithm design and analysis Prediction algorithms Trajectory Optimization

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Experimental verification of constrained iterative learning control using successive projection

Experimental verification of constrained iterative learning ...

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2012 UKACC International Conference on control, control 2012

作者： Chu, Bing Cai, Zhonglun Owens, David H. Rogers, Eric Freeman, Chris T. Lewin, Paul L. Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom Faculty of Engineering and the Environment University of Southampton Southampton SO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom Italian Institute of Technology Via Morego 30 16163-Genova Italy

ISBN: (纸本)9781467315609

关键词： Iterative methods

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REGION-BASED ACTIVE SURFACE MODELLING AND ALPHA MATTING FOR UNSUPERVISED TUMOUR SEGMENTATION IN PET

REGION-BASED ACTIVE SURFACE MODELLING AND ALPHA MATTING FOR ...

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IEEE International Conference on Image Processing

作者： Ziming Zeng Jue Wang Tony Shepherd Reyer Zwiggelaar Computer Science Department Aberystwyth University UK Information and Control Engineering Faculty Shenyang Jianzhu University Liaoning China Adobe Systems Seattle USA Turku PET Center and Department of Oncology and Radiotherapy Turku University Hospital Finland

This paper presents a combination of existing advanced methods to solve the partial volume segmentation problem. It uses region-based active surface modelling in a hierarchical scheme to eliminate segmentation errors, followed by an alpha matting step to further refine the segmentation. This method can have an interest in several applications in medical imaging. We have validated our method on real PET images of head-and-neck cancer patients as well as custom designed phantom PET images. Experiments show that our method can generate more accurate segmentation than existing approaches.

关键词： Image segmentation Positron emission tomography Tumors Imaging phantoms Solid modeling Cancer

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Recent Advances in Analysis and control Design for Switched Fuzzy systems: A Review

Recent Advances in Analysis and Control Design for Switched ...

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IEEE International Conference Intelligent systems

作者： Vesna Ojleska Tatjana Kolemishevska-Gugulovska Gyorgyi Dymirkovsky SS Cyril and Methodius University in Skopje Faculty of Electrical Eng. and Information Technologies Institute of Automation & Systems Engineering Rugjer Boshkovik bb 1000 Skopje R. Macedonia Faculty of Engineering Depts. of Computer & of Control Engineering Dogus University of Istanbul Acibadem TR-34722 Istanbul R. Turkey

ISBN: (纸本)9781467322768

This paper overviews recent advances in the field of switched fuzzy systems, switched systems whose subsystems are fuzzy systems, followed by the comparative study for this kind of systems. Starting with the basic ideas of switched fuzzy systems, the comparative study is aimed in introducing the diverse approaches in their model construction, as well as the challenges related with the stability analysis and stabilization of such systems. The last includes the issue of stability analysis and finding conditions for existence of switched fuzzy controllers which will stabilize the nonlinear system.

关键词： control fuzzy logic fuzzy systems hybrid systems nonlinear systems switched systems switching Fuzzy systems Stability analysis analytical control design control FUZZY controlLER Nonlinear systems

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Maneuvering target tracking method based on unknown but bounded uncertainties

Maneuvering target tracking method based on unknown but boun...

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作者： Rahmati, Hodjat Khaloozadeh, Hamid Ayati, Moosa Faculty of Electrical and Computer Engineering Systems and Control Department K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9783902661937

In this paper a new maneuvering target tracking method based on a model with unknown but bounded uncertainties is proposed. Firstly, a model with unknown but bounded uncertainties is proposed. Then, an algorithm for tracking the target in both maneuvering and non-maneuvering cases is generated. The proposed method can be used for a large diversity of input types. Also, this method does not require maneuver detection and covariance resetting that are necessary in previous maneuvering target tracking methods. Therefore, it doesn't consume any time for maneuver detection and covariance resetting. Also simulation results are provided to confirm the theoretical development. © 2011 IFAC.

关键词： Target tracking

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Feedforward-feedback P-PID control of elbow joint angle for functional electrical stimulation: A simulation study

Feedforward-feedback P-PID control of elbow joint angle for ...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Shariati, Negin Hesam Maleki, Ali Fallah, Ali Biological Systems Control Laboratory Biomedical Engineering Faculty Amirkabir University of Technology Tehran Iran Electrical and Computer Engineering Faculty Semnan University Semnan Iran

ISBN: (纸本)9781467316903

Functional electrical stimulation (FES) is the most commonly used system for restoring functions after spinal cord injury (SCI). In this study, we used a combined feedforward-feedback PID controller for regulating the elbow joint angle. Feedforward controller is unable to make corrections if the actual angle deviates from the desired angle. Feedback controller monitors the system output, so it can correct the error. So, a combination of feedforward and feedback control is the prefered control method in FES system designs. The controller was tuned using a model contains one joint, two links with one degree of freedom and two muscles in the sagital plane which simulated in MATLAB using SimMechanics and Simulink Toolboxes. The muscle model is based on Zajac musculotendon model. At First, the P-PID coefficients were tuned with error and effort, and then a genetic algorithm (GA) was used to optimize them. The controller optimized by GA is much better in terms of the rise time and settling time and has no overshoot and oscillation but the classical tuned controller response has a big overshoot and oscillations before getting the desired angle and has much less rise time and settling time. A comparison between the results of suggested controlling method and the results of genetic-PID feedback controller has been done. The results show that however the feedforward-feedback controller is better in terms of the rise time and the settling time, the feedback controller has less overshoot. © 2011 IEEE.

关键词： Genetic algorithms

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Genetic-PID control of elbow joint angle for functional electrical stimulation: A simulation study

Genetic-PID control of elbow joint angle for functional elec...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

ISBN: (纸本)9781467316903

Functional electrical stimulation (FES) systems restore motor functions after spinal cord injury (SCI). In this study, we used a model consists of a joint, two links with one degree of freedom, and two muscles as flexor and extensor of the joint, which simulated in MATLAB using SimMechanics and Simulink Toolboxes. The muscle model is based on Zajac musculotendon actuator and composed of a nonlinear recruitment curve, a nonlinear activation-frequency relationship, calcium dynamics, fatigue/recovery model, an additional constant time delay, force-length and force-velocity factors. In this study, we used a classic controller for regulating the elbow joint angle;a Proportional- Integral- Derivative controller. First, we tuned the PID coefficients with trial and error, and then a genetic algorithm was used to optimize them. This genetic-PID controller uses genetic algorithm to get the required pulse width for stimulating the biceps to reach the elbow joint to the desired angle. The fitness function was defined as sum square of error. The results for genetic-PID controller show faster response for reaching the range of the set point than the PID controller tuned by trial and error. However the genetic-PID is much better in terms of the rise time and the settling time, the PID tuned by trial and error has no overshoot. The time to reach the zero steady state error is half in genetic-PID in comparison to PID tuned by trial and error. © 2011 IEEE.

关键词： Three term control systems

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Monocular visual self-localization for humanoid soccer robots

Monocular visual self-localization for humanoid soccer robot...

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21st International Conference on Electronics Communications and computers, CONIELECOMP 2011

作者： Ibarra Zannatha, J.M. Cisneros Limon, R. Gomez Sanchez, A.D. Hernandez Castillo, E. Figueroa Medina, L.E. Lara Leyva, F.J.K. Department of Automatic Control Cinvestav Mexico Department of Computer Systems Cinvestav Mexico Engineering Faculty La Salle University United States

ISBN: (纸本)9781424495573

In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x;y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented. © 2011 IEEE.

关键词： Anthropomorphic robots

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Continuous control of blood glucose in TIDM using fuzzy logic controller in insulin pump: A simulation study

Continuous control of blood glucose in TIDM using fuzzy logi...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Maleki, Ali Geramipour, Arezou Semnan University Electrical and Computer Engineering Faculty Biomedical Engineering Department Iran Amirkabir University of Technology Biomedical Engineering Faculty Biological Systems Control Laboratory Iran

ISBN: (纸本)9781467316903

This paper presents a closed-loop control system for regulating blood glucose level in type-1 diabetic patients. The goals of designing controller are 1. avoidance of hypoglycemia (blood glucose concentrations should be above 3mmol/l) and 2. reduction in the blood glucose level (average blood glucose should be less than 7mmol/l) in diabetic patients. An intensive therapy for these patients is described by a continuous subcutaneous insulin infusion pump which mimics the natural insulin secretion in healthy person. The control algorithm uses experience of physicians to treat this disease by using Mamdani-type fuzzy logic controller (FLC). Robustness of this controller is tested by a group of diabetic patients models. Then to assess the performance and capabilities of fuzzy controller, the results of FLC were compared to PID controller for each diabetic patient. The results showed that FLC has a more stable response in presence of uncertainty in system parameters which can vary from patient to patient. © 2011 IEEE.

关键词： controllers

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Elitist behavior in differential ant-stigmergy algorithm

Elitist behavior in differential ant-stigmergy algorithm

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International Conference on Evolutionary Computation Theory and Applications, ECTA 2011 and International Conference on Fuzzy Computation Theory and Applications, FCTA 2011

作者： Şerbencu, Adrian Emanoil Minzu, Viorel Şerbencu, Adriana Cernega, Daniela Control Systems and Industrial Informatics Department Computer Science Faculty Dunarea de JosUniversity from Galati Str. Domneasca 111 800201 Galati Romania

ISBN: (纸本)9789898425836

This paper proposes two type of elitist variants for the differential ant-stigmergy algorithm (DASA). An elitist behaviour is inserted in genetic algorithms by keeping the best solution found in the population used at next generation. Another way to insert elitist behaviour in algorithms that construct solution is to use the most attractive components in order to obtain good quality solution, and may be the optimal ones. Based on particularities of differential ant-stigmergy algorithm this two type of elitist behaviour was successfully applied to studied algorithm. In this paper the efficiency of the proposed elitist variants of DASA algorithms is analyzed using experimental results. The analysis is applied to six benchmark functions from the class of high-dimensional real-parameter optimization problems.

关键词： Ant colony optimization

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