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Composite systems control by combined math-analytical and FS/NN computing approach

IFAC Proceedings Volumes 2003年第7期36卷 7-18页

作者： Georgi M. Dimirovski Yuan-Wei Jing Jun Zhao Si-Ying Zhang Dogus University Department of Computer Engineering Faculty of Engineering Acibadem Kadiköy TR-34722 Istanbul Turkey Fax# +90-216-327-9631 SS Cyril and Methodius University Institute of Automation & Systems Eng. Faculty of Electrical Engineering MK-1000 Skopje R. of Macedonia Northeastern University Institute of Control Science School of Information Science & Eng. Shenyang Liaoning P.R. of China Fax# +90-24-2389-0912

A control systems engineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systems engineering.

关键词： Complex composite systems fuzzy systems neural networks nonlinear systems

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Decision support system for multicriterial R&D and information systems projects selection

Decision support system for multicriterial R&D and informati...

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作者： Klapka, Jindřich Piňos, Petr Faculty of Mechanical Engineering Institute of Automation and Computer Science Technical University of Brno Brno Moravia Czech Republic

Decision support system described here makes it possible to carry out multicriterial selection of hundreds of projects simultaneously, with tens of criterion functions with bivalent variables including polynomial ones and quotients of linear functions, and tens of resources limitations. Stewart's idea [J. Oper. Res. Soc. 42 (1) (1991) 17] of the special scalarizing function based on the modified reference point approach, which has been hitherto applied for linear benefits and for balance criteria functions only, and its optimization by effective gradient method is used here in the situation described by Santhanam and Kyparisis [Comput. Oper. Res. 22 (8) (1995) 807], involving synergistic effects of second- and third-orders in benefit and cost criterion function, and in resource requirements respecting resource sharing and hierarchical contingency relationships among candidate projects. In addition, the system enables us making the dialogue of the solution in a way of adaptive creation of weights of criterion functions and also flexible projects portfolio changes. A test of efficiency is presented. © 2002 Elsevier Science B.V. All rights reserved.

关键词： Project management

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A reinforcement learning approach to obstacle avoidance of mobile robots

A reinforcement learning approach to obstacle avoidance of m...

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International Workshop on Advanced Motion Control (AMC)

作者： K. Macek I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Croatia

One of the basic issues in the navigation of autonomous mobile robots is the obstacle avoidance task that is commonly achieved using a reactive control paradigm where a local mapping from perceived states to actions is acquired. A control strategy with learning capabilities in an unknown environment can be obtained using reinforcement learning where the learning agent is given only sparse reward information. This credit assignment problem includes both temporal and structural aspects. While the temporal credit assignment problem is solved using core elements of the reinforcement learning agent, solution of the structural credit assignment problem requires an appropriate internal state space representation of the environment. In this paper, a discrete coding of the input space using a neural network structure is presented as opposed to the commonly used continuous internal representation. This enables a faster and more efficient convergence of the reinforcement learning process.

关键词： Learning Mobile robots Control engineering computing Automatic control Neural networks Fuzzy logic Path planning Robotics and automation Navigation State-space methods

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ATM available bit rate congestion control with on-line network model identification

ATM available bit rate congestion control with on-line netwo...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： D. Brscic I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In this paper, the design of available bit rate (ABR) congestion control in ATM (asynchronous transfer mode) networks is considered. The goals of congestion control are high link utilization, low cell loss, and low network delay. Various algorithms for congestion control can be found in the literature. Most of them are based on a network model, which is assumed to be known. In this paper a recursive least square (RLS) algorithm for on-line identification of the network model is implemented and combined with a generalized predictive controller (GPC) and with an I-controller based on the Smith predictor. Simulations were carried out to prove the effectiveness of the proposed algorithms.

关键词： Bit rate Asynchronous transfer mode Traffic control Automatic control Communication system traffic control Control design Bandwidth Switches Process control Control engineering computing

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A hybrid finite time variable structure controller for rigid robotic manipulators 15th

A hybrid finite time variable structure controller for rigid...

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Wu, Yuqiang Yu, Xinghuo Man, Zhihong Institute of Automation Qufu Normal University Qufu273165 China Faculty of Informatics and Communication Central Queensland University RockhamptonQLD4702 Australia School of Computer Engineering Nanyang Technological University Singapore Singapore

ISBN: (纸本)9783902661746

In this paper, a global variable structure relay control scheme with finite time convergence is proposed for multi-link rigid robotic manipulator systems with uncertain dynamics. For general finite time variable structure controllers, the control signal may tend to infinity when the initial states of the system are in some specified areas, causing the singularity problem. This paper gives a design approach for finite time tracking control by using a relay control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. Copyright © 2002 IFAC.

关键词： Variable structure control

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Experimental investigations of the rubber-asphalt sliding pair dynamics

Experimental investigations of the rubber-asphalt sliding pa...

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作者： Božić, Ante Petrović, Ivan Perić, Nedjeljko Matuško, Jadranko Poclain-Hydraulics Industrie Direction Technique B.P.N. 106 60411 Verberie Cedex France University of Zagreb Faculty of Electrical Engineering and Computing Department for Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

ISBN: (纸本)0791836290

A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models might be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface. Copyright © 2002 by ASME.

关键词： Tribology

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Massive motion control of sub-millimeter objects

Massive motion control of sub-millimeter objects

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7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings

作者： Šafarič, Riko Uran, Suzana Winther, Tobias K. University of Maribor Faculty of Electrical Engineering and Computer Science Smetanova 17 2000 Maribor Slovenia Rensselaer Polytechnic Institute Center for Automation Technologies 110 8th Street Troy New York 12180 United States

The current lack of manufacturing techniques for very high volume handling of small objects presents a technology barrier to the commercial success in various fields like micro electromechanical systems (MEMS). A fundamentally new approach to automated massive parallel manipulation of small-sized parts is explored in this paper. The paper is exploring a pneumatic active surface device (PASD). The appropriate choice of force, caused by blowing or sucking air-flow through tubes of the pneumatic active surface device, is shown to cause objects placed on the array to be moved in manners that are useful. It offers great flexibility and speed and it can be employed to position, orient, identify, sort, feed, and assemble parts or objects. In addition several objects can be controlled simultaneously. This paper describes experimental work done on a prototype pneumatic active surface device, especially open-loop and closed-loop positioning control techniques for sub-millimeter rigid objects. © 2002 IEEE.

关键词： Motion control

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Toolkit for PID dominant pole design

Toolkit for PID dominant pole design

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： I. Branica I. Petrovic N. Peric Systemcorn Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This work presents dominant pole design (DPD) methodology, one MATLAB implementation of DPD and its usage. DPD for PI and PID controllers is derived, and on this basis MATLAB toolkit for three-pole method (3PM) has been developed. The least squares procedure for finding functional dependence of PID controller parameters on process parameters is described. This least squares procedure has been applied to the first order process with dead time (FODT) obtained functional dependence, expressed through tuning formulas, is presented. Performance of PID controller tuned with 3PM tuning formulas is compared to the performance of PID controller tuned with integral criteria derived tuning formulas. Observed characteristics of DPD method are given at the end of the paper.

关键词： Three-term control Control systems Design methodology MATLAB Equations Automatic control Least squares methods Process control Industrial control State feedback

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Input reconstruction by means of system inversion: Application to fault detection and isolation 15th

Input reconstruction by means of system inversion: Applicati...

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Szigeti, F. Bokor, J. Edelmayer, A. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.P. 11 La Hechicera Venezuela

ISBN: (纸本)9783902661746

This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the properties of input (or fault) observability in linear systems. The extension of the results to nonlinear systems as well as the mathematical conditions of the calculation of the inverse system, which provides the inverse in finite algorithmic steps, are given. The applicability of the inversion process to fault reconstruction in nonlinear systems is demonstrated. Copyright © 2002 IFAC.

关键词： Fault detection

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On complex non-linear systems with symmetries: controllability preserving decomposition

On complex non-linear systems with symmetries: controllabili...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： G.M. Dimirovski Y.-W. Jing J. Zhao T.D. Kolemisevska-Gugulovska Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Dogus University Istanbul Turkey Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia

In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations of these systems are derived. Finally, it is shown that controllability of the original systems can be determined by that of the subsystems, which are obtained through isomorphic decomposition. The corresponding sufficient and necessary conditions are given. Two new theoretical results have been proved.

关键词： Controllability Nonlinear control systems Control systems Nonlinear systems Automatic control Information science automation Systems engineering and theory Feedback Mathematical model

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