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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Khairuddin Osman Ahmad 'Athif Mohd Faudzi M.F. Rahmat Nu'man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Control Instrumentation and Automation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system.

关键词： Analytical models Data models Silicon Mathematical model Actuators Robots Correlation

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Unknown input reconstruction for nonlinear autonomous switched systems via high-order sliding modes observers

Unknown input reconstruction for nonlinear autonomous switch...

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Annual Conference of Industrial Electronics Society

作者： Hector Rios Jorge Davila Leonid Fridman Department of Control Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico Distrito Federal Mexico National Polytechnic Institute Section of Graduate Studies and Research ESIME UPT Mexico Distrito Federal Mexico Department of Automatic Control CINVESTAV IPN Mexico Distrito Federal Mexico Engineering Department of Control and Robotics Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico Distrito Federal Mexico

The unknown input identification problem is studied for a class of nonlinear autonomous switched systems. It is proposed a robust observer which is capable of reconstructing the continuous state and the discrete state in the presence of unknown inputs. On the other hand, it is provided a method for identification of unknown inputs using the high frequency equivalent output injection. Simulation results support the proposed method.

关键词： Observers Switches Switched systems Vectors Trajectory

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Fuzzy control system design for wheel slip prevention and tracking of desired speed profile in electric trains

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Asian Journal of control 2022年第1期24卷 388-400页

作者： Moaveni, Bijan Rashidi Fathabadi, Fatemeh Molavi, Ali Center of excellence for Modelling and Control of Complex Systems Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Western Michigan University MI United States Institute of Robotics and Industrial Informatics Polytechnical University of Catalonia Barcelona Spain

This study proposes an anti-slip control system for electric trains based on the fuzzy logic theory, which prevents the wheels from slipping during the acceleration and simultaneously tracks the desired speed profile. To improve the control performance, the train longitudinal velocity and the slip ratio are estimated. By using a field-oriented control (FOC), the angular speed of the traction motor is controlled. The fuzzy control system determines the desired angular speed of the traction motor as the reference input of FOC to obtain the desired slip ratio and track the desired speed profile. Simulation results show the effectiveness of the control system in various wheel–rail surface conditions based on the real parameters of ER24PC locomotive. © 2020 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Traction motors

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State and disturbance observers-based chattering-free fixed-time sliding mode control for a class of high-order nonlinear systems

Advanced Control for Applications: Engineering and Industria...

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Advanced control for Applications: engineering and Industrial Systems 2021年第3期3卷

作者： Alinaghi Hosseinabadi, Pooyan Ordys, Andrzej Soltani Sharif Abadi, Ali Mekhilef, Saad Pota, Hemanshu Roy School of Engineering and Information Technology The University of New South Wales CanberraACT Australia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Swinburne University of Technology MelbourneVIC Australia

It is essential to consider chattering alleviation of Sliding Mode control (SMC) design along with providing the system convergence regardless of initial states utilizing the fixed-time stability notion. Unknown states and disturbance are two major issues in practical applications, which can be effectively solved by using sliding mode observers. This paper deals with state and disturbance Observers-based Chattering-Free Fixed-time SMC (OCFFSMC) design for a class of high-order nonlinear systems with unknown disturbance, while only the first state is measured physically. A new form of the combined observer-controller is designed to provide estimated data of unknown disturbance and unmeasured states in the control law. The designed disturbance observer-based sliding mode controller is not only capable of estimating unknown disturbance but also capable of alleviating the chattering problem in the control signal. Based on defining a new form of the sliding surface, a new control law is designed to alleviate chattering problem and achieve trajectory tracking in a fixed time independently of initial conditions. The fixed-time stability proof of the closed-loop system is obtained using Lyapunov stability theory. The validity of the proposed control scheme, OCFFSMC, is verified by applying two examples and simulating in Simulink/MATLAB. © 2021 John Wiley & Sons Ltd.

关键词： Sliding mode control

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Symbolic regression for constructing analytic models in reinforcement learning

arXiv

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arXiv 2019年

作者： Derner, Erik Kubalík, Jiří Ancona, Nicola Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague16000 Czech Republic Czech Institute of Informatics Robotics Cybernetics Czech Technical University Prague Prague16000 Czech Republic Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands

Reinforcement learning (RL) is a widely used approach for controlling systems with unknown or time-varying dynamics. Even though RL does not require a model of the system, it is known to be faster and safer when using models learned online. We propose to employ symbolic regression (SR) to construct parsimonious process models described by analytic equations for real-time RL control. We have tested our method with two different state-of-the-art SR algorithms which automatically search for equations that fit the measured data. In addition to the standard problem formulation in the state-space domain, we show how the method can also be applied to input-output models of the NARX (nonlinear autoregressive with exogenous input) type. We present the approach on three simulated examples with up to 14-dimensional state space: an inverted pendulum, a mobile robot, and a biped walking robot. A comparison with deep neural networks and local linear regression shows that SR in most cases outperforms these commonly used alternative methods. We demonstrate on a real pendulum system that the analytic model found enables RL to successfully perform the swing-up task, based on a model constructed from only 100 data samples. Copyright © 2019, The Authors. All rights reserved.

关键词： Reinforcement learning

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An analysis of sensitivity distribution using two differential excitation potentials in ECT

An analysis of sensitivity distribution using two differenti...

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International Conference on Sensing Technology, ICST

作者： Elmy Johana Mohamad Omar M. Faizan Marwah Ruzairi Abdul Rahim Leow Pei Ling Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Johor Malaysia Department of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

The investigation of this work is to analysis the sensitivity distributions using two differential excitation potentials, in order to improve the situation of: (1) non-uniform sensitivity distribution: (2) less sensitivity in the central area and (3) non-linear change in ECT (electrical Capacitance Tomography) system. Simulation using COMSOL Multiphysics is developed in order to obtain the changes in capacitance inter-electrodes and the permittivity of the dielectric material when two differential excitation potentials were injected. The MATLAB simulation is used to obtain the sensitivity distribution inside the closed pipe from the sensor. Generated phantoms and measured values are presented. Simulation is verified using available experimental data through the existing system, 16- segmented ECT sensor electrodes by PROTOM Research Group UTM, MALAYSIA. By using this technique the linear relationship between the capacitances measured to inter-electrodes and the permittivity dramatically improved and the sensitivity distribution for an opposing electrode pair was increased thus gives the sensitivity distribution in the central area increased. The use of this technique does increase the level of detection signals and the SNR(signal noise to ratio) compared to those achieved using standard single-voltage source method.

关键词： Electrodes Capacitance Electric potential Sensitivity Permittivity Capacitance measurement Image reconstruction

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Symbolic Regression Driven by Training Data and Prior Knowledge

arXiv

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arXiv 2020年

作者： Kubalík, Jiří Derner, Erik Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague16000 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague16000 Czech Republic Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands

In symbolic regression, the search for analytic models is typically driven purely by the prediction error observed on the training data samples. However, when the data samples do not sufficiently cover the input space, the prediction error does not provide sufficient guidance toward desired models. Standard symbolic regression techniques then yield models that are partially incorrect, for instance, in terms of their steady-state characteristics or local behavior. If these properties were considered already during the search process, more accurate and relevant models could be produced. We propose a multi-objective symbolic regression approach that is driven by both the training data and the prior knowledge of the properties the desired model should manifest. The properties given in the form of formal constraints are internally represented by a set of discrete data samples on which candidate models are exactly checked. The proposed approach was experimentally evaluated on three test problems with results clearly demonstrating its capability to evolve realistic models that fit the training data well while complying with the prior knowledge of the desired model characteristics at the same time. It outperforms standard symbolic regression by several orders of magnitude in terms of the mean squared deviation from a reference model. Copyright © 2020, The Authors. All rights reserved.

关键词： Genetic programming

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A consensus sliding mode control for trajectory tracking of multiple manipulators

A consensus sliding mode control for trajectory tracking of ...

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International Symposium on electrical and Electronics engineering (ISEE)

作者： Duc Thien Tran Trong Tai Nguyen Kyoung Kwan Ahn Robotics and Intelligent control Lab. Faculty of Electrical and Electronics Engineering HCM City University of Technology and Education Ho Chi Minh City Vietnam Faculty of Electrical and Electronics Engineering VNUHCM University of Technology Ho Chi Minh City Vietnam School of Mechanical Engineering University of Ulsan Ulsan City Korea

The paper presents a consensus sliding mode control for trajectory tracking problem of multiple manipulators under the presence of the external disturbance. The proposed method is developed based on the consensus protocol technique and sliding mode control. By using the consensus protocol, the synchronous requirement between manipulators is guaranteed. In addition, the sliding mode control guarantee that the tracking issue is satisfied. A Lyapunov approach is used to analyze the effectiveness of the proposed control in detail. Finally, some simulations are conducted in a robot network which includes two 3-DOF manipulators. The results of the proposed control are compared with the previous control method to verify the efficiency of the proposed control.

关键词： Trajectory tracking Manipulators Consensus protocol Sliding mode control

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision Processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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Passive Upper Limb Assessment Device

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Procedia Computer Science 2014年 42卷 287-292页

作者： H.A. Rahman K.X. Khor L.S. Sim C.F. Yeong E.L.M. Su Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of disability. Reaching movement is the most important movement for many daily activities routine. Rehabilitation is to encourage and enhanced recovery process. Conventional rehabilitation is one-to-one intervention where labour intensive and lack of repeatability. In addition, the stroke assessments by physiotherapist are subjective and not independent. Thus, this paper will describe the design and development of non-motorized system for assessing the patients’ motor function. This system will be used in the future to find the correlation between conventional assessments scales such Fugl-Mayer Assessment (FMA), Chedoke-McMaster Stroke Assessment Scale (CMSA) and Motor Assessment Scale (MAS) and robotic assessment.

关键词： Stroke assessment scale robotic upper limb rehabilitation.

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