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International Joint Conference on Neural Networks (IJCNN)

作者： L. dos Santos Coelho R.A. Krohling Production and Systems Engineering Graduate Program Automation and Systems Laboratory PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Parana Brazil Chair for Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany

Artificial neural networks, in particular, feedforward multilayer networks and basis function networks, have gradually established themselves as a usual tool in approximating complex nonlinear systems. B-spline networks, a type of basis function neural network, are normally trained by gradient-based methods, which may fall into local minima during the learning phase. In order to overcome the drawbacks encountered by conventional learning methods, particle swarm optimization - a swarm intelligence methodology - can provide a stochastic global search of B-spline networks for nonlinear system identification. In this paper, a modified particle swarm optimization algorithm using Gaussian and Cauchy probability distributions are applied to adjust the control points of B-spline neural networks. Simulation results for the identification of Rossler systems are provided and demonstrate the effectiveness and robustness of the proposed identification scheme.

关键词： Nonlinear systems Spline Neural networks Particle swarm optimization Artificial neural networks Multi-layer neural network Learning systems Stochastic systems Probability distribution Robustness

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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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INDIVIDUALISED APPROACHES IN control EDUCATION COURSES WITH LARGE NUMBER OF STUDENTS

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IFAC Proceedings Volumes 2006年第6期39卷 529-534页

作者： M. Fikar R. Valo Čirka M. Bakoŝová M. Huba Department of Information Engineering and Process Control Faculty of Chemical and Food Technology STU Radlinského 9 812 37 Bratislava fax : +421 2 52496469 Department of Automation and Control Faculty of Electrical Engineering and Information Technology STU IlkoviČova 3 812 19 Bratislava

The aim of this paper is to give an overview about some ideas that have been introduced in past few years to the course Automatic control Fundamentals at FCFT STU. These involve heavy use of information technologies and reduction of repetitive pedagogic work using e-learning techniques for the course with a large number of students. The paper discusses reasons for this change as well as concrete technologies in question.

关键词： control engineering Information technologies E-learning XML

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control of a distillation column: A decentralized approach

Control of a distillation column: A decentralized approach

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IEEE International Conference on Computer-Aided Design

作者： Iman Makaremi Batool Labibi Advanced Automation and Digital Control Laboratory Control Department Electrical Engineering Faculty K.N. Toosi University of Technology Tehran Iran Process Control Laboratory Control Department Electrical Engineering Faculty K.N. Toosi University of Technology Tehran Iran

This paper presents a decentralized controller for a binary distillation column. The interactions between subsystems are considered as uncertainty. Then appropriate local H infin problems are defined such that by solving them and applying the designed controller to the system, closed-loop stability and diagonal dominance are guaranteed

关键词： Distillation equipment control systems MIMO Distributed control Uncertainty Stability Digital control Automatic control Isolation technology Process control

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Measured disturbance estimation for model predictive controller

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Mediterranean Journal of Measurement and control 2006年第3期2卷 144-151页

作者： Kulcsar, Balazs Bokor, J. Department of Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents the Model Predictive controller design process when an unknown input observer provides measured disturbance form unmeasured one. Instead of using an unmeasured disturbance dynamic implemented into the controller, the joint observer-controller uses the estimated measured exogenous disturbance signal. Furthermore the observer can send an alarm sign to the supervisor. The detection and isolation of the unmeasured disturbance is computed by the geometric based strategy called Fundamental Problem in Residual Generation. Better the estimation of the disturbance is, better the rejection of the controller. The measured disturbance could be anticipated. A numerical example explains the effectiveness of the estimation and the usage of the unmeasured disturbance detection. Copyright © 2006 SoftMotor Ltd.

关键词： Predictive control systems

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ANALYSIS OF FRACTIONAL - ORDER ROBOT AXIS DYNAMICS

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IFAC Proceedings Volumes 2006年第11期39卷 367-372页

作者： J.M. Rosario D. Dumur J.A. Tenreiro Machado Laboratory of Automation and Robotics - Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 – Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics.

关键词： Mechatronics Robotics Simulation Dynamics control Fractional calculus

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ANTI-SYNCHRONIZATION CHAOS SHIFT KEYING METHOD BASED ON GENERALIZED LORENZ SYSTEM

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IFAC Proceedings Volumes 2006年第8期39卷 323-328页

作者： Sergej Ĉelikovský Volodymyr Lynnyk Michael Šebek Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 182 08 Prague 8 Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

In this paper, a modified version of the Chaos Shift Keying (CSK) scheme for secure encryption and decryption of data is proposed. The proposed scheme uses the effect of anti-synchronization, rather than synchronization. More specifically, the classical CSK method determines the correct value of binary signal through checking which unsynchronized system is getting synchronized. On the contrary, our novel method determines wrong value of binary signal through checking which already synchronized system is loosing synchronization. The advantage of the proposed method is two-fold. First, it requires very reasonable amount of data to encrypt and time to decrypt a single bit. Secondly, its security can be investigated and estimated as practically unbreakable. The main reason for both advantages is that anti-synchronization is thousand times faster than synchronization, even when using two close each to other chaotic systems. Our method is implemented and thoroughly tested on the recently introduced generalized Lorenz system (GLS) family making advantage of its special parametrization.

关键词： Nonlinear system observer chaos shift keying generalized Lorenz system synchronization anti-synchronization secure communication

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Multi-Obstacle Avoidance Based on the Method of Fuzzy-Function for Mobile Robot

Multi-Obstacle Avoidance Based on the Method of Fuzzy-Functi...

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World Congress on Intelligent control and automation (WCICA)

作者： Feng Zhang Dalong Tan Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

This paper presented a method of collision avoidance based on the fuzzy-function focus on the complex environment existing multi-obstacle for mobile robot. It constructs the curve of fuzzy-function by defining the function of degree of risk, and changes the problem of two-dimension into one-dimension for collision avoidance. The experiment of simulation verified its validity

关键词： Mobile robots Collision avoidance Robotics and automation control engineering Chaos Intelligent control

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PSO-E: Particle Swarm with Exponential Distribution

PSO-E: Particle Swarm with Exponential Distribution

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Congress on Evolutionary Computation

作者： R.A. Krohling L. dos Santos Coelho Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany Automation and Systems Laboratory LAS/PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Curitiba Parana Brazil

Studies with the Gaussian and Cauchy probability distributions have shown that the performance of the standard PSO algorithm can be improved. But these versions may also get stuck in local minima when optimizing functions with many local minima in high dimensional search space. In this paper, we will provide new results with PSO using the Exponential probability distribution aiming at improvement in performance. This version of the algorithm, termed PSO-E, was tested on a suite of well-known benchmark functions with many local optima and the results were compared with those obtained by the standard PSO (constriction factor). Simulation results show the suitability of PSO-E.

关键词： Particle swarm optimization Exponential distribution Probability distribution Stochastic processes Benchmark testing Random number generation Probability density function Automatic control control systems Systems engineering and theory

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A Linguistic control Method for Posture Stabilization of Wheeled Mobile Robot

A Linguistic Control Method for Posture Stabilization of Whe...

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World Congress on Intelligent control and automation (WCICA)

作者： Jianning Hua Yuechao Wang Feng Zhang Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Faculty of Information and Control Engineering University of Shenyang Jianzhu Shenyang Liaoning China

A linguistic control method based on motion description languages for posture stabilization of wheeled mobile robot is presented in this paper. In robotic systems control actions should be selected and executed by the triggering events. As a result, robotic systems typically possess a hierarchical structure, characterized by continuous variable dynamics at the lowest level and logical decision-making at the highest. Motion description languages, inspired by formal languages and automaton theory, serve as an abstraction between continuous and discrete control. Unlike traditional methods, the linguistic control method can be used to describe completely the interactions between robot and the environments in which it operates, and the complexity for steering a robot can also be measured quantitatively. The posture stabilization problem for wheeled mobile robots is studied and simulation results verify the validity of this method

关键词： Mobile robots Robot kinematics Automatic control Robotics and automation Motion control Automata Trajectory Robot control control systems Formal languages

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