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A time-varying generalised minimum variance controller

WSEAS Transactions on Systems 2005年第5期4卷 505-512页

作者： Li, Zheng.Schmid, Christian School of Electrical Computer and Telecom. Eng. University of Wollongong Wollongong NSW 2522 Australia Institute of Automation and Computer Control Ruhr-Universität Bochum D-44801 Bochum Germany

A generalised minimum variance controller is developed for linear time-varying systems. The plants to be controlled are described using a controlled autoregressive moving average model and are exponentially stable. Both, the plant parameters and the noise variance are time-varying. The generalised minimum variance cost functional is the sum of a tracking error variance between a filtered plant output and a filtered reference plus a penalty term of filtered plant input. Time-varying filters are introduced for weighting to make the controller more flexible.

关键词： Time varying control systems

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An evolutionary fuzzy modeling approach for ANFIS architecture

An evolutionary fuzzy modeling approach for ANFIS architectu...

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2005 IEEE Congress on Evolutionary Computation, IEEE CEC 2005

作者： Rastegar, Farzad Araabi, Babak N. Lucas, Caro Control and Intelligent Processing Center of Excellence Electrical and Computer Eng. Department University of Tehran Tehran Iran School of Intelligent Systems Institute for Studies in Theoretical Physics and Mathematics Tehran Iran

ISBN: (纸本)0780393635

This paper proposes a cooperative evolutionary method for optimizing the properties of an ANFIS-architecture-based model where only the input-output data of the identified system are available. The primary tasks of fuzzy modeling are structure identification and parameter optimization: the former determines the numbers of membership functions and fuzzy if-then rules while the latter identifies a feasible set of parameters under the given structure. The proposed approach manages all mentioned attributes simultaneously. Particularly, number of rules and parameters of membership functions are realized by applying a novel approach using genetic programming and genetic algorithm whereas consequent parameters are tuned by using least-squares estimation. Finally, two examples of nonlinear system are given to illustrate the effective-ness of the proposed approach. © 2005 IEEE.

关键词： Evolutionary algorithms

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Output tracking control for class of fuzzy time-delay systems ?

Output tracking control for class of fuzzy time-delay system...

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作者： Wei, Xin-Jiang Jing, Yuan-Wei Dimirovski, Georgi M. Institute of Control Sci. School of Information Sci. and Engg. Northeastern University Shenyang Liaoning 110004 China Computer Eng. Department Faculty of Engg. Dogus University Acibadem 34722 Istanbul Turkey Faculty of El. Eng. ASE Institute SS Cyril and Methodius University 1000 Skopje Macedonia

ISBN: (纸本)008045108X

The output tracking control problem for fuzzy time-delay systems in presence of parameter perturbations has been solved via fuzzy T-S system models and variable-structure control approach. Following the reaching condition, a variable-structure fuzzy control method is proposed accordingly, when the time delay is known and available and when unknown and unavailable. The method guarantees the system operation arrives to the sliding surface in finite time interval and be kept there thereafter while tracking the desired trajectory. The sufficient condition for globally bounded state is derived by using the ISS theory and the LMI method. A simulation example demonstrates the validity and effectiveness of the proposed method. Copyright © 2005 IFAC.

关键词： Fuzzy control

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Knowledge and technology transfer: Novel results while teaching advanced courses

Knowledge and technology transfer: Novel results while teach...

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作者： Dimirovski, G.M. Li, W.-L. Serafimovski, A. Jing, Y.-W. Dinibütün, A.T. Computer Eng. Department Faculty of Engg. Dogus University Acibadem 34722 Istanbul Turkey Faculty of El. Eng. ASE Institute SS Cyril and Methodius University 1000 Skopje Macedonia Institute of Control Sci. School of Information Sci. and Engg. Northeastern University Shenyang Liaoning 110004 China

ISBN: (纸本)008045108X

Graduate studies in fields of eng.neering typically include advanced control theory. in turn, these courses enhance both academic and applied research, hence contributing to combined knowledge and technology transfer, in particular if supported by industry as well. This paper reports on such fruitful experiences at our universities through the math-analytical back-stepping and state-feedback control design methodologies. computer simulation and laboratory experiments have demonstrated these controller designs possess quality performances, which are comparable with the other designs for the same applications. Copyright © 2005 IFAC.

关键词： Teaching

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Parameter stability margins for polynomial uncertainty structures: A polynomial programming approach

Parameter stability margins for polynomial uncertainty struc...

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作者： Bozorg, Mohammad Sherali, Hanif D. Davison, Edward J. Delavar-Khalafi, Ali Dept. of Mechanical Eng. University of Yazd P.O. Box 89195-741 Yazd Iran Grado Dept. of Industrial and Systems Eng. Virginia Polytechnic Institute State University Blacksburg VA United States Dept. of Electrical and Computer Eng. Systems Control Group University of Toronto Toronto ON Canada Dept. of Mathematics Shahrekord University Shahrekord Iran

ISBN: (纸本)008045108X

in this paper, LTI systems with parameter uncertainty are considered. For such systems, a method is presented for determining permissible perturbations of the parameters of the system that maintain stability (the so-called parameter stability margins) for the case in which the coefficients of the characteristic equation of the system are polynomial functions of the uncertain parameters. A globally convergent polynomial programming technique is used to solve the underlying parametric non-convex subproblems for computing the stability margins. The approach is illustrated using a four-parameter numerical example. Copyright © 2005 IFAC.

关键词： Global optimization

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The touch and feel in minimally invasive surgery

The touch and feel in minimally invasive surgery

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IEEE International Workshop on Haptic, Audio and Visual Environments and Their Applications

作者： B. Demi T. Ortmaier U. Seibold Inst. of Autom. Control Eng. Technische Univ. Muenchen Germany German Aerospace Center Institute of Robotics and Mechatronics Germany

Minimally invasive surgery (MIS) characterizes a sophisticated operation technique in which long instruments are inserted into the patient through small incisions. Though providing crucial benefits compared to open surgery (i.e. reduced tissue traumatization) it is also faced with a number of disadvantages. One of the major problems is that the operating tissue cannot be palpated any more and that appearing contact forces can hardly be sensed. To overcome some of the drawbacks minimally invasive robotic surgery (MIRS) constitutes a promising approach. Due to the remote control the operating instruments can be equipped with miniaturized force/torque sensors and thus the appearing contact forces can be displayed to the surgeon. As the development of sensorized surgical devices is challeng.ng there are no commercially available robotic systems which provide kinesthetic feedback currently. In this work, a prototypical force reflecting MIRS system is presented and the importance of kinesthetic feedback is evaluated empirically. Based on the results of a psychophysical pre-experiment, a representative dissection task was realized which was accomplished by 25 surgeons. The study revealed that robot assisted surgery is actually suited to reduce unintentional injuries when appropriate force feedback is available, although it has to be mentioned that the operating time increased compared to a manual intervention. Further interesting insights were gained by a qualitative video analysis which revealed that robotic surgery affords acquisition instead of manual surgical skill transfer. Especially experienced surgeons have to get accustomed to a more continuous working style.

关键词： Minimally invasive surgery Surges Force feedback Robot sensing systems Force sensors Surgical instruments Force control Torque control Prototypes Psychology

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： Intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation Intelligent agent Algorithm design and analysis Grasping Redundancy

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PARAMETER STABILITY MARGINS FOR POLYNOMIAL UNCERTAINTY STRUCTURES: A POLYNOMIAL PROGRAMMING APPROACH

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IFAC Proceedings Volumes 2005年第1期38卷 37-42页

作者： Mohammad Bozorg Hanif D. Sherali Edward J. Davison Ali Delavar-Khalafi Dept. of Mechanical Eng. University of Yazd P.O. Box 89195-741 Yazd Iran Grado Dept. of Industrial and Systems Eng. Virginia Polytechnic Institute and State University Blacksburg VA USA Systems Control Group Dept. of Electrical and Computer Eng. University of Toronto Toronto ON Canada Dept. of Mathematics Shahrekord University Shahrekord Iran

In this paper, LTI systems with parameter uncertainty are considered. For such systems, a method is presented for determining permissible perturbations of the parameters of the system that maintain stability (the so-called parameter stability margins) for the case in which the coefficients of the characteristic equation of the system are polynomial functions of the uncertain parameters. A globally convergent polynomial programming technique is used to solve the underlying parametric non-convex subproblems for computing the stability margins. The approach is illustrated using a four-parameter numerical example.

关键词： Robust stability Uncertain linear systems Uncertain polynomials Global optimization Polynomial methods

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KNOWLEDGE AND TECHNOLOGY TRANSFER: NOVEL RESULTS WHILE TEACHING ADVANCED COURSES

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IFAC Proceedings Volumes 2005年第1期38卷 23-28页

作者： G.M. Dimirovski W.-L. Li A. Serafimovski Y.-W. Jing A.T. Dinibütün Dogus University Computer Eng. Department Faculty of Engg. Acibadem 34722 Istanbul Turkey SS Cyril & Methodius University ASE Institute Faculty of El. Eng. 1000 Skopje R.. of Macedonia Northeastern University Institute of Control Sci. School of Information Sci. & Engg. Shenyang Liaoning 110004 P. R. of China

Graduate studies in fields of eng.neering typically include advanced control theory. In turn, these courses enhance both academic and applied research, hence contributing to combined knowledge and technology transfer, in particular if supported by industry as well. This paper reports on such fruitful experiences at our universities through the math-analytical back-stepping and state-feedback control design methodologies. computer simulation and laboratory experiments have demonstrated these controller designs possess quality performances, which are comparable with the other designs for the same applications.

关键词： Advanced controls back-stepping control teaching electrical power systems graduate studies and research power electronics

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OUTPUT TRACKING control FOR CLASS OF FUZZY TIME-DELAY SYSTEMS

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IFAC Proceedings Volumes 2005年第1期38卷 419-424页

作者： Xin-Jiang Wei Yuan-Wei Jing Georgi M. Dimirovski Northeastern University Institute of Control Sci. School of Information Sci. & Engg. Shenyang Liaoning 110004 P. R. of China Dogus University Computer Eng. Department Faculty of Engg. Acibadem 34722 Istanbul Turkey SS Cyril & Methodius University ASE Institute Faculty of El. Eng. 1000 Skopje R.. of Macedonia

关键词： Fuzzy control output tracking robustness sliding-mode control

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