In this paper, we present a dynamic redundancy resolution technique for mobile manipulator subject to joint velocity limits. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, ...
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In this paper, we present a dynamic redundancy resolution technique for mobile manipulator subject to joint velocity limits. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which completely decouples the motion of the system into the end-effector motion in the task space and the internal motion in the null space and controls them in prioritized basis with priority given to the primary task space and enables the selection of characteristics in both subspaces separately. A special attention is given to the joints velocity limits avoidance where a normalized measure is proposed to solve problems inherent to velocity limits of the system. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectory without violating the joint velocity limits.
In this paper, a new SVM (Support Vector Machines) synthesis method is presented. This method is based essentially on training criterion optimization of this machine by a set of hierarchical structures of learning aut...
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In this paper, a new SVM (Support Vector Machines) synthesis method is presented. This method is based essentially on training criterion optimization of this machine by a set of hierarchical structures of learning automata. This methodology is adopted for the development of off-line isolated handwritten digits recognition system. A comparison is taken between this new approach and that of a standard approach for SVM synthesis. These two methodologies are also compared with a neural network based classification method. The obtained results show the performances of the new suggested method for SVM synthesis.
This work is aimed at looking into the use of fuzzy systems for the study of nonlinear systems. In a first step, zero-order and first-order Sugeno fuzzy models are defined as approximators of nonlinear systems. It has...
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This work is aimed at looking into the use of fuzzy systems for the study of nonlinear systems. In a first step, zero-order and first-order Sugeno fuzzy models are defined as approximators of nonlinear systems. It has been found that zero-order fuzzy systems are equivalent to the classical interpolation approach. Nonlinear terms have been limited by two fuzzy systems. The mean fuzzy system gives good accuracy. As illustrations, some numerical applications have been considered to show the efficiency of the use of fuzzy systems to study nonlinear problems.
This paper presents popular unsupervised clustering algorithms based on neuro-fuzzy, fuzzy c-means (FCM) and agglomerative techniques. The purpose of this paper is to provide clustering methods able to cluster the dat...
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This paper presents popular unsupervised clustering algorithms based on neuro-fuzzy, fuzzy c-means (FCM) and agglomerative techniques. The purpose of this paper is to provide clustering methods able to cluster the data patterns without a priori information about the number of clusters. We will show that it is possible to reconcile the FCM algorithm with the unsupervised clustering algorithms. Finally, to show the efficiencies of these algorithms, we will apply them to model the behaviour of uncertain system.
controlling an underactuated manipulator with less actuators than degree of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configu...
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controlling an underactuated manipulator with less actuators than degree of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configurated at a specific position in the work space. This paper presents a cascade sliding mode tracking controller for set-point regulation of 2-DOF underactuated manipulators. This work builds on an observation that an underactuated manipulator can be treated as two subsystems. Consequently, a cascade sliding mode tracking controller can be designed as follows. First, a sliding mode surface is designed for both subsystems, this two sliding surfaces represent a first layer in the design architecture. A second layer sliding mode surface is then constructed based on the first layer sliding surface. The cascaded sliding mode controller is therefor deduced in terms of Lyapunov stability theorem. Robustness issues to bounded disturbances are then investigated. Simulation results on 2-DOF whiling pendulum are presented to demonstrate the effectiveness of the approach.
作者:
Halima, D. B.Chtourou, M.Intelligent Control
Optimization and Design of Complex Systems (ICOS) Department of Electrical Engineering National School of Engineers of Sfax ENIS P.B.W. 3038 Sfax Tunisia
In this work, we present a state feedback adaptive fuzzy control method, applied to the stabilization of a nonlinear system whose mathematical model is unknown or/and with varying time parameters. The synthesis of the...
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In this work, we present a state feedback adaptive fuzzy control method, applied to the stabilization of a nonlinear system whose mathematical model is unknown or/and with varying time parameters. The synthesis of the control law is based on fuzzy models developed by a local description of the considered system's dynamics. Therefore, two steps, at each time, are necessary to the adaptive control of such system. The first one consists in estimating every local model parameters, using a gradient method as parameter's adjustment method. The second one consists in the computation, of the control law based on the classical methods applied for the linear system control as the state feedback control. The stability of the proposed adaptive control method is discussed.
Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved In this paper we investigate the possibilities to design hearing aids as ...
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ISBN:
(纸本)9781424405886
Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved In this paper we investigate the possibilities to design hearing aids as power aware system scavenging energy directly from its environment. The energy source we consider is vibration produced by movements primarily in the neighbourhood of the ear and other movements of the human body. Experimental measurements of vibration were evaluated by means of a theoretical model. The results show that an interesting improvement of battery operation time can be reached.
Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved. In this paper we investigate the possibilities to design hearing aids as...
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Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved. In this paper we investigate the possibilities to design hearing aids as power aware system scavenging energy directly from its environment. The energy source we consider is vibration produced by movements primarily in the neighbourhood of the ear and other movements of the human body. Experimental measurements of vibration were evaluated by means of a theoretical model. The results show that an interesting improvement of battery operation time can be reached.
This paper addresses a nonlinear formation control of a group of underactuated ship at a dynamic level of planar formation control, while holding a desired inter-ship formation pattern. In particular we propose a comb...
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ISBN:
(纸本)9781424406340
This paper addresses a nonlinear formation control of a group of underactuated ship at a dynamic level of planar formation control, while holding a desired inter-ship formation pattern. In particular we propose a combination of the virtual structure and the path following approaches to derive the formation architecture. Ship coordination is achieved by adjusting the speed of each of the ships along its path, in the sense that the derivative of the path is left as a free input to synchronize the ships motion. The proposed controller is basically based on Lyapunov direct method and backstepping technique. Simulations illustrate the efficacy of the proposed approach.
This paper proposes a synchronization scheme for a class of continuous-time chaotic systems. We show that two systems belonging to the class of generalized Lorenz systems can be synchronized using an adaptive feedback...
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This paper proposes a synchronization scheme for a class of continuous-time chaotic systems. We show that two systems belonging to the class of generalized Lorenz systems can be synchronized using an adaptive feedback controller. This controller is added to the response system to force a subset of its state variables to oscillate synchronously with their counterpart of the drive system. We show that the controller gain vector is tuned without any knowledge of the system model. To illustrate the efficiency of the proposed scheme, we present numerical simulations to synchronize two-by-two a Lorenz-like system, Chen system and Lü system.
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