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检索条件"机构=Intelligent Control Design and Optimization of complex Systems"

共 201 条记录，以下是141-150 订阅

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Mutual and external synchronization control of multi-robot systems

Mutual and external synchronization control of multi-robot s...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Yassine Bouteraa Jawhar Ghommam Nabil Derbel Gérard Poisson Research unit on Intelligent Control design and Optimization of complex Systems University of Sfax Sfax Tunisia Institut Prisme SRI 63 avenue de Lattre de Tassigny Bourges Cedex

In this article, we investigate the synchronization of robot manipulators group under coordinated and cooperative scheme. In cooperative schemes all agents were fully interconnected, such that all robots have a weight on the overall dynamics. In the coordinated schemes the leader robot or the master robot establishes the synchronized action of all the slave systems. Based on emergent consensus algorithm, the proposed controller works to position synchronization of multiple robot manipulators. The control strategy is to synchronize the angular position and the velocity of each robot in the system with respect to the common desired trajectory and the angular positions and velocities of other robots. Modeled by an undirected graph, the cooperative robots network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. However the objective in coordinated scheme is to design interconnections and feedback controllers for the slaves, such that their positions and velocities synchronize to those of the leader robot. It is assumed that network robots have the same number of joints and any configuration made possible by one in the group can be completed by each robot in the cooperative system.

关键词： Lead Robots Aerospace electronics control systems

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Optimal control for Discrete Large Scale Nonlinear systems Using Hierarchical Fuzzy systems

Optimal Control for Discrete Large Scale Nonlinear Systems U...

引用

International Conference on Machine Learning and Computing

作者： Najla Krichen Masmoudi Chokri Rekik Mohamed Djemel Nabil Derbel Research unit on Intelligent Control design and Optimisation of complex Systems (ICOS) Sfax National Engineering School Sfax Tunisia

This paper presents a method to compute optimal control strategies of discrete large scale nonlinear systems by using hierarchical fuzzy systems. The method is based on the decomposition principle of the global system into interconnected subsystems becoming easier to study. Then, the differential dynamic programming procedure is applied in order to obtain the rule basis. After that, we construct limpid-hierarchical Mamdani fuzzy system in order to compute optimal control laws, for each subsystem. Simulation results of a rotary crane show that the proposed method yields to satisfactory performances. The robustness of the proposed approach is verified.

关键词： Optimal control Large-scale systems Nonlinear systems Fuzzy systems Input variables Fuzzy logic Influenza Dynamic programming Machine learning intelligent control

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Adaptive multi-robots synchronization

Adaptive multi-robots synchronization

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yassine Bouteraa Gérard Poisson Jawhar Ghommam Nabil Derbel Institut PRISME Université d''Oran-Es-senia Bourges France Engineering School of Sfax (ENIS) Research unit on Intelligent Control design and Optimization of complex Systems (ICOS) University of Sfax Sfax Tunisia

We address the problem of designing decentralized laws to control a team of general fully actuated manipulators which synchronize their movements while following the same desired trajectory. To this effect we investigate an adaptive control of an identical multiple manipulators, with unknown inertia parameters, tracking a common trajectory. It is also assumed that all the robots in the synchronization system have the same number of joints and equivalent joint work spaces, i.e. any possible configuration of a given robot in the system can be achieved by any other robot in the system. Adaptive controls are derived for group of manipulators using a consensus algorithm. This consensus algorithm is applied on the group level to estimate the time-varying group trajectory information in a distributed manner. The proposed strategy only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of any explicit leaders in the team. The interaction topology of a network of agents is represented using an indirected graph. The coordination strategy is to let each manipulator track its desired trajectory while synchronizing its motion with the others manipulator's motions so that differential position errors amongst robots converge to zero.

关键词： Robot kinematics Synchronization Trajectory Manipulator dynamics Joints

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DYNAMIC REDUNDANCY RESOLUTION FOR MOBILE MANIPULATORS USING POSITION FUZZY controlLER

DYNAMIC REDUNDANCY RESOLUTION FOR MOBILE MANIPULATORS USING ...

引用

6th International Multi-Conference on systems, Signals and Devices

作者： Boukattaya, M. Jallouli, M. Damak, T. Control of Industrial Process Unit Intelligent Control Design and Optimization of Complex Systems Unit Tunisia

ISBN: (纸本)9781424443451

In this paper, we present a dynamic redundancy resolution technique for mobile manipulators using a position fuzzy controller. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which resolve the redundancy by decoupling the motion of the system into the end-effector motion in the task space and an internal motion in the null space and controls them in prioritized basis with priority given to the primary task. In order to achieve a good end-effector trajectory tracking, a position fuzzy controller is used to provide the torques needed to move the end-effector along the desired trajectory. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectories.

关键词： mobile manipulators dynamic redundancy resolution fuzzy controller

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Dynamic redundancy resolution for mobile manipulators using position fuzzy controller

Dynamic redundancy resolution for mobile manipulators using ...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： M. Boukattaya M. Jallouli T. Damak Control of Industrial Process Unit Tunisia Intelligent Control Design and Optimization of complex Systems Tunisia

关键词： Manipulator dynamics Fuzzy control control systems Motion control Torque control Robot kinematics Fuzzy systems Process control Electrical equipment industry Industrial control

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controllability analysis of 1-DOF linear juggling system

Controllability analysis of 1-DOF linear juggling system

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Behij Ben Amor Nehla Kraief Haded Faical Mnif Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Tunisia Sultan Qaboos University Oman

The paper deals with the controllability study of a subclass of juggling systems, named linear juggler. It comes that despite the simple representation of such systems, their controllability is in general not easy to establish, since they remain highly nonlinear dynamical systems. In this paper we are interested in the controllability properties of one degree of freedom linear juggling system.

关键词： controllability control system analysis Manipulator dynamics Robots Mechanical systems Nonlinear dynamical systems Nonlinear systems Signal analysis intelligent control Signal design

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Optimal trajectory of a mobile robot by a Genetic design Fuzzy logic controller

Optimal trajectory of a mobile robot by a Genetic Design Fuz...

引用

International Conference on Advances in Computational Tools for Engineering Applications, ACTEA

作者： Chokri Rekik Mohamed Jallouli Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems Sfax Engineering School University of Sfax Sfax Tunisia

Obstacle avoidance and path planning are the most important problems in mobile robots. Besides, finding methods for controlling and decreasing the real robot error in path have been another target for researchers investigation. Usual methods have two separated parts, research target and path planning with obstacle avoidance. In this context, a fuzzy logic controller has been constructed in order to train an intelligent robot. Genetic algorithms are used to optimize the consequences of a Sugeno fuzzy logic optimal controller for the mobile robot navigation. This is to search a target in an environment with and without obstacles. Simulation results verify successful applications of method for real motion situations. An application have been effected in the Khepera robot demonstrating. The Khepera robot can go to the goal and avoid the obstacles successfully.

关键词： Mobile robots Fuzzy logic Optimal control Genetic algorithms Virtual reality Navigation Wheels Path planning Robot control Motion control

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Robust and stable indirect fuzzy adaptive control for SISO nonlinear systems

Robust and stable indirect fuzzy adaptive control for SISO n...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： D. Ben Halima M. Chtourou Research Unit on Intelligent Control design and Optimization of complex Systems (ICOS) National School of Engineers of Sfax Sfax Tunisia

An adaptive fuzzy controller is constructed from a collection of fuzzy IF-THEN rules whose parameters are changed or adapted according to adaptive laws for the purpose of controlling a nonlinear plant to track a reference trajectory. The fuzzy adaptive control is composed in two classes: direct and indirect one. The indirect fuzzy adaptive controller will be designed through two steps. The first one consists in the construction of a controller based on linguistic description about the unknown plant from human expert. To guaranty stability, a supervisory controller is added. The second step adjusts, on line, the parameters of the fuzzy controller based on the gradient descend. To ensure the robustness, fuzzy controller parameters are adjusted, on line, by a robust gradient descent method. Simulation results show the effectiveness of proposed algorithms in tracking of the inverse pendulum output.

关键词： Robust control Fuzzy control Fuzzy systems Adaptive control Nonlinear systems Programmable control Adaptive systems Trajectory Humans Stability

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High performance dual-output second and third generation current conveyors and current-mode multifunction filter application

High performance dual-output second and third generation cur...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Nadhmia Bouaziz El Feki Dorra Sellami Masmoudi Research Group: ICOS (Intelligent Control Design and Optimization of Complex Systems) National Engineering School of Sfax (ENIS) Tunisia

A wide bandwidth CMOS realization of high performance dual output second generation (CCIIplusmn) and third generation (CCIIIplusmn) current conveyors are presented. Both second and third generation current conveyors have the advantages of a wide current and voltage bandwidths, controlled intrinsic resistances at port X, Y and Z. We have developed an optimization program, thanks to Heuristic methodology that is used for optimal sizing regarding static and dynamic performance. PSPICE simulation show that the current and voltage bandwidths are respectively 1.5806 GHz and 6.506 GHz, and 454.11 Omega as R X input port resistance for a control current of 100 muA. CCIIplusmn is a useful building block for analog circuits, especially for application requiring dual outputs. The proposed circuit is able of operating at voltage supply (plusmn2.5V), with reduced power consumption. A frequency characterization of the proposed CCIIplusmn is given, this CCIIplusmn is characterized by low values for its parasitic input resistance (454.11 Omega). In this paper, we present a versatile multi-input multi-output controlled filter configuration. Either a three-input single output or single-input double-output universal filter can be realized. The proposed circuits offer the following advantageous features: realization of current-mode low-pass and band-pass filter responses from the same configuration, employing only three current conveyors and four grounded passive elements. In order to implement a current controlled Radiofrequency active filter, we use a translinear configuration for both second and third generation current conveyors. The proposed implementation exhibiting a current controlled intrinsic resistances at port X, Y and Z allow a control of the cut-off frequency. The cut-off frequency of the low pass filter can be attend 1.64 GHz and the central frequency of the band pass filter can be attend 1.13 GHz. Simulation results are in good accordance with theoretical ones. PSPICE

关键词： Active filters Band pass filters Bandwidth Cutoff frequency Voltage control SPICE Circuits CMOS technology Optimal control optimization methods

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Integrated genetic algorithms and fuzzy control approach for optimization mobile robot navigation

Integrated genetic algorithms and fuzzy control approach for...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Chokri Rekik Mohamed Jallouli Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

This paper presents an optimal fuzzy logic controller design using optimization techniques. The fuzzy logic controller (FLC) has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while seeking the goal. Secondly, an optimization of this controller has been realized using gradient method and genetic algorithms. A comparison between these methods has been effected. Not only simulation results are shown in this paper, but the ldquoreal-timerdquo implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.

关键词： Genetic algorithms Fuzzy control Mobile robots Navigation Fuzzy logic Optimal control design optimization Motion control Kinematics Wheels

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