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IEEE International Conference on systems, Man and Cybernetics

作者： Xiao-Hu Yuan Jian-Cun Ren You-Jin He Fu-Chun Sun Dept. of Control Engineering Naval Aeronautical Engineering Academy Yantai Shandong province China State Key Lab. of Intelligent Technology and Systems Tsinghua University Beijing China

ISBN: (纸本)0780385675

This paper deals with H/sub 2/ guaranteed cost (GC) fuzzy output feedback control problem for missile altitude control system. First, the Takagi-Sugeno fuzzy model is employed to represent the dynamics of the missile altitude control system. Next, we present necessary and sufficient conditions for the existence of a quadratically stabilizing fuzzy output feedback controller which also assure H/sub 2/ guaranteed cost performance on a fuzzy dynamic system where the uncertainty is of the norm bounded type. The conditions are presented as a collection of linear matrix inequalities. A simulation on the missile altitude system is given to illustrate the effectiveness of the proposed design method.

关键词： Fuzzy control Fuzzy systems control systems Missiles control system synthesis Costs Output feedback Takagi-Sugeno model Sufficient conditions Uncertainty

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Copper interconnections and growth of diffusion barrier in integrated circuit fabrication

Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and Technology

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Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and Technology 2004年第SUPPL.期24卷 78-81+94页

作者： Bai, Xuanyu Wang, Yuan Xu, Kewei Fan, Duowang Institute of Material Science and Engineering Xi'an Jiaotong University Xi'an 710049 China Key Lab. of Opto-Electronic Technology and Intelligent Control Lanzhou 730070 China

Technological development of copper interconnection in integrated circuit fabrication was tentatively reviewed with discussion centered on comparison of various copper film growth technologies: their strengths and limitations. Growth of diffusion barriers was also discussed. We think that the resistivity of the diffusion barrier materials should be considerably lowered to be compatible to copper interconnection fabrication.

关键词： Optical interconnects

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A numerical method in optimal production of hybrid stochastic production systems via multi-time scales

A numerical method in optimal production of hybrid stochasti...

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WCICA 2004 - Fifth World Congress on intelligent control and Automation, Conference Proceedings

作者： Song, Chunyue Wang, Hui Li, Ping Natl. Lab. Indust. Contr. Technol. Inst. of Industrial Process Control Zhejiang University Hangzhou 310027 China Institute of Systems Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)0780382730

A hybrid stochastic production system involving fast model and slow model is formulated with multi-time scales. One time scale is 1, the processing time scale, which is frequency and represents fast model. The other time scale is Ε-1, system failure time scale, which is infrequency and indicates slow model of the system. On different time scale, the original system is decomposed into two subsystems. Based on the two subsystems, the optimal control policy of the system is gotten by using approximation numerical technique. Simulation illustrates and confirms the method.

关键词： Production control

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Analysis of Takagi-Sugeno fuzzy models in system identification for model-based control

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control and intelligent systems 2004年第2期32卷 69-79页

作者： Lee, S. Yen, G.G. Sch. of Electrical and Comp. Eng. Intelligent Systems and Control Lab. Oklahoma State University Stillwater OK 74078 United States

This article analyzes Takagi-Sugeno (TS) fuzzy models in system identification for model-based controller design. TS fuzzy model-based controls have been proposed to overcome the long-standing criticism of lack of stability of fuzzy controls. However, the application of these controllers is limited as TS fuzzy models for controller design can only be obtained by transformation of nonlinear mathematical models. The proposal that fuzzy controls be used as control methods for uncertain systems has deviated from the original intention of fuzzy control. In this work, we investigate the possibility of extending TS fuzzy model-based control into uncertain systems. We show the limitation of these control methods and clarify the gap between fuzzy model based-control and fuzzy model identification. For the identification of constant-affine state-space models, a subspace identification algorithm is proposed to identify the true local dynamics with zero initial conditions.

关键词： Fuzzy control

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Explicit knowledge distribution in an omnidirectional distributed vision system

Explicit knowledge distribution in an omnidirectional distri...

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2004 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Menegatti, E. Cicirelli, G. Simionato, C. D'Orazio, T. Ishiguro, H. Intelligent Autonomous Syst. Lab. Dept. of Information Engineering University of Padua Padova Italy Inst. Intelligent Syst. for Automat. National Council of Research Bari Italy Dept. of Adaptive Machine Systems Osaka University Suita Osaka 565-0871 Japan

ISBN: (纸本)0780384636

This paper presents an Omnidirectional Distributed Vision System that learns to navigate a robot in an office-like environment without any knowledge about the calibration of the cameras or the robot control law. The system is composed of several omnidirectional Vision Agents (implemented with an omnidirectional camera and a computer). The first Vision Agent learns to control the robot with SARSA(λ) reinforcement learning, using the LEM strategy to speed-up learning. Once the first Vision Agent learnt the correct policy, it transfers its knowledge to the other Vision Agents. The other Vision Agents might have different intrinsic and extrinsic camera parameters (that are unknown), so a certain amount of re-learning is needed. Reinforcement learning is well suited for this. In this paper, we present the structure of the learning system and the discussion about the optimal values for the learning parameters. During the experimentation the learning phase of the first agent has been carried out, then the knowledge propagation and the re-learning stage of three different agents have been tested. The experimental results demonstrate the feasibility of the approach and the possibility to port the system on the actual robot and cameras.

关键词： Computer vision

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Adaptive synchronization control of a planar parallel manipulator

Adaptive synchronization control of a planar parallel manipu...

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Proceedings of the 2004 American control Conference (AAC)

作者： Ren, Lu Mills, James K. Sun, Dong Lab. for Nonlinear Systems Control Department of Mechanical Engineering University of Toronto Toronto Ont. M5S3G8 Canada Department of Mechanical Engineering University of Toronto Toronto Ont. M5S3G8 Canada Dept. of Manufacturing Engineering City University of Hong Kong Hong Kong Hong Kong

In this paper, a new control algorithm for a planar parallel robotic manipulator with three degrees-of-freedom (DOF) and parametric uncertainties has been developed. From its mechanical structure, the studied planar parallel manipulator is categorized as a P-R-R type and can be treated as comprised of three constrained sub-manipulators. Key to the successful trajectory tracking control of the P-R-R manipulator is the motion of the sub-manipulators: each sub-manipulator should be controlled to follow its pre-determined trajectory while coordinating motions with the other sub-manipulators. The control algorithm developed employs the above idea and incorporates synchronization technology with the adaptive control architecture by feeding back position, velocity errors of the actuated joints and a newly defined synchronization error. Employment of the synchronization error, verified by simulations, substantially reduces the pose error of the end-effector of the P-R-R manipulator during trajectory tracking. From theoretical analysis, the proposed control algorithm is shown to guarantee the convergence of tracking errors and the synchronization error at the same time. Finally, simulation results demonstrate that the proposed controller can achieve excellent trajectory tracking performance.

关键词： Manipulators

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Morphological characterization of Cu-W thin films based on wavelet transform

Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and Technology

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Zhenkong Kexue yu Jishu Xuebao/Vacuum Science and Technology 2004年第SUPPL.期24卷 14-16+37页

作者： Wang, Yuan Bai, Xuanyu Xu, Kewei Fan, Duowang State-Key Laboratory for Mechanical Behavior of Materials Xi'an Jiaotong University Xi'an 710049 China Department of Mechanical Engineering Lanzhou Railway Institute Lanzhou 730070 China Lab. of Opto-Electronic Technology and Intelligent Control Lanzhou Jiaotong University Lanzhou 730070 China

The evolution of surface morphology of Cu-W thin films with deposition time on silicon wafers was studied by discrete wavelet transform (DWT). A strategy based on wavelet transform to describe surface morphology of thin films was presented. The results showed that the surface morphology of thin films was unstable until the sputtering time exceeds 10 min. The surface morphology variations of different thin films could be distinguished primarily by high frequency signals.

关键词： Thin films

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Pseudo control compensation based neural network dynamic inversion super maneuverable flight control

Pseudo control compensation based neural network dynamic inv...

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World Congress on intelligent control and Automation (WCICA)

作者： Jiaqiang Zhu Suofeng Guo Jihong Zhu State Key Lab. of Intelligent Technol. & Syst. Tsinghua Univ. Beijing China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China The State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

ISBN: (纸本)0780382730

Pseudo control compensation based neural network dynamic inversion control is applied in super-maneuverable flight control. The base control law is designed in nonlinear dynamic inversion; neural networks are used to adaptively cancel inversion error. Pseudo control compensator is designed to cancel the interaction between actuator and adaptive neural networks. Simulations show that limitation that needs accurate mathematical model in dynamic inversion method can be released. The actuator that affects the adaptive factor is removed in this control structure and the robustness of the whole system is greatly improved.

关键词： Neural networks Aerospace control Actuators Programmable control Adaptive control Error correction Adaptive systems Mathematical model Nonlinear dynamical systems control systems

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Closed Loop Navigation for Mobile Agents in Dynamic Environments

Closed Loop Navigation for Mobile Agents in Dynamic Environm...

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2003 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Loizou, Savvas G. Tanner, Herbert G. Kumar, Vijay Kyriakopoulos, Kostas J. Control Systems Lab. Natl. Technical University of Athens Athens Greece Mechanical Engineering Dept. University of New Mexico Albuquerque NM United States GRASP Lab. CIS University of Pennsylvania Philadelphia PA United States

We apply a novel motion planning and control methodology, which is based on a non-smooth navigation function, to a point mobile robot moving amongst moving obstacles. The chattering introduced by the discontinuous potential field is suppressed using nonsmooth backstepping. The combined controller guarantees global asymptotic convergence and collision avoidance. This controller is particularly suitable for real time implementation on systems with limited computational resources. The effectiveness of the proposed scheme is verified through computer simulations.

关键词： Mobile robots

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Closed Loop Motion Planning and control for Mobile Robots in Uncertain Environments

Closed Loop Motion Planning and Control for Mobile Robots in...

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42nd IEEE Conference on Decision and control

In this paper we present an extension to the navigation function methodology [6], [7] to the case where unmodelled obstacles are introduced in the workspace. A feedback control law is derived, based on the navigation function built on the initial workspace. Global convergence and collision avoidance properties are established. The derived closed form control law is suitable for real time implementation. Collision avoidance and global convergence properties are verified through computer simulations.

关键词： Mobile robots

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