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IEEE International Conference on mechatronics

作者： Ahmad, Salmiah Tokhi, M.O. Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Dept. of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612844350

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations. © 2011 IEEE.

关键词： Fuzzy logic

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Often overlooked pitfalls of straightforward implementation of textbook controller tuning methods

Often overlooked pitfalls of straightforward implementation ...

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作者： Šulc, Bohumil Vrána, Stanislav Hlava, Jaroslav Hubka, Lukáš Czech Technical University in Prague Faculty of Mechanical Engineering Department of Instrumentation and Control Engineering Prague Czech Republic Technical University of Liberec Faculty of Mechatronics Liberec Czech Republic

ISBN: (纸本)9783902661937

Various approaches to the PID controller tuning account for a substantial part of the undergraduate control engineering curricula. At the most general level, these approaches can be divided into two groups. Model based methods use some kind of mathematical model of the controlled plant while the experimental methods rely on a simple experiment that is performed with the plant. The students usually understand that obtaining a sufficiently accurate mathematical model of the plant is not easy and may involve many complex issues. On the other hand, the experimental methods may be regarded as an easy to follow recipe that can be directly applied according to the textbook to obtain the desired tuning. This paper shows the common pitfalls that can arise when these methods are applied in their idealized textbook form. The main focus is on how these pitfalls can be demonstrated using experiments with two laboratory plants of different complexity. © 2011 IFAC.

关键词： Curricula

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Multi-objective PSO based augmented control of a twin rotor system

Multi-objective PSO based augmented control of a twin rotor ...

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IEEE International Conference on mechatronics

作者： Toha, S.F. Tokhi, M.O. Department of Mechatronics Faculty of Engineering International Islamic University Malaysia P.O. Box 10 50728 Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781612844350

control of vibration suppressions is crucial for applications in engineering particularly in the area of aircraft system. An augmented control approach encompasses of using a feedforward intelligent command shaping technique with combination of intelligent PID feedback control is presented in this paper. The advantage of using command shaping is to reduce system vibration. However, it can cause delay in system response resulting to a conflict between vibration suppression and rise time response. Multi-objective particle swarm optimization with spread factor (MOPSO-SF) is employ in this paper to determine a set of solutions for the amplitudes and corresponding time locations of impulses on an extra sensitive (El) command shaping as well as gain parameters for the PID controller. The effectiveness of the proposed technique is assessed both in the time domain and the frequency domain. Moreover, a comparative assessment of the performance of the technique with the system response and unshaped finite step input is presented. © 2011 IEEE.

关键词： Particle swarm optimization (PSO)

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Generalized Projective Synchronization of Chaotic Heavy Gyroscope Systems via Sliding Rule-Based Fuzzy control

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International Scholarly Research Notices 2012年第1期2012卷

作者： Faezeh Farivar Mahdi Aliyari Shoorehdeli Mohammad Ali Nekoui Mohammad Teshnehlab Department of Mechatronics Engineering Science and Research Branch Islamic Azad University Tehran Iranintl.iau.ir Department of Mechatronics Engineering Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Irankntu.ac.ir Department of Control Engineering Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Irankntu.ac.ir

This paper proposes the generalized projective synchronization for chaotic heavy symmetric gyroscope systems versus external disturbances via sliding rule-based fuzzy control. Because of the nonlinear terms of the gyroscope, the system exhibits complex and chaotic motions. Based on Lyapunov stability theory and fuzzy rules, the nonlinear controller and some generic sufficient conditions for global asymptotic synchronization are attained. The fuzzy rules are directly constructed subject to a common Lyapunov function such that the error dynamics of two identical chaotic motions of symmetric gyros satisfy stability in the Lyapunov sense. The proposed method allows us to arbitrarily adjust the desired scaling by controlling the slave system. It is not necessary to calculate the Lyapunov exponents and the Eigen values of the Jacobian matrix. It is a systematic procedure for synchronization of chaotic systems. It can be applied to a variety of chaotic systems no matter whether it contains external excitation or not. It needs only one controller to realize synchronization no matter how much dimensions the chaotic system contains, and the controller is easy to be implemented. The designed controller is robust versus model uncertainty and external disturbances. Numerical simulation results demonstrate the validity and feasibility of the proposed method.

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Sliding mode simulation and robustaness controller

Sliding mode simulation and robustaness controller

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2nd International Conference on engineering and Industries, ICEI 2011

作者： Ahmed, Ali Amer Ahmad, R.B. Alobaidi, Saadi A. Yahya, Abid Hassnawi, L.A. Ali, Z.G. Tahir, Hazim H. School of Computer and Communication Engineering University Malaysia Perlis Malaysia Computer Techniques Eng. Dept. Dijlah University College Baghdad Iraq Mechatronics Department Control and Mechatronics Research Ministry of Science and Technology Baghdad Iraq

ISBN: (纸本)9788988678404

This paper presents the robust of Sliding Mode controller according to parameters change and worst signal noise. Mathematical procedure for calculating the values of the gains of Sliding Mode controller (SMC) and equation of Sliding Mode (slopes)parameters are determined. The proposed control scheme is derived, simulated and results obtained SMC by using MATLAB Version 7.10.0.499 (R2010a) Simulink, package and reveal the superiority of the (SMC) over the conventional controller. © 2011 AICIT.

关键词： Simulink

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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Adaptive and repetitive controller for robotic manipulators with slowly updating scheme using B-spline shape function

Adaptive and repetitive controller for robotic manipulators ...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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A novel type of trigonometric neural network trained by extended Kalman filter

A novel type of trigonometric neural network trained by exte...

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4th International Workshop on Advanced Computational Intelligence, IWACI 2011

作者： Norouzi, M. Mansouri, M. Teshnehlab, M. Shoorehdeli, M. Aliyari Faculty of Engineering Department of Computer Engineering Islamic Azad University Iran Faculty of Electrical Engineering Control Department K.N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781612843735

In this study, a new type of trigonometric neural network is presented by adding frequency and phase to trigonometric activation functions. The proposed trigonometric neural network has more flexibility in comparison with conventional trigonometric neural networks and even other types of neural networks. Due to the low convergence rate and high posibility of trapping in a local minimum of backpropagation algorithm, Extended Kalman Filter algorithm is used to train the neural network's parameters which they appear in a nonlinear form. The Simulation of the suggested neural network based on the prediction of Mackey-Glass time series and identification of a nonlinear dynamic ystem reveals the efficiency of the proposed network. To show the efficiency of this method, the results are compared with the results of the others. © 2011 IEEE.

关键词： Extended Kalman filters

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Improved integral fuzzy sliding mode control for a class of nonlinear uncertain systems

Improved integral fuzzy sliding mode control for a class of ...

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作者： Li, Wen-Qiang Li, Peng Li, Lian Zhang, Yi Department of Control Engineering Naval Aeronautical and Astronautical University Yantai 264001 China College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 China

ISBN: (纸本)9789881725592

For the conventional sliding mode control of a class of nonlinear uncertain systems, the ranges of sliding mode error and steady-state error are deduced. In order to reduce the steady-state error while anti-windup, an improved integral sliding surface is designed, and an improved integral fuzzy sliding mode control approach is proposed based on this sliding surface. In this approach, the integral action is reduced through adjust factor when the sliding variable outside the boundary layer. Then, the large overshoots due to the large initial errors can be avoided. When sliding variable inside the boundary layer, the integral action is conventional in order to reduce the steady-state error. The adjust factor is automatically tuned by real time fuzzy inference. Finally, an inverted pendulum control is used to illustrate the effectiveness and robustness of the proposed approach. © 2011 Chinese Assoc of Automation.

关键词： Boundary layers

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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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IEEE International Conference on mechatronics

作者： Ibrahim, B.S.K.K. Tokhi, M.O. Huq, M.S. Gharooni, S.C. Dept of Mechatronics and Robotics Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612844350

The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth © 2011 IEEE.

关键词： Fuzzy logic

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