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American control Conference

作者： Yan Li YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan 250061 Shandong P.R. China School of Engineering University of California Merced 5200 North Lake Road Merced CA 95343 USA Department of Mechatronics Gwangju Institute of Science and Technology (GIST) 261 Cheomdan-gwagiro Bukgu Gwangju 500-712 Korea

ISBN: (纸本)9781479932757

This paper reveals a previously ignored problem for fractional order iterative learning control (FOILC) that the fractional order system may have different behaviors when it is initialized differently. To implement a novel scheme of FOILC for this so-called initialized fractional order system, a D~α-type control law is applied, and the convergence condition is derived by using the short memory principle and the system preconditioning, which guarantees the repeatability of initialized fractional order system. Given a permitted error bound, the minimum preconditioning time horizon is calculated from the short memory principle. The relationships of memory and convergent performance are highlighted to show the necessity of preconditioning. A fractional order capacitor model with constant history function is illustrated to support the above conclusions.

关键词： Instruction repertory fractional order

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Event-Triggered Reinforcement Learning Approach for Unknown Nonlinear Continuous-Time System

Event-Triggered Reinforcement Learning Approach for Unknown ...

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International Joint Conference on Neural Networks

作者： Xiangnan Zhong Zhen Ni Haibo He Xin Xu Dongbin Zhao Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston USA College of Mechatronics and Automation National University of Defense Technology Changsha China State Key Lab of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China

This paper provides an adaptive event-triggered method using adaptive dynamic programming (ADP) for the nonlinear continuous-time system. Comparing to the traditional method with fixed sampling period, the event-triggered method samples the state only when an event is triggered and therefore the computational cost is reduced. We demonstrate the theoretical analysis on the stability of the event-triggered method, and integrate it with the ADP approach. The system dynamics are assumed unknown. The corresponding ADP algorithm is given and the neural network techniques are applied to implement this method. The simulation results verify the theoretical analysis and justify the efficiency of the proposed event-triggered technique using the ADP approach.

关键词： Equations Neural networks Stability analysis Performance analysis Approximation algorithms Approximation methods Heuristic algorithms

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Identification of Linear Parameter Varying Systems with Missing Output Data Using Generalized Expectation-Maximization Algorithm

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IFAC Proceedings Volumes 2014年第3期47卷 9364-9369页

作者： X. Yang W. Xiong B. Huang H. Gao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi Jiangsu 214122 China Department of Chemical and Materials Engineering University of Alberta Edmonton Alberta T6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University Jinzhou 121013 China and Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China

This paper is concerned with the identification problems of linear parameter varying (LPV) systems with randomly missing output data. Since one local linearized model cannot capture the global dynamics of the nonlinear industrial process, the multiple-model LPV model in which the global model is constructed by smoothly weighted combination of multiple local models is considered here. The problem of missing output variables data is commonly encountered in practice. In order to handle the multiple-model identification problems of LPV systems with incomplete data, the local model is taken to have a finite impulse response (FIR) model structure and the generalized expectation-maximization (EM) algorithm is adopted to estimate the unknown parameters of the global LPV model. To avoid the problems of ill-conditioned matrices and high sensitivity of parameters to noise, the prior information on the coefficients of each local FIR model is employed to construct the prior probability of unknown parameters. Then the maximum a posteriori (MAP) estimates of the global model parameters are derived via the generalized EM algorithm. The numerical example is presented to demonstrate the effectiveness of the proposed method.

关键词： Linear parameter varying systems Generalized EM algorithm Missing output data Maximum a posteriori estimates

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Analysis of movement for unmanned underwater vehicle using a low cost integrated sensor

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AIP Conference Proceedings 2015年第1期1660卷

作者： Mohd Shahrieel Mohd Aras Shahrum Shah Abdullah Ahmad Fadzli Nizam Abdul Rahman Mohd Farriz Basar Anuar Mohamed Kassim Hazriq Izzuan Jaafar Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia International Campus Jalan Semarak 54100 Kuala Lumpur Malaysia Faculty of Information Technology and Communication Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Faculty of Technology Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia

This paper presents the development of low cost integrated Smart Sensor for Unmanned Underwater Vehicle (UUV) namely as underwater Remotely Operated Vehicle (ROV). In the underwater industries, the most crucial issues are the sensors that are needed for the underwater task. The sensors that are utilized in this area are quite expensive and sensitive. Every sensors used in the underwater vehicle are not in the form of integrated sensors and most of them based on case to case basis. However, nowadays, a lot of industries are involved in the development of the integrated sensor in order to reduce the production cost as well as to increase accuracies, efficiencies and productivities. Therefore, this research proposes an integrated sensor to be applied in the underwater operations. The integrated sensor is designed based on three goal performances which are; the accuracies; the sensitivities and the cost efficiencies. This integrated sensor is the combination of pressure sensor, inertial measurement unit (IMU), digital compass and temperature sensor that are placed in a waterproof casing. This integrated sensor is targeted to be used to control the movement of ROV to maintain its position called station keeping. The purpose of the station keeping is to ensure the ROV to remain stationary at the desired depth by utilizing the pressure sensor. The experimental studies have been carried out in order to see the responses of each sensor.

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Type-2 Fuzzy neural networks for sliding mode Fuzzy control of nonlinear dynamical systems with adaptive learning rate

Type-2 Fuzzy neural networks for sliding mode Fuzzy control ...

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2013 3rd IEEE International Conference on Computer, control and Communication, IC4 2013

作者： Khoramdel Azad, Alireza Zarif Khanesar, Mojtaba Ahmadieh Teshnehlab, Mohammad Department of Mechatronics Engineering South Tehran Branch Islamic Azad University Tehran Iran Department of Electrical and Control Engineering Electrical and Computer Engineering Faculty Semnan University Semnan Iran Control Department Electrical and Computer Engineering Faculty K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467358859

This paper proposes a novel training method for type-2 fuzzy neural networks (T2FNN). The proposed control method benefits from a sliding mode training method with adaptive learning rate. The proposed control structure is a feedback error learning structure so consists of a conventional controller in parallel with a T2FNN The conventional controller is responsible to stabilize the system. The stability of the proposed training method and the adaptive learning rate is proved using an appropriate Lyapunov function. The adaptive learning rate makes it possible to control the system without prior knowledge about the upper bound of the states of the system and their derivatives. The proposed approach is tested on the velocity control of an electro hydraulic servo. The proposed controller is compared with type-1 fuzzy neural networks;it is shown that in the presence of noise type-2 fuzzy system outperforms its type-1 counterpart. © 2013 IEEE.

关键词： Fuzzy neural networks

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An external consensus protocol design for heterogenous multiply processes with predictive control scheme

An external consensus protocol design for heterogenous multi...

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19th International Conference on Automation and Computing, ICAC 2013

作者： Subha, Nurul Adilla Mohd Liu, Guo-Ping School of Engineering University of South Wales Pontypridd CF37 1DL United Kingdom Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9781908549082

This paper provides prediction method to solve the external consensus problem for heterogeneous networked multi agent system (NMAS) with network delay. The proposed prediction strategy is based on transfer function and designed by adopting the recursive equation on the proposed consensus protocol. The consensus protocol developed in this work does not rely on the initial value of the agents' output but totally depends on the external input given to one of the agents in NMAS. By considering low-order multi process control system agents, the proposed strategy is simulated and validated through experimental work via intranet networked controller board with constant network delay. © 2013 Chinese Automation and Computing Society in the UK - CACS.

关键词： Transfer functions

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Experimental study on PCB micro drilling force

Experimental study on PCB micro drilling force

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2nd International Conference on Computer-Aided Design, Manufacturing, Modeling and Simulation, CDMMS 2012

作者： Gong, Feng Chen, Baiqiang Li, Jibin College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China CAE Department Hans CNC Technology Co. Ltd Shenzhen 518057 China

ISBN: (纸本)9783037855409

With the development of high density, multi-functions, miniaturization and multi-layer on printed circuit board (PCB) design, great challenges have been presented to the miniaturization of drilling on PCB. In order to meet the hole precision, quality and improve the performance, efficiency of mechanical drilling, further research should be done on the cutting state. Kistler high-precision micro-force platform was used in this paper to test and analyze the cutting force, investigate the general laws of micro drilling, and optimize the parameters for HANS PCB drilling machine. Thereby, to improve the efficiency and precision of the drilling, range of processing, and increasing market competitiveness. © (2013) Trans Tech Publications, Switzerland.

关键词： Printed circuit boards

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Safe joint mechanism using passive compliance method for collision safety

Safe joint mechanism using passive compliance method for col...

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2013 1st RSI/ISM International Conference on Robotics and mechatronics, ICRoM 2013

作者： Zebardast, Omid Moradi, Hadi Najafi, Farshid Department of Mechatronics Engineering University of Tehran International Campus Kish Island Iran Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Mechanical Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467358118

In this paper, the design and implementation of a novel passive safe joint is reported. This safe joint is designed for applications, such as an air hockey playing robot playing against a human, in which the force applied by the linkage should be kept below a certain threshold. The proposed mechanism benefits from the compliance of two ramps controlled by the nonlinear behavior of a spring. The passivity of the design, the small footprint, the low cost of production, and the ability to rotate 360 degrees are the main advantages of this design. The mechanism has been designed, evaluated, implemented and tested showing its effectiveness. Finally it has been incorporated in an air hockey robot showing its capability in action. © 2013 IEEE.

关键词： Sports

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Lyapunov rule-based fuzzy control and chaotic anti-control for flexible joint system and analysis of chaotic signal existence effectiveness with experimental validation

Lyapunov rule-based fuzzy control and chaotic anti-control f...

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13th Iranian Conference on Fuzzy Systems, IFSC 2013

作者： Rafiee Sandgani, Mohsen Aliyari Shoorehdeli, Mahdi Faculty of Electrical and Computer Engineering Department of Control Engineering K. N. Toosi University of Technology Tehran Iran Faculty of Electrical and Computer Engineering Department of Mechatronics Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781479912285

This study proposes a novel chaotic anti-control for flexible joint system. The proposed controller is composed of a Lyapunov rule-based fuzzy control and chaotic anti-control for target tracking of the flexible joint manipulator. Chaotic signal is used to study the effect of anti-control to reduce the deflection of flexible joint system and control signal energy. For this purposes the flexible joint has been synchronized with chaotic Lorenz system. In this study on of the Lorenz parameters is changed to analysis the effect of chaotic signals. The results of the proposed approach shows in terms of level of vibration reduction and energy consumption of control signal, we could find an optimum point based on value of Lorenz system parameter. Finally, the efficacy of the proposed method and results of existence of different nonlinearity behavior is validated through experiments on QUANSER's flexible-joint manipulator. © 2013 IEEE.

关键词： Fuzzy control

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Interval type-2 adaptive network-based fuzzy inference system (ANFIS) with Type-2 non-singleton fuzzification

Interval type-2 adaptive network-based fuzzy inference syste...

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13th Iranian Conference on Fuzzy Systems, IFSC 2013

作者： Monirvaghefi, Hossein Rafiee Sandgani, Mohsen Aliyari Shoorehdeli, Mahdi Faculty of Electrical and Computer Engineering Department of Control Engineering K. N. Toosi University of Technology Tehran Iran Faculty of Electrical and Computer Engineering Department of Mechatronics Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781479912285

In this study it is attempted to describe the structure and procedure of training for the Interval Type-2 Fuzzy Logic inference System completely. To achieve this goal Adaptive Network-based Fuzzy Inference System (ANFIS) structure has been generalized to interval type-2 fuzzy, also all of the relations to describe inference structure and all of the necessary differentiation to adjust parameters with Gradient descent and Levenberg-Marquardt method has been brought. Described structure has been used to forecast Mackey-Glass chaotic time-series that polluted with additive uncertain domain noise. Using mentioned procedure for parameters adjustment achieved acceptable results. © 2013 IEEE.

关键词： Fuzzy inference

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