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检索条件"机构=Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering"

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Fuzzy Controller Design Based on the Phase Plane Isoclines

Fuzzy Controller Design Based on the Phase Plane Isoclines

引用

Mediterranean Conference on Control and Automation (MED)

作者： Stjepan Bogdan Zdenko Kovacic Larics-Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper we describe a procedure that exploits geometric properties of state space in the investigation of the system stability. Although this method is cumbersome, its practical value becomes clear in the situation when state space is reduced to a phase plane, which is the case in a second-order system. Then phase plane analysis offers well known procedures (especially in case f(.) is linear) for the determination of the system stability. Simulation results, obtained by implementation of the proposed method on the fuzzy controller design, are given at the end of the paper

关键词： Fuzzy control Fuzzy systems Control systems Sliding mode control Stability analysis Nonlinear control systems Fuzzy logic State-space methods Stability criteria Lyapunov method

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

引用

IEEE International Conference on Mechatronics and Automation

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control robotics and automation intelligent robots Signal design Mechatronics Process control intelligent control

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Introduction of mission unit on information collection by on-rubble mobile platforms of development of rescue robot systems (DDT) project in Japan

Introduction of mission unit on information collection by on...

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2006 SICE-ICASE International Joint Conference

作者： Matsuno, Fumitoshi Hirose, Shigeo Akiyama, Iwaki Inoh, Takao Guarnieri, Michele Shiroma, Naoji Kamegawa, Tetsushi Qhno, Kazunori Sato, Noritaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Qkayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

ISBN: (纸本)8995003855

intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster ate. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms. © 2006 ICASE.

关键词： Project management

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A New Architecture to Execute CAs-Based Path-Planning Algorithm in Mobile Robots

A New Architecture to Execute CAs-Based Path-Planning Algori...

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International Conference on Mechatronics (ICM)

作者： Adel Akbarimajd Caro Lucas Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts; it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts

关键词： Path planning Mobile robots Robot kinematics Content addressable storage Lattices computer architecture Orbital robotics Automata intelligent sensors robotics and automation

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Design and Control of a Four Steered Wheeled Mobile Robot

Design and Control of a Four Steered Wheeled Mobile Robot

引用

Annual Conference of Industrial Electronics Society

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud Department ofElectrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Universite de Sherbrooke Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Robot kinematics Prototypes intelligent robots Design engineering Rubber Strips Control systems

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Kinematical Analysis of a Four Steered Wheeled Mobile Robot

Kinematical Analysis of a Four Steered Wheeled Mobile Robot

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department ofElectrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2's two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg intelligent robots Prototypes Mobile computing Laboratories intelligent systems systems engineering and theory Solid modeling

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Optimal design of power system stabilizers using a small population based PSO

Optimal design of power system stabilizers using a small pop...

引用

IEEE General Meeting Power& Energy Society

作者： T.K. Das G.K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri MO USA

Power system stabilizers (PSSs) are used to generate supplementary control signals to excitation systems in order to damp out local and inter-area oscillations. In this paper, a modified particle swarm optimization (PSO) algorithm with a small population is presented for the design of optimal PSSs. The small population based PSO (SPPSO) is used to determine the optimal parameters of several PSSs simultaneously in a multi-machine power system. In order to maintain a dynamic search process, the idea of particle regeneration in the population is also proposed. Optimal PSS parameters are determined for the power system subjected to small and large disturbances. The effectiveness of the PSSs parameters determined by the SPPSO algorithm is observed in damping out the power system oscillations fast after a disturbance. The advantage of the proposed approach is its convergence in fewer evaluations and lesser computations are required per evaluation. Results obtained with the SPPSO optimized PSSs parameters are compared against published PSS parameters for the Kundur's two area power system

关键词： Power systems Power system dynamics Power system control Power generation Signal generators Control systems Particle swarm optimization Algorithm design and analysis Damping Convergence

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Genetic Approach for Neural Scheduling of Multiobjective Fuzzy PI Controllers

Genetic Approach for Neural Scheduling of Multiobjective Fuz...

引用

International Workshop on Genetic and Evolving systems, GEFS

作者： Ginalber Serra Celso Bottura Control and Intelligent Systems Laboratory School of Electrical and Computer Engineering State University of Campinas Sao Paulo Brazil

This paper presents an intelligent gain scheduling adaptive control approach for nonlinear plants. A fuzzy PI discrete controller is optimally designed by using a multiobjective genetic algorithm for simultaneously satisfying the following specifications: overshoot and settling time minimizations and output response smoothing. A neural gain scheduler is designed, by the backpropagation algorithm, to tune the optimal parameters of the fuzzy PI controller at some operating points. Simulation results are shown for adaptive speed control of a DC servomotor used as actuator of robotic manipulators

关键词： Fuzzy control Adaptive control Optimal control Algorithm design and analysis Adaptive scheduling Fuzzy sets Genetic algorithms Minimization methods Smoothing methods Backpropagation algorithms

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HDP based optimal control of a grid independent PV system

HDP based optimal control of a grid independent PV system

引用

IEEE General Meeting Power& Energy Society

作者： R.L. Welch G.K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri MO USA

This paper presents an adaptive optimal control scheme for a grid independent photovoltaic (PV) system consisting of a PV collector array, a storage battery, and loads (critical and non-critical loads). The optimal control algorithm is based on the model-free heuristic dynamic programming (HDP), an adaptive critic design (ACD) technique which optimizes the control performance based on a utility function. The HDP critic network is used in a PV system simulation study to train a neurocontroller to provide optimal control for varying PV system output energy and load demands. The emphasis of the optimal controller is primarily to supply the critical base load demand at all times. Simulation results are presented to compare the performance of the proposed optimal scheme with the conventional priority control scheme. Results show that HDP based control scheme performs better than a conventional priority control scheme

关键词： Optimal control Programmable control Adaptive control Photovoltaic systems Solar power generation Adaptive arrays Batteries Dynamic programming Algorithm design and analysis Design optimization

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Identification of SVC dynamics using wide area signals in a power system

Identification of SVC dynamics using wide area signals in a ...

引用

IEEE General Meeting Power& Energy Society

作者： S.R. Jetti G.K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri MO USA

This paper presents the design of a wide area monitor (WAM) using remote area signals, such as speed deviations of generators in a power network, for identifying online the dynamics of a static var compensator (SVC). The design of the WAM is studied on the 12 bus FACTS benchmark system recently introduced. A predict-correct method is used to enhance the performance of the WAM during online operation. Simulation results are presented to show that WAM can correctly identify the dynamics of SVC in a power system for small and large disturbances. Such WAMs can be applied in the design of adaptive SVC controllers for damping interarea oscillations in power networks

关键词： Power system dynamics Static VAr compensators Signal processing Power system simulation Signal design Remote monitoring Power generation Signal generators Programmable control Adaptive control

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