Pub Date : 2010-08-12DOI: 10.1109/MED.2010.5547734
H. Mehrjerdi, M. Saad, J. Ghommam
In this paper, coordination and crash avoidance algorithm between a group of mobile robots is proposed based on the fuzzy control. Fuzzy control is developed to make the robots move in the predefined trajectories that must not collide. All the robots are coordinated so that they finish their trajectories in the same time, regardless of the length of the individual trajectories or the number of crash avoidance incidences between them. The simulation results obtained with three mobile robots are presented to show the performance of control, coordination and crash avoidance algorithm.
{"title":"Fuzzy crash avoidance and coordination between multi mobile robots","authors":"H. Mehrjerdi, M. Saad, J. Ghommam","doi":"10.1109/MED.2010.5547734","DOIUrl":"https://doi.org/10.1109/MED.2010.5547734","url":null,"abstract":"In this paper, coordination and crash avoidance algorithm between a group of mobile robots is proposed based on the fuzzy control. Fuzzy control is developed to make the robots move in the predefined trajectories that must not collide. All the robots are coordinated so that they finish their trajectories in the same time, regardless of the length of the individual trajectories or the number of crash avoidance incidences between them. The simulation results obtained with three mobile robots are presented to show the performance of control, coordination and crash avoidance algorithm.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134433305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547827
Karol Niechwiadowicz, I. Kalaykov
A behavior-based control system for mobile robot with trailer for navigating in constrained and dynamically changing environment in the presence of humans is presented. Constraints and features of such environment and critical situations in maneuvering are highlighted. An example scenario is discussed and shown. Two approaches of robot-trailer control, conventional controller and fuzzy logic based controller, are presented. A behavior-based control algorithm for safe and stable maneuvering in hospitals is proposed.
{"title":"Behavior-based control of robot and trailer in hospitals","authors":"Karol Niechwiadowicz, I. Kalaykov","doi":"10.1109/MED.2010.5547827","DOIUrl":"https://doi.org/10.1109/MED.2010.5547827","url":null,"abstract":"A behavior-based control system for mobile robot with trailer for navigating in constrained and dynamically changing environment in the presence of humans is presented. Constraints and features of such environment and critical situations in maneuvering are highlighted. An example scenario is discussed and shown. Two approaches of robot-trailer control, conventional controller and fuzzy logic based controller, are presented. A behavior-based control algorithm for safe and stable maneuvering in hospitals is proposed.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115321888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547657
Zhuoyue Song, A. Lanzon, S. Patra, I. Petersen
Negative-Imaginary systems are important in engineering practise as this class of systems quite often appears in practical problems, for example, lightly damped flexible structures with collocated position sensors and force actuators. In this paper, the problem of assessing the robust ℋ∞ performance of uncertain negative-imaginary systems is investigated. It is shown that a structure singular value condition for a transformed input/output map equivalently gives a quantitative performance (measured via an ℋ∞-norm) test for systems with strictly negative-imaginary uncertainty.
{"title":"Analysis of robust performance for uncertain negative-imaginary systems using structured singular value","authors":"Zhuoyue Song, A. Lanzon, S. Patra, I. Petersen","doi":"10.1109/MED.2010.5547657","DOIUrl":"https://doi.org/10.1109/MED.2010.5547657","url":null,"abstract":"Negative-Imaginary systems are important in engineering practise as this class of systems quite often appears in practical problems, for example, lightly damped flexible structures with collocated position sensors and force actuators. In this paper, the problem of assessing the robust ℋ∞ performance of uncertain negative-imaginary systems is investigated. It is shown that a structure singular value condition for a transformed input/output map equivalently gives a quantitative performance (measured via an ℋ∞-norm) test for systems with strictly negative-imaginary uncertainty.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117050881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547872
K. Bouibed, A. Aitouche, M. Bayart
In this paper, two model based approaches are proposed in order to detect and to isolate sensor and actuator faults on an electric autonomous vehicle. The first one is based on sliding mode observers. The principle is to reconstruct the state vector and the outputs of the system by sliding mode observers and to compare the estimated outputs with those measured, the obtained difference is considered as residual. The second approach rests on nonlinear analytical redundancy (NLAR) and consists to eliminate the unknown states and variables in order to obtain relations where all variables are known. The objective of this paper is to show the interest of the two approaches for detecting sensor or actuator faults of autonomous electric vehicle. Simulation results show that the method of NLAR is more adequate to detect actuator faults and the sliding mode observer is better for detecting sensor faults.
{"title":"Sensor and actuator fault detection and isolation using two model based approaches: Application to an autonomous electric vehicle","authors":"K. Bouibed, A. Aitouche, M. Bayart","doi":"10.1109/MED.2010.5547872","DOIUrl":"https://doi.org/10.1109/MED.2010.5547872","url":null,"abstract":"In this paper, two model based approaches are proposed in order to detect and to isolate sensor and actuator faults on an electric autonomous vehicle. The first one is based on sliding mode observers. The principle is to reconstruct the state vector and the outputs of the system by sliding mode observers and to compare the estimated outputs with those measured, the obtained difference is considered as residual. The second approach rests on nonlinear analytical redundancy (NLAR) and consists to eliminate the unknown states and variables in order to obtain relations where all variables are known. The objective of this paper is to show the interest of the two approaches for detecting sensor or actuator faults of autonomous electric vehicle. Simulation results show that the method of NLAR is more adequate to detect actuator faults and the sliding mode observer is better for detecting sensor faults.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117180066","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547809
S. Aboukhres, Ganesan Subramanian
The transform approach of image data compression, as a lossy technique, depends on rejection of redundant coefficients, which are distributed depending on the transform used as well as covariance structure of the processed image. The threshold sampling scheme selects the coefficients above a predefined threshold, while, zonal sampling scheme selects the coefficients inside a predefined geometric zone. In this paper, a new scheme for the zone construction of the selected coefficients is presented, in this procedure, the higher-value coefficients are selected using a mathematical formulation. The experimental results, using a group of transforms are compared with that of the other two sampling schemes employing the same transforms. The comparison demonstrates the effectiveness of this method.
{"title":"A novel sampling scheme for image compression","authors":"S. Aboukhres, Ganesan Subramanian","doi":"10.1109/MED.2010.5547809","DOIUrl":"https://doi.org/10.1109/MED.2010.5547809","url":null,"abstract":"The transform approach of image data compression, as a lossy technique, depends on rejection of redundant coefficients, which are distributed depending on the transform used as well as covariance structure of the processed image. The threshold sampling scheme selects the coefficients above a predefined threshold, while, zonal sampling scheme selects the coefficients inside a predefined geometric zone. In this paper, a new scheme for the zone construction of the selected coefficients is presented, in this procedure, the higher-value coefficients are selected using a mathematical formulation. The experimental results, using a group of transforms are compared with that of the other two sampling schemes employing the same transforms. The comparison demonstrates the effectiveness of this method.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120977062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547882
D. Jabri, N. Manamanni, K. Guelton, M. Abdelkrim
Stabilization issue for discrete-time interconnected switched system is studied in this paper. A global large scale discrete-time system can be decomposed into a set of small interconnected switched subsystems. Thus, a decentralized switched state feedback controller is considered to stabilize the global large scale switched system. The stability conditions, obtained from a candidate multiple switched Lyapunov function, are proposed in term of Linear Matrix Inequality (LMI). A numerical example is given to illustrate the effectiveness of the proposed approach.
{"title":"Decentralized stabilization of discrete-time large scale switched systems","authors":"D. Jabri, N. Manamanni, K. Guelton, M. Abdelkrim","doi":"10.1109/MED.2010.5547882","DOIUrl":"https://doi.org/10.1109/MED.2010.5547882","url":null,"abstract":"Stabilization issue for discrete-time interconnected switched system is studied in this paper. A global large scale discrete-time system can be decomposed into a set of small interconnected switched subsystems. Thus, a decentralized switched state feedback controller is considered to stabilize the global large scale switched system. The stability conditions, obtained from a candidate multiple switched Lyapunov function, are proposed in term of Linear Matrix Inequality (LMI). A numerical example is given to illustrate the effectiveness of the proposed approach.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127132624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547860
M. Chadli, A. El Hajjaji
The paper investigates the wind energy conversion systems (WECS) control problem. To deal with the intrinsic nonlinear behavior of WECS, a T-S fuzzy model is proposed. The method assumes that the wind speed is unmeasurable. Then an H8 output feedback controller is designed by taking into account directly wind speed as perturbation. The design conditions are given in linear matrix inequalities (LMI) terms which can be solved efficiently using existing numerical tools. To illustrate the effectiveness of the given algorithm (wind disturbance rejection), the proposed synthesis techniques are applied to a dynamic model of the WECS.
{"title":"Wind energy conversion systems control using T-S fuzzy modeling","authors":"M. Chadli, A. El Hajjaji","doi":"10.1109/MED.2010.5547860","DOIUrl":"https://doi.org/10.1109/MED.2010.5547860","url":null,"abstract":"The paper investigates the wind energy conversion systems (WECS) control problem. To deal with the intrinsic nonlinear behavior of WECS, a T-S fuzzy model is proposed. The method assumes that the wind speed is unmeasurable. Then an H8 output feedback controller is designed by taking into account directly wind speed as perturbation. The design conditions are given in linear matrix inequalities (LMI) terms which can be solved efficiently using existing numerical tools. To illustrate the effectiveness of the given algorithm (wind disturbance rejection), the proposed synthesis techniques are applied to a dynamic model of the WECS.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126105798","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547743
J. Villagrá, C. Balaguer
A new approach for robust motion control of critical joints in humanoid robots is presented in this paper. Structural stiffness, frictions and delays induced by the communication network will be fast and properly compensated with an algebraic model-free control algorithm. Moreover, robustness to parameter variations will be analyzed and compared with an advanced PID-based control law. Simulations will show that not only good tracking quality can be obtained with this novel technique, but also that it provides a very robust behavior to the system.
{"title":"Robust motion control for humanoid robot flexible joints","authors":"J. Villagrá, C. Balaguer","doi":"10.1109/MED.2010.5547743","DOIUrl":"https://doi.org/10.1109/MED.2010.5547743","url":null,"abstract":"A new approach for robust motion control of critical joints in humanoid robots is presented in this paper. Structural stiffness, frictions and delays induced by the communication network will be fast and properly compensated with an algebraic model-free control algorithm. Moreover, robustness to parameter variations will be analyzed and compared with an advanced PID-based control law. Simulations will show that not only good tracking quality can be obtained with this novel technique, but also that it provides a very robust behavior to the system.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126188451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547638
M. Soltani, A. Chaari, F. Ben Hmida, M. Gossa
In this paper the problem of nonlinear system identification is investigated from a new point of view. If the nonlinear system is affected by measurement noise and if the noise cluster is arbitrarily far away, then there is no way to guarantee that any clustering algorithm will select the best cluster instead of the bad one. The proposed methodology is based to adding a noise cluster to clustering algorithm. The proposed approach allows the identification of the premise parameters and the consequence parameters together via iterative minimization using four criteria. This new technique is demonstrated by means of the identification of liquid level process.
{"title":"Modified fuzzy model identification clustering algorithm for liquid level process","authors":"M. Soltani, A. Chaari, F. Ben Hmida, M. Gossa","doi":"10.1109/MED.2010.5547638","DOIUrl":"https://doi.org/10.1109/MED.2010.5547638","url":null,"abstract":"In this paper the problem of nonlinear system identification is investigated from a new point of view. If the nonlinear system is affected by measurement noise and if the noise cluster is arbitrarily far away, then there is no way to guarantee that any clustering algorithm will select the best cluster instead of the bad one. The proposed methodology is based to adding a noise cluster to clustering algorithm. The proposed approach allows the identification of the premise parameters and the consequence parameters together via iterative minimization using four criteria. This new technique is demonstrated by means of the identification of liquid level process.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114905097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547632
A. Sehgal, D. Cernea
The maximum potential for underwater exploration rests within the use of multiple Autonomous Underwater Vehicles (AUVs) and tasks involving human diver-AUV coordination. Such tasks require dependable underwater wireless communications, which normally utilize the rapidly varying acoustic channel. Rigorous testing of underwater acoustic communication systems is necessary to develop a dependable network, however, the high offshore testing costs make this difficult. Though simulators could aid the development of such AUV communication systems, the few existing simulators focus upon simulating a single vehicle and, as such, do not provide tools for simulating underwater communication systems. In this paper we present an underwater communications simulation framework designed for the Unified System for Automation and Robotics Simulator (USARSim). This simulation tool is capable of modeling networked communications between, or with, AUVs by accurately characterizing the underwater acoustic channel. Details on this simulation framework are provided along with some results obtained during development of this tool.
{"title":"A multi-AUV missions simulation framework for the USARSim Robotics Simulator","authors":"A. Sehgal, D. Cernea","doi":"10.1109/MED.2010.5547632","DOIUrl":"https://doi.org/10.1109/MED.2010.5547632","url":null,"abstract":"The maximum potential for underwater exploration rests within the use of multiple Autonomous Underwater Vehicles (AUVs) and tasks involving human diver-AUV coordination. Such tasks require dependable underwater wireless communications, which normally utilize the rapidly varying acoustic channel. Rigorous testing of underwater acoustic communication systems is necessary to develop a dependable network, however, the high offshore testing costs make this difficult. Though simulators could aid the development of such AUV communication systems, the few existing simulators focus upon simulating a single vehicle and, as such, do not provide tools for simulating underwater communication systems. In this paper we present an underwater communications simulation framework designed for the Unified System for Automation and Robotics Simulator (USARSim). This simulation tool is capable of modeling networked communications between, or with, AUVs by accurately characterizing the underwater acoustic channel. Details on this simulation framework are provided along with some results obtained during development of this tool.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"47 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115207657","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：