Pub Date : 2009-07-08DOI: 10.1109/CCA.2009.5280720
Weisong Zhong, G. Dimirovski, Jun Zhao
This paper investigates synchronization dynamics of a complex delayed dynamical network as well as the effects of time-varying delay. Following the approach via Razumikhin Theorem, simple delay-dependent synchronization criteria are derived in terms of linear matrix inequalities, which can be verified via the interior-point algorithm. The proposed criteria can deal with a fast time-varying delay in coupling term and enabled removing the restriction on the derivative of the time-varying delay. The effectiveness of the proposed synchronization scheme and the theoretical results are illustrated by a numerical example.
{"title":"Synchronization of a class of complex dynamical networks with time-varying delay couplings","authors":"Weisong Zhong, G. Dimirovski, Jun Zhao","doi":"10.1109/CCA.2009.5280720","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280720","url":null,"abstract":"This paper investigates synchronization dynamics of a complex delayed dynamical network as well as the effects of time-varying delay. Following the approach via Razumikhin Theorem, simple delay-dependent synchronization criteria are derived in terms of linear matrix inequalities, which can be verified via the interior-point algorithm. The proposed criteria can deal with a fast time-varying delay in coupling term and enabled removing the restriction on the derivative of the time-varying delay. The effectiveness of the proposed synchronization scheme and the theoretical results are illustrated by a numerical example.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125123829","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281107
M. Saska, J. S. Mejía, D. Stipanović, K. Schilling
The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.
{"title":"Control and navigation of formations of car-like robots on a receding horizon","authors":"M. Saska, J. S. Mejía, D. Stipanović, K. Schilling","doi":"10.1109/CCA.2009.5281107","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281107","url":null,"abstract":"The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121372560","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281068
Dah-Jing Jwo, Chien-Hao Tseng
In this paper, application of fuzzy interacting multiple model unscented Kalman filter (FUZZY-IMMUKF) approach to integrated navigation processing for maneuvering vehicle is presented. The unscented Kalman filter (UKF) employs a set of sigma points through deterministic sampling, such that the linearization process is not necessary, and therefore the error caused by linearization as in the traditional extended Kalman filter (EKF) can be avoided. Fuzzy logic adaptive system (FLAS) is employed to determine the lower and upper bounds of the system noise through fuzzy inference system (FIS). The use of interacting multiple model (IMM), which describes a set of switching models, finally provides the suitable value of process noise covariance. Consequently, the resulting sensor fusion strategy can efficiently deal with the nonlinear problem in vehicle navigation. The proposed FUZZY-IMMUKF algorithm shows significant improvement in navigation estimation accuracy as compared to the UKF and interacting multiple model unscented Kalman filter (IMMUKF) approaches.
{"title":"Fuzzy adaptive interacting multiple model unscented Kalman filter for integrated navigation","authors":"Dah-Jing Jwo, Chien-Hao Tseng","doi":"10.1109/CCA.2009.5281068","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281068","url":null,"abstract":"In this paper, application of fuzzy interacting multiple model unscented Kalman filter (FUZZY-IMMUKF) approach to integrated navigation processing for maneuvering vehicle is presented. The unscented Kalman filter (UKF) employs a set of sigma points through deterministic sampling, such that the linearization process is not necessary, and therefore the error caused by linearization as in the traditional extended Kalman filter (EKF) can be avoided. Fuzzy logic adaptive system (FLAS) is employed to determine the lower and upper bounds of the system noise through fuzzy inference system (FIS). The use of interacting multiple model (IMM), which describes a set of switching models, finally provides the suitable value of process noise covariance. Consequently, the resulting sensor fusion strategy can efficiently deal with the nonlinear problem in vehicle navigation. The proposed FUZZY-IMMUKF algorithm shows significant improvement in navigation estimation accuracy as compared to the UKF and interacting multiple model unscented Kalman filter (IMMUKF) approaches.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121375803","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281075
Y. Uchiyama, M. Fujita
This paper presents a disturbance-force compensator for an electrodynamic shaker. The characteristic of a shaking system is considered to be nonlinear and variable because of the influence of the test piece. In order to compensate for this problem, the influence of the disturbance force needs to be suppressed. The controller is designed using μ-synthesis by considering the uncertainty of the shaker. In order to investigate the control performance for the influence of friction and sloshing, the time waveform replication testing is executed. Finally, because the disturbance-force compensator suppresses the nonlinear characteristic, the good performance is confirmed with the help of experiments conducted using the actual equipment.
{"title":"Robust control using disturbance force compensator and time waveform replication for an electrodynamic shaker","authors":"Y. Uchiyama, M. Fujita","doi":"10.1109/CCA.2009.5281075","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281075","url":null,"abstract":"This paper presents a disturbance-force compensator for an electrodynamic shaker. The characteristic of a shaking system is considered to be nonlinear and variable because of the influence of the test piece. In order to compensate for this problem, the influence of the disturbance force needs to be suppressed. The controller is designed using μ-synthesis by considering the uncertainty of the shaker. In order to investigate the control performance for the influence of friction and sloshing, the time waveform replication testing is executed. Finally, because the disturbance-force compensator suppresses the nonlinear characteristic, the good performance is confirmed with the help of experiments conducted using the actual equipment.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124315318","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280697
A. Kandil, E. Badreddin
In this paper a novel method for planning point-to-point robot trajectories will be introduced. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place and the workspace is considered to be constrained. This new method is based on the synchronized links motion with a constant ratio of the link angle positions. The proof that any PTP motion can be carried out under this constraint will be provided. The new method of synchronized motion will be illustrated at hand of some examples and compared with conventional methods.
{"title":"A new method for Direct and point-to-point robot trajectory planning in narrow spaces","authors":"A. Kandil, E. Badreddin","doi":"10.1109/CCA.2009.5280697","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280697","url":null,"abstract":"In this paper a novel method for planning point-to-point robot trajectories will be introduced. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place and the workspace is considered to be constrained. This new method is based on the synchronized links motion with a constant ratio of the link angle positions. The proof that any PTP motion can be carried out under this constraint will be provided. The new method of synchronized motion will be illustrated at hand of some examples and compared with conventional methods.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125441804","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280999
J. Chang, Jia-Jie Shyu, Chien-Wen Cho
Human activity recognition plays an essential role in e-health applications, such as automatic nursing home systems, human-machine interface, home care system, and smart home applications. Many of human activity recognition systems only used the posture of an image frame to classify an activity. But transitional relationships of postures embedded in the temporal sequence are important information for human activity recognition. In this paper, we combine temple posture matching and fuzzy rule reasoning to recognize an action. Firstly, a fore-ground subject is extracted and converted to a binary image by a statistical background model based on frame ratio, which is robust to illumination changes. For better efficiency and separability, the binary image is then trans-formed to a new space by eigenspace and canonical space transformation, and recognition is done in canonical space. A three image frame sequence, 5:1 down sampling from the video, is converted to a posture sequence by template matching. The posture sequence is classified to an action by fuzzy rules inference. Fuzzy rule approach can not only combine temporal sequence information for recognition but also be tolerant to variation of action done by different people. In our experiment, the proposed activity recognition method has demonstrated higher recognition accuracy of 91.8% than the HMM approach by about 5.4 %.
{"title":"Fuzzy rule inference based human activity recognition","authors":"J. Chang, Jia-Jie Shyu, Chien-Wen Cho","doi":"10.1109/CCA.2009.5280999","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280999","url":null,"abstract":"Human activity recognition plays an essential role in e-health applications, such as automatic nursing home systems, human-machine interface, home care system, and smart home applications. Many of human activity recognition systems only used the posture of an image frame to classify an activity. But transitional relationships of postures embedded in the temporal sequence are important information for human activity recognition. In this paper, we combine temple posture matching and fuzzy rule reasoning to recognize an action. Firstly, a fore-ground subject is extracted and converted to a binary image by a statistical background model based on frame ratio, which is robust to illumination changes. For better efficiency and separability, the binary image is then trans-formed to a new space by eigenspace and canonical space transformation, and recognition is done in canonical space. A three image frame sequence, 5:1 down sampling from the video, is converted to a posture sequence by template matching. The posture sequence is classified to an action by fuzzy rules inference. Fuzzy rule approach can not only combine temporal sequence information for recognition but also be tolerant to variation of action done by different people. In our experiment, the proposed activity recognition method has demonstrated higher recognition accuracy of 91.8% than the HMM approach by about 5.4 %.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123943129","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281133
K. Glass, R. Colbaugh, M. Planck
The Internet occasionally experiences large disruptions, arising from both natural and manmade disturbances, and it is of significant interest to develop methods for locating within the network the source of a given disruption (i.e., the network element(s) whose perturbation initiated the event). This paper presents a new approach to realizing this logical localization objective. The proposed methodology consists of three steps: 1.) data preprocessing, in which publicly available measurements of Internet activity are acquired, “cleaned”, and assembled into a format suitable for computational analysis, 2.) event characterization via tensor factorization-based time series analysis, and 3.) localization of the source of the disruption through graph theoretic analysis. This procedure provides a principled, automated approach to identifying the root causes of network disruptions at “whole-Internet” scale. The considerable potential of the proposed analytic method is illustrated through both computer simulation studies and empirical.
{"title":"Logical localization of large Internet events","authors":"K. Glass, R. Colbaugh, M. Planck","doi":"10.1109/CCA.2009.5281133","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281133","url":null,"abstract":"The Internet occasionally experiences large disruptions, arising from both natural and manmade disturbances, and it is of significant interest to develop methods for locating within the network the source of a given disruption (i.e., the network element(s) whose perturbation initiated the event). This paper presents a new approach to realizing this logical localization objective. The proposed methodology consists of three steps: 1.) data preprocessing, in which publicly available measurements of Internet activity are acquired, “cleaned”, and assembled into a format suitable for computational analysis, 2.) event characterization via tensor factorization-based time series analysis, and 3.) localization of the source of the disruption through graph theoretic analysis. This procedure provides a principled, automated approach to identifying the root causes of network disruptions at “whole-Internet” scale. The considerable potential of the proposed analytic method is illustrated through both computer simulation studies and empirical.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123935778","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281062
Miguel Castano Arranz, W. Birk
The selection of the structure of a controller in large scale industry processes requires extensive process knowledge. The aim of this paper is to present methods which help designers to comprehend a process by representing structural and functional relationships from actuators and process disturbances to measured or estimated variables. This paper describes similarities between brain connectivity theory and interaction analysis in multivariable processes. Results from both theories are combined to create new methods for the analysis of industry processes. The developed methods are applied to an illustrative example.
{"title":"New methods for structural and functional analysis of complex processes","authors":"Miguel Castano Arranz, W. Birk","doi":"10.1109/CCA.2009.5281062","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281062","url":null,"abstract":"The selection of the structure of a controller in large scale industry processes requires extensive process knowledge. The aim of this paper is to present methods which help designers to comprehend a process by representing structural and functional relationships from actuators and process disturbances to measured or estimated variables. This paper describes similarities between brain connectivity theory and interaction analysis in multivariable processes. Results from both theories are combined to create new methods for the analysis of industry processes. The developed methods are applied to an illustrative example.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124412085","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280996
C. C. Hernández, E. Sánchez, A. Loukianov, B. Castillo-Toledo
This paper presents a discrete-time direct current (DC) motor torque tracking controller, based on a recurrent high order neural network (RHONN) to identify the plant model. Using this model, a control law is derived, which combines block control and sliding modes techniques. The applicability of the scheme is illustrated via real time implementation for a DC motor with separate winding excitation.
{"title":"Real-time torque control for a DC motor using recurrent high order neural networks","authors":"C. C. Hernández, E. Sánchez, A. Loukianov, B. Castillo-Toledo","doi":"10.1109/CCA.2009.5280996","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280996","url":null,"abstract":"This paper presents a discrete-time direct current (DC) motor torque tracking controller, based on a recurrent high order neural network (RHONN) to identify the plant model. Using this model, a control law is derived, which combines block control and sliding modes techniques. The applicability of the scheme is illustrated via real time implementation for a DC motor with separate winding excitation.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125070504","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281158
I. Boiko, Xi Sun, E. Tamayo
A methodology of analysis of stability and performance of variable structure (VS) PID controllers is proposed. It is proposed that stability of the VS system can be approximately assessed via the describing function method. The describing function of the VS PID controller is derived. It is shown that the system with the VS PID controller is quasilinear. Tuning rules for VS PI controller for the level process are given. It is shown that the VS PI controller has higher performance than the conventional PI controller for the process considered.
{"title":"Performance analysis and tuning of variable-structure PID controllers for level process","authors":"I. Boiko, Xi Sun, E. Tamayo","doi":"10.1109/CCA.2009.5281158","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281158","url":null,"abstract":"A methodology of analysis of stability and performance of variable structure (VS) PID controllers is proposed. It is proposed that stability of the VS system can be approximately assessed via the describing function method. The describing function of the VS PID controller is derived. It is shown that the system with the VS PID controller is quasilinear. Tuning rules for VS PI controller for the level process are given. It is shown that the VS PI controller has higher performance than the conventional PI controller for the process considered.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128206841","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}
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