An ant system (AS) algorithm is introduced into an optimization problem solving in a continuous field. A corresponding algorithm is defined and good simulation results are derived in examples of the global optimum value searching of a multi-minimum continuous function and a nonlinear continuous function.
{"title":"Ant system algorithm for optimization in continuous space","authors":"W. Lei, Wu Qidi","doi":"10.1109/CCA.2001.973897","DOIUrl":"https://doi.org/10.1109/CCA.2001.973897","url":null,"abstract":"An ant system (AS) algorithm is introduced into an optimization problem solving in a continuous field. A corresponding algorithm is defined and good simulation results are derived in examples of the global optimum value searching of a multi-minimum continuous function and a nonlinear continuous function.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127928459","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}
In order to achieve the competition tasks for multicooperating robots through learning, the paper discusses a kind of method that is designed for multi-agent systems (MAS), called the multi-reward fuzzy Q-learning algorithm (MRFQLA), which can be applied to the environment of the Robot World Cup Tournament (RoboCup). In MRFQLA., multiple reinforcement functions are established, based on the different characters of multi-agent systems. When the learning robot executes an action, these functions create multiple reinforcement signals that give the criteria of this action from different points of view. A Takagi-Sugeno (TS) model of a fuzzy inference system is built, which integrates these multiple rewards into one signal as the feedback of the learning robot. This method enhances the efficiency of learning because multiple rewards increase TD error and eliminates the conflict between the short-term target and the long-term one. Computer simulations in the RoboCup environment are shown and a discussion is given.
{"title":"Multiple rewards fuzzy reinforcement learning algorithm in RoboCup environment","authors":"Li Shi, Yao Jinyi, Ye Zhen, S. Zeng-qi","doi":"10.1109/CCA.2001.973884","DOIUrl":"https://doi.org/10.1109/CCA.2001.973884","url":null,"abstract":"In order to achieve the competition tasks for multicooperating robots through learning, the paper discusses a kind of method that is designed for multi-agent systems (MAS), called the multi-reward fuzzy Q-learning algorithm (MRFQLA), which can be applied to the environment of the Robot World Cup Tournament (RoboCup). In MRFQLA., multiple reinforcement functions are established, based on the different characters of multi-agent systems. When the learning robot executes an action, these functions create multiple reinforcement signals that give the criteria of this action from different points of view. A Takagi-Sugeno (TS) model of a fuzzy inference system is built, which integrates these multiple rewards into one signal as the feedback of the learning robot. This method enhances the efficiency of learning because multiple rewards increase TD error and eliminates the conflict between the short-term target and the long-term one. Computer simulations in the RoboCup environment are shown and a discussion is given.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129418705","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}
The goal of this paper is to develop a stable adaptive MIMO fuzzy logic controller to overcome the interaction among the subsystems by a decoupling neural network and to facilitate robust properties by fine-tuning the consequent membership functions. The proposed adaptive fizzy controller does not require any knowledge of a nonlinear system. By using H/sup /spl infin// tracking performance index, the overall system with the proposed controller has been proved to be uniform ultimate bounded. Simulation results of a two-dimensional inverted pendulum confirm that the effect of both the fuzzy approximation error and external disturbance on the tracking error can be attenuated efficiently by the proposed method.
{"title":"Robust neurofuzzy controller design of a class of uncertain multivariable nonlinear systems","authors":"Wei-Song Lin, Chun-Sheng Chen","doi":"10.1109/CCA.2001.973984","DOIUrl":"https://doi.org/10.1109/CCA.2001.973984","url":null,"abstract":"The goal of this paper is to develop a stable adaptive MIMO fuzzy logic controller to overcome the interaction among the subsystems by a decoupling neural network and to facilitate robust properties by fine-tuning the consequent membership functions. The proposed adaptive fizzy controller does not require any knowledge of a nonlinear system. By using H/sup /spl infin// tracking performance index, the overall system with the proposed controller has been proved to be uniform ultimate bounded. Simulation results of a two-dimensional inverted pendulum confirm that the effect of both the fuzzy approximation error and external disturbance on the tracking error can be attenuated efficiently by the proposed method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131103847","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}
A CAD approach permitting us an easy frequency response simulation of LTI systems implemented with analog electronic-devices, is introduced. This technique uses the features of symbolic analysis in order to get more insight into the behavior of the circuit. An important thing is that a reasonable amount of computer effort is saved through modeling several analog circuits using nullors. Most important is that using nullors, a pure nodal-analysis method is established in order to improve the computation of transfer functions. The paper also demonstrates the suitability and appropriateness of the proposed simulation technique to be used in education.
{"title":"A CAD tool suitable for LTI systems analysis","authors":"E. Tlelo-Cuautle, J. Cid-Monjaraz","doi":"10.1109/CCA.2001.973848","DOIUrl":"https://doi.org/10.1109/CCA.2001.973848","url":null,"abstract":"A CAD approach permitting us an easy frequency response simulation of LTI systems implemented with analog electronic-devices, is introduced. This technique uses the features of symbolic analysis in order to get more insight into the behavior of the circuit. An important thing is that a reasonable amount of computer effort is saved through modeling several analog circuits using nullors. Most important is that using nullors, a pure nodal-analysis method is established in order to improve the computation of transfer functions. The paper also demonstrates the suitability and appropriateness of the proposed simulation technique to be used in education.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129695315","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}
The problem considered addresses the optimal wastewater distribution to several retention reservoirs in an urban sewer network during rainfall in the aim of protecting the quality of waters that receive the network outflows. The main task of the corresponding control system is the minimization of overflows during rainfall events. The proposed solution of this complex control problem employs nonlinear constrained optimal control concepts while the rolling horizon method is used for the real-time application of the optimal control algorithm with updated inflow predictions and updated initial conditions. A detailed study of the control problem for a particular large-scale real combined sewer network using this method is presented on the basis of a realistic simulation model. Results demonstrate the efficiency of the developed methodology as well as its low sensitivity with regard to modeling and prediction errors.
{"title":"Rolling-horizon optimal control of sewer networks","authors":"M. Marinaki, Markos Papageorgiou","doi":"10.1109/CCA.2001.973932","DOIUrl":"https://doi.org/10.1109/CCA.2001.973932","url":null,"abstract":"The problem considered addresses the optimal wastewater distribution to several retention reservoirs in an urban sewer network during rainfall in the aim of protecting the quality of waters that receive the network outflows. The main task of the corresponding control system is the minimization of overflows during rainfall events. The proposed solution of this complex control problem employs nonlinear constrained optimal control concepts while the rolling horizon method is used for the real-time application of the optimal control algorithm with updated inflow predictions and updated initial conditions. A detailed study of the control problem for a particular large-scale real combined sewer network using this method is presented on the basis of a realistic simulation model. Results demonstrate the efficiency of the developed methodology as well as its low sensitivity with regard to modeling and prediction errors.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128115568","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}
F. Koumboulis, N. Kouvakas, A. G. Pantelios, Basil G. Mertzios
The problem of speed control of a permanent magnet DC motor with unknown parameters and unknown external load torque is formulated in the form of an adaptive control problem based on the design requirement of asymptotic command following with simultaneous asymptotic disturbance attenuation. The adaptive design scheme is indirect and it is based on RLS (recursive least squares) identification. The key point of the disturbance attenuation approach is to identify the system without knowledge, estimation or measurement of the unknown disturbance. This way the variations of the disturbance influence the estimation of the system parameters and consequently the choice of the controller parameters. The identification can be initialized on the basis of arbitrary initial estimation. The present results are successfully applied to a 75 Watt DC motor (35NT2R82-426SP) where a significantly varying external torque and rotor voltage noise of about 1% are considered to be applied. The present design scheme is compared to those of a traditional open loop feeding system and a PID (or PI, or P) controller designed on the basis of the first Ziegler-Nichols method.
{"title":"Adaptive asymptotic disturbance attenuation for a permanent magnet DC motor","authors":"F. Koumboulis, N. Kouvakas, A. G. Pantelios, Basil G. Mertzios","doi":"10.1109/CCA.2001.974004","DOIUrl":"https://doi.org/10.1109/CCA.2001.974004","url":null,"abstract":"The problem of speed control of a permanent magnet DC motor with unknown parameters and unknown external load torque is formulated in the form of an adaptive control problem based on the design requirement of asymptotic command following with simultaneous asymptotic disturbance attenuation. The adaptive design scheme is indirect and it is based on RLS (recursive least squares) identification. The key point of the disturbance attenuation approach is to identify the system without knowledge, estimation or measurement of the unknown disturbance. This way the variations of the disturbance influence the estimation of the system parameters and consequently the choice of the controller parameters. The identification can be initialized on the basis of arbitrary initial estimation. The present results are successfully applied to a 75 Watt DC motor (35NT2R82-426SP) where a significantly varying external torque and rotor voltage noise of about 1% are considered to be applied. The present design scheme is compared to those of a traditional open loop feeding system and a PID (or PI, or P) controller designed on the basis of the first Ziegler-Nichols method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125934094","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}
The inverted pendulum system exhibits nonnegligible nonlinearities due to its dynamic structure and friction forces, which cause large limit cycles. The limit cycles are well predicted by the nonlinear simulation model with Coulomb and viscous friction. To compensate the cart-on-rail friction, a friction compensator based on modified first-order Dahl model is implemented. The experiment results show that the amplitudes of the limit cycles are substantially reduced by friction compensation. In particular, the friction compensator works quite well without accurate velocity signals. The study will thus be of value to a variety of systems for compensating friction without extra velocity sensors.
{"title":"Friction compensation for a double inverted pendulum","authors":"Lei Fang, W. J. Chen, S. U. Cheang","doi":"10.1109/CCA.2001.973985","DOIUrl":"https://doi.org/10.1109/CCA.2001.973985","url":null,"abstract":"The inverted pendulum system exhibits nonnegligible nonlinearities due to its dynamic structure and friction forces, which cause large limit cycles. The limit cycles are well predicted by the nonlinear simulation model with Coulomb and viscous friction. To compensate the cart-on-rail friction, a friction compensator based on modified first-order Dahl model is implemented. The experiment results show that the amplitudes of the limit cycles are substantially reduced by friction compensation. In particular, the friction compensator works quite well without accurate velocity signals. The study will thus be of value to a variety of systems for compensating friction without extra velocity sensors.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123045250","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}
This paper presents the optimal nonlinear filter for a stochastic system state given by a polynomial equation of degree 3 or 4 and linear observations confused with white Gaussian noises. The obtained filtering equations are applied to solution of the state estimation problem for a nonlinear automotive system. Simulation results are compared for the optimal polynomial filter given in this paper and the linear Kalman-Bucy filter applied to the linearized system.
{"title":"Optimal polynomial filter of degrees 3 and 4 and its application to an automotive system","authors":"M. Basin, M. García","doi":"10.1109/CCA.2001.973979","DOIUrl":"https://doi.org/10.1109/CCA.2001.973979","url":null,"abstract":"This paper presents the optimal nonlinear filter for a stochastic system state given by a polynomial equation of degree 3 or 4 and linear observations confused with white Gaussian noises. The obtained filtering equations are applied to solution of the state estimation problem for a nonlinear automotive system. Simulation results are compared for the optimal polynomial filter given in this paper and the linear Kalman-Bucy filter applied to the linearized system.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124027790","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}
This paper presents the closed-loop composite control of singularly perturbed bilinear systems with a quadratic performance criterion, using the successive Galerkin approximation (SGA). The singularly perturbed bilinear system is decomposed into two subsystems of a slow-time and fast-time scale by the singular perturbation theory, and we obtain feedback control laws from each subsystem using the SGA. We design the composite control law that consists of two optimal control laws for each subsystem. This paper attempts to design the closed-loop composite controller of singularly perturbed bilinear systems with the SGA method, and to reduce the disadvantages of the SGA method.
{"title":"Composite control for singularly perturbed bilinear systems with successive Galerkin approximation","authors":"Young-Joong Kim, Beom-Soo Kim, M. Lim","doi":"10.1109/CCA.2001.973941","DOIUrl":"https://doi.org/10.1109/CCA.2001.973941","url":null,"abstract":"This paper presents the closed-loop composite control of singularly perturbed bilinear systems with a quadratic performance criterion, using the successive Galerkin approximation (SGA). The singularly perturbed bilinear system is decomposed into two subsystems of a slow-time and fast-time scale by the singular perturbation theory, and we obtain feedback control laws from each subsystem using the SGA. We design the composite control law that consists of two optimal control laws for each subsystem. This paper attempts to design the closed-loop composite controller of singularly perturbed bilinear systems with the SGA method, and to reduce the disadvantages of the SGA method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128684883","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}
E. Vidal, K. G. Hansen, R. S. Andersen, K. B. Poulsen, Jakob Stoustrup, Palle Andersen, T. Pedersen
The design of the positioning controllers in optical disk drives are today subjected to a trade off between an acceptable suppression of external disturbances and an acceptable immunity against surfaces defects. In this paper an algorithm is suggested to detect defects of the disk surface combined with an observer and a linear quadratic regulator. As a result, the mentioned trade off is minimized and the playability of the tested compact disk player is considerably enhanced.
{"title":"Linear quadratic controller with fault detection in compact disk players","authors":"E. Vidal, K. G. Hansen, R. S. Andersen, K. B. Poulsen, Jakob Stoustrup, Palle Andersen, T. Pedersen","doi":"10.1109/CCA.2001.973841","DOIUrl":"https://doi.org/10.1109/CCA.2001.973841","url":null,"abstract":"The design of the positioning controllers in optical disk drives are today subjected to a trade off between an acceptable suppression of external disturbances and an acceptable immunity against surfaces defects. In this paper an algorithm is suggested to detect defects of the disk surface combined with an observer and a linear quadratic regulator. As a result, the mentioned trade off is minimized and the playability of the tested compact disk player is considerably enhanced.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117245114","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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