Pub Date : 2009-05-27DOI: 10.1109/CICA.2009.4982776
Yu Tian, S. N. Sidek, N. Sarkar
In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.
{"title":"Modeling and control of a nonholonomic Wheeled Mobile Robot with wheel slip dynamics","authors":"Yu Tian, S. N. Sidek, N. Sarkar","doi":"10.1109/CICA.2009.4982776","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982776","url":null,"abstract":"In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"183 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121003641","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982794
H. Jahanabadi, M. Mailah, M. Zain
The paper describes a Neuro Active Force Control (NAFC) method that is applied to control a vertical moving mass (trolley) actuated by a fluidic muscle or pneumatic artificial muscle (PAM). The NAFC is in effect coupled to a proportional-integral-derivative (PID) controller and was practically implemented on a physical test rig that was developed in the laboratory. The effectiveness of the proposed controller was verified through the experiments, which suggests its superior performance in terms trajectory tracking control capability and disturbance suppression.
{"title":"Control of a fluidic muscle system using Neuro Active Force Control","authors":"H. Jahanabadi, M. Mailah, M. Zain","doi":"10.1109/CICA.2009.4982794","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982794","url":null,"abstract":"The paper describes a Neuro Active Force Control (NAFC) method that is applied to control a vertical moving mass (trolley) actuated by a fluidic muscle or pneumatic artificial muscle (PAM). The NAFC is in effect coupled to a proportional-integral-derivative (PID) controller and was practically implemented on a physical test rig that was developed in the laboratory. The effectiveness of the proposed controller was verified through the experiments, which suggests its superior performance in terms trajectory tracking control capability and disturbance suppression.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132567776","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982783
Nariman Mahdavi Mazdeh, M. Menhaj, A. Afshar
In ANN terminology, the synaptic connections are the weights of the neural networks and can be seen as an interaction between neurons. In this paper, we consider two simple neurons which have both self-coupling and non-invertible activation functions. Our studies on these interactions lead to different dynamical behaviors of the network. We show that they can be used as a means of chaos generation or suppression to neuron's outputs when more adaptability or stability is required. This idea may be further used for chaos synchronization of neuron's outputs.
{"title":"Effect of weighting parameters on dynamical behavior of Hopfield neural networks with logistic map activation functions","authors":"Nariman Mahdavi Mazdeh, M. Menhaj, A. Afshar","doi":"10.1109/CICA.2009.4982783","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982783","url":null,"abstract":"In ANN terminology, the synaptic connections are the weights of the neural networks and can be seen as an interaction between neurons. In this paper, we consider two simple neurons which have both self-coupling and non-invertible activation functions. Our studies on these interactions lead to different dynamical behaviors of the network. We show that they can be used as a means of chaos generation or suppression to neuron's outputs when more adaptability or stability is required. This idea may be further used for chaos synchronization of neuron's outputs.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117005090","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982782
N. Nahapetian, M. Analoui, M. Jahed-Motlagh
Training set is one of the main critical sections in Neural Network, generating of it with prior knowledge can be extremely efficient. In this paper we have tried to explore the potential of using previously generated training set (not randomly) for the training of Dynamic Neural Network. The neural network was used as the core of identifier which tries to identify the internal behavior of structure-unknown non-linear time variant dynamic system.
{"title":"Training set generation using fuzzy logic and dynamic chromosome based Genetic Algorithms for plant identifiers","authors":"N. Nahapetian, M. Analoui, M. Jahed-Motlagh","doi":"10.1109/CICA.2009.4982782","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982782","url":null,"abstract":"Training set is one of the main critical sections in Neural Network, generating of it with prior knowledge can be extremely efficient. In this paper we have tried to explore the potential of using previously generated training set (not randomly) for the training of Dynamic Neural Network. The neural network was used as the core of identifier which tries to identify the internal behavior of structure-unknown non-linear time variant dynamic system.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122512270","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982787
A. Farasat, A. Amani, M. Menhaj
Networked control systems (NCS) have gained an increasing attention in recent years due to their flexibility and cost reduction. The two main problems affecting stability and performance of closed-loop NCS are packet delay and drop. The problem of delay is severe in large scale NCS where the sensor-controller-actuator are connected via a network with large number of switches and routers. In this paper, we propose a real time optimization algorithm, called Asexual Reproduction Optimization (ARO) which is inspired by asexual reproduction, to find the least delay link in the control loop. Simulation results reveal that the proposed algorithm remarkably outperforms the recently cited Genetic Algorithm (GA) in finding the minimum delay link.
{"title":"Minimum-delay link determination in networked control systems using Asexual Reproduction Optimization","authors":"A. Farasat, A. Amani, M. Menhaj","doi":"10.1109/CICA.2009.4982787","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982787","url":null,"abstract":"Networked control systems (NCS) have gained an increasing attention in recent years due to their flexibility and cost reduction. The two main problems affecting stability and performance of closed-loop NCS are packet delay and drop. The problem of delay is severe in large scale NCS where the sensor-controller-actuator are connected via a network with large number of switches and routers. In this paper, we propose a real time optimization algorithm, called Asexual Reproduction Optimization (ARO) which is inspired by asexual reproduction, to find the least delay link in the control loop. Simulation results reveal that the proposed algorithm remarkably outperforms the recently cited Genetic Algorithm (GA) in finding the minimum delay link.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122808579","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982775
F. Nagata, S. Tani, T. Mizobuchi, T. Hase, Z. Haga, M. Omoto, Keigo Watanabe
In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 µm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a ball-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.
{"title":"Orthogonal-type robot with a CAD/CAM-based position/force controller","authors":"F. Nagata, S. Tani, T. Mizobuchi, T. Hase, Z. Haga, M. Omoto, Keigo Watanabe","doi":"10.1109/CICA.2009.4982775","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982775","url":null,"abstract":"In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 µm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a ball-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"67 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130455543","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982789
P. Yadmellat, S. Nikravesh
In this paper, the observer-based stabilization of unstable equilibrium points of a class of unknown nonlinear systems is proposed. The controller is based on feedback linearization where the observer system and control signal are directly estimated by a nonlinear in parameter neural network (NLPNN). A modified Back Propagation (BP) algorithm with e-modification was used to update the weights of the network. Globally uniformly ultimately boundedness of overall closed-loop system is ensured using Lyapunov's direct method. To verify the effectiveness of the proposed observer-based controller, a set of simulations was performed on a Rossler and Lorenz chaotic systems.
{"title":"Stabilizing unstable equilibria using observer-based neural networks with applications in chaos suppression","authors":"P. Yadmellat, S. Nikravesh","doi":"10.1109/CICA.2009.4982789","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982789","url":null,"abstract":"In this paper, the observer-based stabilization of unstable equilibrium points of a class of unknown nonlinear systems is proposed. The controller is based on feedback linearization where the observer system and control signal are directly estimated by a nonlinear in parameter neural network (NLPNN). A modified Back Propagation (BP) algorithm with e-modification was used to update the weights of the network. Globally uniformly ultimately boundedness of overall closed-loop system is ensured using Lyapunov's direct method. To verify the effectiveness of the proposed observer-based controller, a set of simulations was performed on a Rossler and Lorenz chaotic systems.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129988062","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982781
Benjamin Hartmann, O. Nelles, I. Škrjanc, A. Sodja
In this paper the new algorithm SUHICLUST (SUpervised HIerarchical CLUSTering) is presented. It unifies the strengths of the supervised, incremental construction scheme LOLIMOT with the advantages of product space clustering. The result of this fusion is a powerful structure identification algorithm that enables approximation of processes with axes-oblique partitioning, high flexible validity functions and local polynomial models. The theoretical comparison with LOLIMOT and product space clustering and a demonstration example underline the usefulness of SUHICLUST.
{"title":"SUpervised HIerarchical CLUSTering (SUHICLUST) for nonlinear system identification","authors":"Benjamin Hartmann, O. Nelles, I. Škrjanc, A. Sodja","doi":"10.1109/CICA.2009.4982781","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982781","url":null,"abstract":"In this paper the new algorithm SUHICLUST (SUpervised HIerarchical CLUSTering) is presented. It unifies the strengths of the supervised, incremental construction scheme LOLIMOT with the advantages of product space clustering. The result of this fusion is a powerful structure identification algorithm that enables approximation of processes with axes-oblique partitioning, high flexible validity functions and local polynomial models. The theoretical comparison with LOLIMOT and product space clustering and a demonstration example underline the usefulness of SUHICLUST.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126880327","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982791
W. Deabes, M. Abdallah, O. Elkeelany, M. Abdelrahman
This paper presents the assessment of using Field Programmable Gate Arrays (FPGA) technology to design a stand-alone Electrical Capacitance Tomography (ECT) system. ECT application is manifested by computationally intensive image reconstruction algorithms requiring fast processing of large amounts of data. To date, reconfigurable hardware has not been used in the area of electrical tomography. Furthermore, the experimental results show that using the FPGA as a hardware platform to realize ECT system achieves superior performance in terms of speed and design compactness compared to DSP implementation.
{"title":"Reconfigurable wireless stand-alone platform for Electrical Capacitance Tomography","authors":"W. Deabes, M. Abdallah, O. Elkeelany, M. Abdelrahman","doi":"10.1109/CICA.2009.4982791","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982791","url":null,"abstract":"This paper presents the assessment of using Field Programmable Gate Arrays (FPGA) technology to design a stand-alone Electrical Capacitance Tomography (ECT) system. ECT application is manifested by computationally intensive image reconstruction algorithms requiring fast processing of large amounts of data. To date, reconfigurable hardware has not been used in the area of electrical tomography. Furthermore, the experimental results show that using the FPGA as a hardware platform to realize ECT system achieves superior performance in terms of speed and design compactness compared to DSP implementation.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129047118","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 : 2009-05-27DOI: 10.1109/CICA.2009.4982779
T. Bouarar, K. Guelton, N. Manamanni
This paper presents new stability conditions for Takagi-Sugeno (T-S) descriptors. Thanks to the descriptor redundancy, LMI based controller design of less conservatism are derived. These conditions are obtained using a fuzzy Non Quadratic Lyapunov function (NQLF) approach with a non-Parallel-Distributed-Compensation (Non-PDC) control law. First, stabilization without constraints is considered for the sake of genericity. Then, H∞ based controller design is proposed in order to deal with the stability of closed loop descriptors subject to external disturbances. Finally, a numerical example is proposed to illustrate the efficiency of the proposed approaches.
{"title":"Redundancy approach for fuzzy Lyapunov stabilization of Takagi-Sugeno descriptors","authors":"T. Bouarar, K. Guelton, N. Manamanni","doi":"10.1109/CICA.2009.4982779","DOIUrl":"https://doi.org/10.1109/CICA.2009.4982779","url":null,"abstract":"This paper presents new stability conditions for Takagi-Sugeno (T-S) descriptors. Thanks to the descriptor redundancy, LMI based controller design of less conservatism are derived. These conditions are obtained using a fuzzy Non Quadratic Lyapunov function (NQLF) approach with a non-Parallel-Distributed-Compensation (Non-PDC) control law. First, stabilization without constraints is considered for the sake of genericity. Then, H∞ based controller design is proposed in order to deal with the stability of closed loop descriptors subject to external disturbances. Finally, a numerical example is proposed to illustrate the efficiency of the proposed approaches.","PeriodicalId":383751,"journal":{"name":"2009 IEEE Symposium on Computational Intelligence in Control and Automation","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126474848","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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