Pub Date : 2001-07-25DOI: 10.1109/SICE.2001.977850
Y. Jia, H. Kokame, J. Lunze
In this paper a new model matching condition for multi-input and multi-output delay systems is derived, based on which a model reference adaptive control scheme is proposed. The controller has a structure that is similar to the well known Smith predictor. This explains why the present scheme can cancel time delay effects on the system performance. Due to its adaptation abilities, it cart remove the limitation of the Smith scheme to accurate plant descriptions. The method is illustrated by simulating a fluidized bed combustor for sewage sludge.
{"title":"Adaptive control of MIMO delay systems with application to a fluidized bed combustor for sewage sludge","authors":"Y. Jia, H. Kokame, J. Lunze","doi":"10.1109/SICE.2001.977850","DOIUrl":"https://doi.org/10.1109/SICE.2001.977850","url":null,"abstract":"In this paper a new model matching condition for multi-input and multi-output delay systems is derived, based on which a model reference adaptive control scheme is proposed. The controller has a structure that is similar to the well known Smith predictor. This explains why the present scheme can cancel time delay effects on the system performance. Due to its adaptation abilities, it cart remove the limitation of the Smith scheme to accurate plant descriptions. The method is illustrated by simulating a fluidized bed combustor for sewage sludge.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127423639","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 : 2001-07-25DOI: 10.1109/SICE.2001.977853
Y. Kim, H.S. Cho
A large number of factors that affect control performance has been a major hindrance to the design of satisfactory fuzzy controllers. This is especially true for multi-input multi-output systems where many parameters are involved in the design and therefore, are interacting each other. In this paper, we introduce a novel method for the design of fuzzy logic controller (FLC) that can be easily applicable to such multivariable systems. The approach here is to define a set of characteristic parameters (CP) that enable us to design fuzzy controllers in a systematic as well as a simple way. These parameters a re extracted by examining the general structure and characteristics of the individual components of FLC and by parameterizing those. Based upon this formulation, a simulation study is performed for the control of an inverted pendulum. The simplicity and effectiveness of this method are discussed in detail through analysis of the controller results.
{"title":"A design method of fuzzy controllers using simplified characteristic parameters","authors":"Y. Kim, H.S. Cho","doi":"10.1109/SICE.2001.977853","DOIUrl":"https://doi.org/10.1109/SICE.2001.977853","url":null,"abstract":"A large number of factors that affect control performance has been a major hindrance to the design of satisfactory fuzzy controllers. This is especially true for multi-input multi-output systems where many parameters are involved in the design and therefore, are interacting each other. In this paper, we introduce a novel method for the design of fuzzy logic controller (FLC) that can be easily applicable to such multivariable systems. The approach here is to define a set of characteristic parameters (CP) that enable us to design fuzzy controllers in a systematic as well as a simple way. These parameters a re extracted by examining the general structure and characteristics of the individual components of FLC and by parameterizing those. Based upon this formulation, a simulation study is performed for the control of an inverted pendulum. The simplicity and effectiveness of this method are discussed in detail through analysis of the controller results.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129034755","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 : 2001-07-25DOI: 10.1109/SICE.2001.977852
Heon-Seong Nam, Seung-Hwan Kim, Chanho Song, J. Lyou
In this paper, an approach to design of a robust nonlinear autopilot is proposed. First, a nonlinear model of missile motion which contains unknown uncertainties is derived. Then, unknown uncertainty bounds are estimated. Based on these estimates, controller parameters are updated at each step. The recursive design procedure called "adaptive backstepping and dynamic robust recursive design approach" is used to find a nonlinear stabilizing control while estimating the uncertainty parameters, and the performance is demonstrated via computer simulations.
{"title":"A robust nonlinear control approach to missile autopilot design","authors":"Heon-Seong Nam, Seung-Hwan Kim, Chanho Song, J. Lyou","doi":"10.1109/SICE.2001.977852","DOIUrl":"https://doi.org/10.1109/SICE.2001.977852","url":null,"abstract":"In this paper, an approach to design of a robust nonlinear autopilot is proposed. First, a nonlinear model of missile motion which contains unknown uncertainties is derived. Then, unknown uncertainty bounds are estimated. Based on these estimates, controller parameters are updated at each step. The recursive design procedure called \"adaptive backstepping and dynamic robust recursive design approach\" is used to find a nonlinear stabilizing control while estimating the uncertainty parameters, and the performance is demonstrated via computer simulations.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114634767","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 : 2001-07-25DOI: 10.1109/SICE.2001.977819
Xin Xin, M. Kaneda
Studies the swing up control for the Acrobot, i.e., to move the Acrobot from its stable downward position to its unstable inverted position and balance it about the vertical. A control scheme which combines of the partial linearization control (related to the first link) for the swing up phase introduced in Spong (1995) and robust control for the capture and balance phase is proposed. The key idea is to treat the speed of the second link when the Acrobot rotates across the vertical as an uncertainty, and to design a robust controller to cope with such uncertainty by using the LMI solution to the quadratic stabilization problem. Hence, the basin of attraction of the robust controller is bigger than that of the LQR controller which is designed based on the linearized model of the Acrobot around the unstable equilibrium. The simulation results have verified the effectiveness of the proposed control scheme.
{"title":"A new solution to the swing up control problem for the Acrobot","authors":"Xin Xin, M. Kaneda","doi":"10.1109/SICE.2001.977819","DOIUrl":"https://doi.org/10.1109/SICE.2001.977819","url":null,"abstract":"Studies the swing up control for the Acrobot, i.e., to move the Acrobot from its stable downward position to its unstable inverted position and balance it about the vertical. A control scheme which combines of the partial linearization control (related to the first link) for the swing up phase introduced in Spong (1995) and robust control for the capture and balance phase is proposed. The key idea is to treat the speed of the second link when the Acrobot rotates across the vertical as an uncertainty, and to design a robust controller to cope with such uncertainty by using the LMI solution to the quadratic stabilization problem. Hence, the basin of attraction of the robust controller is bigger than that of the LQR controller which is designed based on the linearized model of the Acrobot around the unstable equilibrium. The simulation results have verified the effectiveness of the proposed control scheme.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114472748","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 : 2001-07-25DOI: 10.1109/SICE.2001.977871
R. M. de la Guardia, Y. Sawada, H. Mukai
We present a computer tool for finding a local Nash solution to an adversarial game in which the units of two opposing teams are distributed over a large geographical area. The differential game consists of a quadratic payoff function and a set of ordinary differential equations describing the system dynamics of the unit distribution over a discretized geographical area. The optimum strategy for each team is determined using an iterative algorithm for finding a local Nash equilibrium solution for the game. Experimental results are presented that demonstrate the validity of this concept.
{"title":"Solution of a differential game with geographically distributed resources","authors":"R. M. de la Guardia, Y. Sawada, H. Mukai","doi":"10.1109/SICE.2001.977871","DOIUrl":"https://doi.org/10.1109/SICE.2001.977871","url":null,"abstract":"We present a computer tool for finding a local Nash solution to an adversarial game in which the units of two opposing teams are distributed over a large geographical area. The differential game consists of a quadratic payoff function and a set of ordinary differential equations describing the system dynamics of the unit distribution over a discretized geographical area. The optimum strategy for each team is determined using an iterative algorithm for finding a local Nash equilibrium solution for the game. Experimental results are presented that demonstrate the validity of this concept.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125442719","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 : 2001-07-25DOI: 10.1109/SICE.2001.977839
Y. Chiang, F. Chang, L. Wang, Y. Jan, L. H. Ting
A reliable Spacecraft attitude determination system, which integrate the measurements coming from the star tracker (STR), Global Positioning System (GPS) and gyros, is presented. The linearized state propagation and state update are two key algorithms in the data fusion. For state propagation, the primary information is provided by the high rate (16 Hz) sensors (gyros), whose measurement offsets are calibrated by the integrated filter. For state update, the primary information is provide by the low rate (1 Hz) sensors (STR and GPS). To minimize the update errors, the covariance matrices associated to different sensors are selected as the weightings. From the simulation results, our ideas are verified to be sound and effective.
{"title":"Data fusion of three attitude sensors","authors":"Y. Chiang, F. Chang, L. Wang, Y. Jan, L. H. Ting","doi":"10.1109/SICE.2001.977839","DOIUrl":"https://doi.org/10.1109/SICE.2001.977839","url":null,"abstract":"A reliable Spacecraft attitude determination system, which integrate the measurements coming from the star tracker (STR), Global Positioning System (GPS) and gyros, is presented. The linearized state propagation and state update are two key algorithms in the data fusion. For state propagation, the primary information is provided by the high rate (16 Hz) sensors (gyros), whose measurement offsets are calibrated by the integrated filter. For state update, the primary information is provide by the low rate (1 Hz) sensors (STR and GPS). To minimize the update errors, the covariance matrices associated to different sensors are selected as the weightings. From the simulation results, our ideas are verified to be sound and effective.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131419083","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 : 2001-07-25DOI: 10.1109/SICE.2001.977832
Young Sam Lee, Young Soo Moon, Wook Hyun Kwon
The paper concerns a problem of robust H/sub /spl infin// control for uncertain systems with time-varying state-delay. A delay-dependent robust H/sub /spl infin// controller is presented in terms of matrix inequalities. An algorithm involving convex optimization is proposed to find a suboptimal maximal delay such that the closed-loop system with the designed controller is asymptotically stable and guarantees the H/sub /spl infin// norm bound for all admissible uncertainties.
{"title":"Delay-dependent robust H/sub /spl infin// control for uncertain systems with time-varying state-delay","authors":"Young Sam Lee, Young Soo Moon, Wook Hyun Kwon","doi":"10.1109/SICE.2001.977832","DOIUrl":"https://doi.org/10.1109/SICE.2001.977832","url":null,"abstract":"The paper concerns a problem of robust H/sub /spl infin// control for uncertain systems with time-varying state-delay. A delay-dependent robust H/sub /spl infin// controller is presented in terms of matrix inequalities. An algorithm involving convex optimization is proposed to find a suboptimal maximal delay such that the closed-loop system with the designed controller is asymptotically stable and guarantees the H/sub /spl infin// norm bound for all admissible uncertainties.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115276280","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 : 2001-07-25DOI: 10.1109/SICE.2001.977802
Jinwoo Lee, Sung‐Uk Choi, Young-Jin Lee, Kyeong-hak Lee
We describe an image-processing algorithm that is able to recognize the road lane. This algorithm performs to recognize the interrelation between an AGV and another vehicle. We experimented on an AGV driving test with a color CCD camera that was set on the top of vehicle and acquires digital signals. The paper is composed of two parts. One is the preprocessing part to measure the condition of the lane and vehicle. This method finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and view-port. At first, 2D image information, derived from a vision sensor, is interpreted to the 3D information by the angle and position of the CCD camera. Through these processes, if the vehicle knows the driving conditions, which include the lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle as in human driving.
{"title":"A study on recognition of road lane and movement of vehicles using vision system","authors":"Jinwoo Lee, Sung‐Uk Choi, Young-Jin Lee, Kyeong-hak Lee","doi":"10.1109/SICE.2001.977802","DOIUrl":"https://doi.org/10.1109/SICE.2001.977802","url":null,"abstract":"We describe an image-processing algorithm that is able to recognize the road lane. This algorithm performs to recognize the interrelation between an AGV and another vehicle. We experimented on an AGV driving test with a color CCD camera that was set on the top of vehicle and acquires digital signals. The paper is composed of two parts. One is the preprocessing part to measure the condition of the lane and vehicle. This method finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and view-port. At first, 2D image information, derived from a vision sensor, is interpreted to the 3D information by the angle and position of the CCD camera. Through these processes, if the vehicle knows the driving conditions, which include the lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle as in human driving.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126937834","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 : 2001-07-25DOI: 10.1109/SICE.2001.977848
T. Matsuzaki, M. Ito, H. Kameda, S. Tsujimichi, Y. Kosuge
It is important for target tracking to judge targets' extinction in clutter environment. When a target is in clutter domain, the conventional method of sliding window detection cannot judge target extinction in the clutter domain appropriately, because it considers nothing but target existence probability in gate when a target is in clutter environment. To solve the problem, we propose a new target extinction judgement method which is determined by clutter density, target detection probability and target existence probability in gate. The effectiveness of the proposed method is confirmed through computer simulation.
{"title":"A study of judging target extinction in target tracking","authors":"T. Matsuzaki, M. Ito, H. Kameda, S. Tsujimichi, Y. Kosuge","doi":"10.1109/SICE.2001.977848","DOIUrl":"https://doi.org/10.1109/SICE.2001.977848","url":null,"abstract":"It is important for target tracking to judge targets' extinction in clutter environment. When a target is in clutter domain, the conventional method of sliding window detection cannot judge target extinction in the clutter domain appropriately, because it considers nothing but target existence probability in gate when a target is in clutter environment. To solve the problem, we propose a new target extinction judgement method which is determined by clutter density, target detection probability and target existence probability in gate. The effectiveness of the proposed method is confirmed through computer simulation.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124909061","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 : 2001-07-25DOI: 10.1109/SICE.2001.977830
N. Komine, K. Shibata, T. Benjanarasuth, J. Ngamwiwit
This paper proposes the derivative state constraint controller designed by the concept of linear quadratic regulator (LQR) that inherits the advantages of coefficient diagram method (CDM) and vibration reduction of the oscillation system, if the weighting matrices are properly selected. The effectiveness of the controller used to control the speed of the two-inertia system is shown.
{"title":"Derivative state constraint controller via CDM for oscillation systems","authors":"N. Komine, K. Shibata, T. Benjanarasuth, J. Ngamwiwit","doi":"10.1109/SICE.2001.977830","DOIUrl":"https://doi.org/10.1109/SICE.2001.977830","url":null,"abstract":"This paper proposes the derivative state constraint controller designed by the concept of linear quadratic regulator (LQR) that inherits the advantages of coefficient diagram method (CDM) and vibration reduction of the oscillation system, if the weighting matrices are properly selected. The effectiveness of the controller used to control the speed of the two-inertia system is shown.","PeriodicalId":415046,"journal":{"name":"SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)","volume":"734 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124739201","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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