首页 > 最新文献

The 2nd International Conference on Control, Instrumentation and Automation最新文献

英文 中文
A shape-feedback approach for more precise automatic nano manipulation process 一种用于更精确自动纳米操作过程的形状反馈方法
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356792
S. Sadeghzadeh, M. Korayem, V. Rahneshin, A. Homayooni
One of the applications of nano-robots is the automatic nano-manipulation process. The experimental results indicate that nano-manipulations that are performed in a long time span are not very precise, and often the existence of different error sources, including the tip damage, causes these results to deviate from the intended outcome. In this article, by focusing on the phenomenon of tip damage in the automatic manipulation mechanism, a shape-feedback controller has been introduced to decrease the positioning errors. For this purpose, the tip's root mean squares (RMS) changes have been calculated to use as a criterion of deformation level of tip and particle. Presented shape-feedback controller is a simple and reliable procedure for a more accurate nano-manipulation. At the end, some comparisons are provided for RMS and positioning errors with and without shape-feedback. These comparisons show the applicability and potential of present approach as a controller in automatic nano-manipulation process. Decreasing the positioning errors from 37.77% to 17.77% is the most significant result of this paper.
纳米机器人的应用之一是自动纳米操作过程。实验结果表明,在长时间跨度内进行的纳米操作不是很精确,并且通常存在不同的误差源,包括尖端损伤,导致这些结果偏离预期结果。本文针对自动操作机构中的尖端损伤现象,引入了形状反馈控制器来减小定位误差。为此,计算了尖端的均方根(RMS)变化,作为尖端和颗粒变形水平的判据。所提出的形状反馈控制器是一种简单可靠的方法,可以实现更精确的纳米操作。最后对有和无形状反馈时的均方根误差和定位误差进行了比较。这些比较表明了本方法作为自动纳米操作过程控制器的适用性和潜力。将定位误差从37.77%降低到17.77%是本文最显著的结果。
{"title":"A shape-feedback approach for more precise automatic nano manipulation process","authors":"S. Sadeghzadeh, M. Korayem, V. Rahneshin, A. Homayooni","doi":"10.1109/ICCIAUTOM.2011.6356792","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356792","url":null,"abstract":"One of the applications of nano-robots is the automatic nano-manipulation process. The experimental results indicate that nano-manipulations that are performed in a long time span are not very precise, and often the existence of different error sources, including the tip damage, causes these results to deviate from the intended outcome. In this article, by focusing on the phenomenon of tip damage in the automatic manipulation mechanism, a shape-feedback controller has been introduced to decrease the positioning errors. For this purpose, the tip's root mean squares (RMS) changes have been calculated to use as a criterion of deformation level of tip and particle. Presented shape-feedback controller is a simple and reliable procedure for a more accurate nano-manipulation. At the end, some comparisons are provided for RMS and positioning errors with and without shape-feedback. These comparisons show the applicability and potential of present approach as a controller in automatic nano-manipulation process. Decreasing the positioning errors from 37.77% to 17.77% is the most significant result of this paper.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133619835","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}
引用次数: 2
A self-tuning PID design based on wavelet neural network using Lyapunov method 基于Lyapunov方法的小波神经网络自整定PID设计
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356671
M. Farahani, S. Ganjefar, M. Alizadeh
This paper presents an adaptive self-tuning PID controller based on the Lyapunov method. To tune the gains of PID controller, a self-tuning algorithm derived by the Lyapunov method is employed. Hence, the control error converges to zero and the stability of the controlled system is guaranteed. To accommodate the controller, the wavelet neural network (WNN) is used. The simulation results are used to demonstrate the effectiveness of designed controller. With the proposed controller, the controlled system possesses the advantages of good tracking control performance and robustness to unknown process.
提出了一种基于李雅普诺夫方法的自适应自整定PID控制器。为了对PID控制器的增益进行整定,采用了由李雅普诺夫方法导出的自整定算法。因此,控制误差收敛于零,保证了被控系统的稳定性。为了适应控制器,采用了小波神经网络(WNN)。仿真结果验证了所设计控制器的有效性。该控制器具有良好的跟踪控制性能和对未知过程的鲁棒性。
{"title":"A self-tuning PID design based on wavelet neural network using Lyapunov method","authors":"M. Farahani, S. Ganjefar, M. Alizadeh","doi":"10.1109/ICCIAUTOM.2011.6356671","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356671","url":null,"abstract":"This paper presents an adaptive self-tuning PID controller based on the Lyapunov method. To tune the gains of PID controller, a self-tuning algorithm derived by the Lyapunov method is employed. Hence, the control error converges to zero and the stability of the controlled system is guaranteed. To accommodate the controller, the wavelet neural network (WNN) is used. The simulation results are used to demonstrate the effectiveness of designed controller. With the proposed controller, the controlled system possesses the advantages of good tracking control performance and robustness to unknown process.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130328273","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}
引用次数: 2
A novel online wave-net based model for motorway traffic modeling 基于波浪网的高速公路交通建模新方法
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356657
P. Kharazmi, A. Safavi
In this paper, a novel method of wave-net modeling for motorway traffic system is proposed. Due to the highly nonlinear behavior of the traffic system, and the capabilities of wave-nets in multi-resolution analysis and nonlinear function approximation, the use of the wave-net as a modeling tool for traffic system seems to be very promising. We have also utilized the principle component analysis technique to process the inputs of the network, in order to reduce the network dimension while preserving its accuracy. Because of the time varying nature of the traffic system, the need of an algorithm for updating the model is vital in order to guarantee the performance of the system and the control strategies. Hence, in this work we have used online L2 learning algorithms to update the model. Simulation results, which are based on the real traffic data, demonstrate the increased efficiency of the online model compared to the offline model without update.
本文提出了一种新的高速公路交通系统的波网建模方法。由于交通系统的高度非线性特性,以及波网在多分辨率分析和非线性函数逼近方面的能力,波网作为交通系统建模工具的应用前景十分广阔。我们还利用主成分分析技术对网络的输入进行处理,以便在保持网络精度的同时降低网络维数。由于交通系统的时变特性,为了保证系统和控制策略的性能,需要一种更新模型的算法。因此,在这项工作中,我们使用在线L2学习算法来更新模型。基于真实交通数据的仿真结果表明,与不更新的离线模型相比,在线模型的效率有所提高。
{"title":"A novel online wave-net based model for motorway traffic modeling","authors":"P. Kharazmi, A. Safavi","doi":"10.1109/ICCIAUTOM.2011.6356657","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356657","url":null,"abstract":"In this paper, a novel method of wave-net modeling for motorway traffic system is proposed. Due to the highly nonlinear behavior of the traffic system, and the capabilities of wave-nets in multi-resolution analysis and nonlinear function approximation, the use of the wave-net as a modeling tool for traffic system seems to be very promising. We have also utilized the principle component analysis technique to process the inputs of the network, in order to reduce the network dimension while preserving its accuracy. Because of the time varying nature of the traffic system, the need of an algorithm for updating the model is vital in order to guarantee the performance of the system and the control strategies. Hence, in this work we have used online L2 learning algorithms to update the model. Simulation results, which are based on the real traffic data, demonstrate the increased efficiency of the online model compared to the offline model without update.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130392782","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}
引用次数: 0
Brushless DC motor design using harmony search optimization 无刷直流电动机设计采用和声搜索优化
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356628
A. Rahideh, T. Korakianitis
This paper presents the design and optimization procedure for slotless brushless DC (BLDC) motors. The motor optimization is achieved using a modified harmony search technique, though other optimization methods can also be used. The expressions of motor electromagnetic torque, speed, voltage, current, power losses, volume and cost are analytically represented as functions of motor geometric parameters. The objective function is a combination of motor power losses, volume and cost, and needs to be minimized subject to a set of electrical and mechanical requirements and limitations. Ten design parameters are considered including the number of poles, current density and the dimensions of magnet, stator, rotor, winding and air-gap. The effects of each design parameter on the brushless DC motor performance have been investigated. The method was originally conceived for the design of a small motor for a biomedical application, but in this paper one sample case of a larger motor illustrates the general use of the technique.
本文介绍了无槽无刷直流电机的设计与优化过程。电机优化是使用改进的和声搜索技术实现的,尽管其他优化方法也可以使用。电机电磁转矩、转速、电压、电流、功率损耗、体积和成本的表达式解析表示为电机几何参数的函数。目标函数是电机功率损耗,体积和成本的组合,并且需要在一组电气和机械要求和限制下最小化。考虑了磁极数、电流密度以及磁体、定子、转子、绕组和气隙的尺寸等10个设计参数。研究了各设计参数对无刷直流电动机性能的影响。该方法最初是为设计用于生物医学应用的小型电机而设计的,但在本文中,一个大型电机的示例案例说明了该技术的一般用途。
{"title":"Brushless DC motor design using harmony search optimization","authors":"A. Rahideh, T. Korakianitis","doi":"10.1109/ICCIAUTOM.2011.6356628","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356628","url":null,"abstract":"This paper presents the design and optimization procedure for slotless brushless DC (BLDC) motors. The motor optimization is achieved using a modified harmony search technique, though other optimization methods can also be used. The expressions of motor electromagnetic torque, speed, voltage, current, power losses, volume and cost are analytically represented as functions of motor geometric parameters. The objective function is a combination of motor power losses, volume and cost, and needs to be minimized subject to a set of electrical and mechanical requirements and limitations. Ten design parameters are considered including the number of poles, current density and the dimensions of magnet, stator, rotor, winding and air-gap. The effects of each design parameter on the brushless DC motor performance have been investigated. The method was originally conceived for the design of a small motor for a biomedical application, but in this paper one sample case of a larger motor illustrates the general use of the technique.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116892787","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}
引用次数: 5
Considerations in modelling and control of gas turbines — A review 燃气轮机建模和控制的考虑-综述
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356635
H. Asgari, Xiaoqi Chen, R. Sainudiin
Modelling and control of gas turbines (GTs) have always been a controversial issue because of the complex dynamics of these kinds of equipment. Considerable research activities have been carried out so far in this field in order to disclose the secrets behind the nonlinear behaviour of these systems. Although the results of the research in this area have been satisfactory so far, it seems that there is no end to the efforts for performance optimization of gas turbines. A variety of analytical and experimental models as well as control systems has been built so far for gas turbines. However, the need for optimized models for different objectives and applications has been a strong motivation for researchers to continue to work in this field. This paper is aimed at presenting a general overview of essential basic criteria that need to be considered for making a satisfactory model and control system of a gas turbine. GT type, GT configuration, modelling methods, modelling objectives as well as control system type and configuration are the main preliminary factors for modelling a gas turbine which will be briefly discussed in the paper. Some of the research in this field will be also stated shortly.
燃气轮机(gt)的建模和控制一直是一个有争议的问题,因为这类设备的复杂动力学。为了揭示这些系统非线性行为背后的秘密,迄今为止在这一领域进行了大量的研究活动。虽然到目前为止,这方面的研究结果令人满意,但似乎对燃气轮机性能优化的努力没有止境。到目前为止,各种分析和实验模型以及控制系统已经建立了燃气轮机。然而,对不同目标和应用的优化模型的需求一直是研究人员继续在这一领域工作的强烈动机。本文旨在概述为建立一个令人满意的燃气轮机模型和控制系统所需要考虑的基本准则。燃气轮机的型式、组态、建模方法、建模目标以及控制系统的类型和组态是燃气轮机建模的主要初步因素,本文将对此进行简要讨论。本文还将简要介绍这一领域的一些研究成果。
{"title":"Considerations in modelling and control of gas turbines — A review","authors":"H. Asgari, Xiaoqi Chen, R. Sainudiin","doi":"10.1109/ICCIAUTOM.2011.6356635","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356635","url":null,"abstract":"Modelling and control of gas turbines (GTs) have always been a controversial issue because of the complex dynamics of these kinds of equipment. Considerable research activities have been carried out so far in this field in order to disclose the secrets behind the nonlinear behaviour of these systems. Although the results of the research in this area have been satisfactory so far, it seems that there is no end to the efforts for performance optimization of gas turbines. A variety of analytical and experimental models as well as control systems has been built so far for gas turbines. However, the need for optimized models for different objectives and applications has been a strong motivation for researchers to continue to work in this field. This paper is aimed at presenting a general overview of essential basic criteria that need to be considered for making a satisfactory model and control system of a gas turbine. GT type, GT configuration, modelling methods, modelling objectives as well as control system type and configuration are the main preliminary factors for modelling a gas turbine which will be briefly discussed in the paper. Some of the research in this field will be also stated shortly.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131082872","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}
引用次数: 22
A new routing algorithm in cluster-based wireless sensor networks with mobile sinks 一种基于簇的移动汇聚无线传感器网络路由算法
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356767
S. Shekastehband, M. H. Yektaie, M. Dezfouli
The greatest challenge in senseor networks is the constraint on energy. Therefore, how to minimize the energy consumption while maintaining an extended network lifetime becomes the most critical issue when it comes to the design of the mobile base station for the wireless sensor networks. Sensor nodes nearby to the sink disperse large amount of data to the sink with less energy consumption while the nodes far away from the sink require more energy to do the same. A key advantage of incorporating mobile sinks into the design of a sensor network is that it may enable the gathering of timely information from remote deployments and may also potentially improve energy efficiency. The best position to locate the sink is determined at begining of each round and then sink move to based onrandom waypoint model.
传感器网络最大的挑战是能量的限制。因此,如何在保持较长网络寿命的同时使能量消耗最小化,成为无线传感器网络移动基站设计中最关键的问题。靠近汇聚点的传感器节点以较少的能耗将大量数据分散到汇聚点,而远离汇聚点的节点则需要更多的能耗。将移动接收器纳入传感器网络设计的一个关键优势是,它可以从远程部署中收集及时的信息,还可能提高能源效率。在每个回合开始时确定sink的最佳位置,然后基于随机路径点模型确定sink的移动位置。
{"title":"A new routing algorithm in cluster-based wireless sensor networks with mobile sinks","authors":"S. Shekastehband, M. H. Yektaie, M. Dezfouli","doi":"10.1109/ICCIAUTOM.2011.6356767","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356767","url":null,"abstract":"The greatest challenge in senseor networks is the constraint on energy. Therefore, how to minimize the energy consumption while maintaining an extended network lifetime becomes the most critical issue when it comes to the design of the mobile base station for the wireless sensor networks. Sensor nodes nearby to the sink disperse large amount of data to the sink with less energy consumption while the nodes far away from the sink require more energy to do the same. A key advantage of incorporating mobile sinks into the design of a sensor network is that it may enable the gathering of timely information from remote deployments and may also potentially improve energy efficiency. The best position to locate the sink is determined at begining of each round and then sink move to based onrandom waypoint model.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131084045","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}
引用次数: 0
Adaptive locally-linear-models-based fault detection and diagnosis for unmeasured states and unknown faults 基于自适应局部线性模型的非测量状态和未知故障检测与诊断
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356710
F. Soltanian, A. Alvanagh, M. Khosrowjerdi
Today the problem of fault detection and diagnosis (FDD) is considered as an important and essential counterpart of control engineering systems. Because of importance and existence of faults that don't have a known structure in control system, i.e., fault occurred because of tangle of complex factors, In this paper a Lipschitz nonlinear system with unmeasured states and unknown faults is considered and a novel FDD architecture for it is presented. A neuro/fuzzy model consisting of few locally linear models (LLMs) with on-line updated centers and width vectors is used to approximate the model of the fault. A nonlinear observer is used to estimate the states of the system that are inputs to LLMs. The stability analysis of system is carried out via Lyapunov theory, from which the parameter updating rules are derived. At the end of this paper some numerical simulation is given to show the effectiveness of the method.
目前,故障检测与诊断(FDD)问题被认为是控制工程系统的一个重要和必不可少的对应问题。针对控制系统中存在结构未知的故障,即复杂因素纠缠引起的故障的重要性和存在性,本文考虑了一种状态不可测且故障未知的Lipschitz非线性系统,提出了一种新的FDD体系结构。采用一种由多个局部线性模型(llm)组成的神经/模糊模型来逼近故障模型,该模型具有在线更新的中心和宽度向量。非线性观测器用于估计作为llm输入的系统状态。利用李雅普诺夫理论对系统进行了稳定性分析,并推导了参数更新规则。最后通过数值仿真验证了该方法的有效性。
{"title":"Adaptive locally-linear-models-based fault detection and diagnosis for unmeasured states and unknown faults","authors":"F. Soltanian, A. Alvanagh, M. Khosrowjerdi","doi":"10.1109/ICCIAUTOM.2011.6356710","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356710","url":null,"abstract":"Today the problem of fault detection and diagnosis (FDD) is considered as an important and essential counterpart of control engineering systems. Because of importance and existence of faults that don't have a known structure in control system, i.e., fault occurred because of tangle of complex factors, In this paper a Lipschitz nonlinear system with unmeasured states and unknown faults is considered and a novel FDD architecture for it is presented. A neuro/fuzzy model consisting of few locally linear models (LLMs) with on-line updated centers and width vectors is used to approximate the model of the fault. A nonlinear observer is used to estimate the states of the system that are inputs to LLMs. The stability analysis of system is carried out via Lyapunov theory, from which the parameter updating rules are derived. At the end of this paper some numerical simulation is given to show the effectiveness of the method.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131512439","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}
引用次数: 1
Stochastically stable robust observer for uncertain chaotic systems with system and measurement noises 具有系统噪声和测量噪声的不确定混沌系统的随机稳定鲁棒观测器
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356821
M. Ayati
This paper presents a new chaos synchronization scheme based on the proposed stochastic adaptive sliding mode observer. The observer overcomes the drive system model uncertainties and unknown parameters to recover the drive system chaotic states form a scalar noisy coupling signal. Using the appropriate adaptation low the unknown parameters of the drive system are estimated and used to boost the state estimations. In addition, drive system state noise, channel noise, and measurement noise, are considered and the system and observer are modeled via stochastic differential equations. Stochastic stability of the drive-response system is proved through several theorems. These theorems guarantee that the mean values of the state estimation errors converge to zero as time goes to infinity. In the observer the adaptive sliding mode gains are always nonsingular even when the estimation error goes to zero. Presented numerical simulations confirm the effectiveness of the proposed observer and chaos synchronization scheme.
本文提出了一种基于随机自适应滑模观测器的混沌同步方案。观测器克服了驱动系统模型的不确定性和未知参数,恢复了驱动系统的混沌状态,形成标量噪声耦合信号。采用适当的自适应方法对驱动系统的未知参数进行估计,并利用未知参数增强系统的状态估计。此外,还考虑了驱动系统的状态噪声、通道噪声和测量噪声,并通过随机微分方程对系统和观测器进行了建模。通过几个定理证明了驱动-响应系统的随机稳定性。这些定理保证了状态估计误差的均值在时间趋于无穷时收敛于零。在观测器中,即使估计误差趋近于零,自适应滑模增益也始终是非奇异的。仿真结果验证了该观测器和混沌同步方案的有效性。
{"title":"Stochastically stable robust observer for uncertain chaotic systems with system and measurement noises","authors":"M. Ayati","doi":"10.1109/ICCIAUTOM.2011.6356821","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356821","url":null,"abstract":"This paper presents a new chaos synchronization scheme based on the proposed stochastic adaptive sliding mode observer. The observer overcomes the drive system model uncertainties and unknown parameters to recover the drive system chaotic states form a scalar noisy coupling signal. Using the appropriate adaptation low the unknown parameters of the drive system are estimated and used to boost the state estimations. In addition, drive system state noise, channel noise, and measurement noise, are considered and the system and observer are modeled via stochastic differential equations. Stochastic stability of the drive-response system is proved through several theorems. These theorems guarantee that the mean values of the state estimation errors converge to zero as time goes to infinity. In the observer the adaptive sliding mode gains are always nonsingular even when the estimation error goes to zero. Presented numerical simulations confirm the effectiveness of the proposed observer and chaos synchronization scheme.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128330305","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}
引用次数: 0
Dynamic analysis and path planning for a redundant actuated biped robot 冗余驱动双足机器人动力学分析与路径规划
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356810
A. Karimi, M. Danesh, A. Tabibian, A. Nouri
In some applications, biped robots are preferred to wheeled robots since biped robots are able to move in various environments with different conditions. However, stable walking for biped robots is a challenging issue. Various approaches have been developed to improve these robots performance. In this paper, we first introduce a different mechanical design of biped robots based on parallel mechanism and then compare it with conventional design of robots. Then we formulate dynamic equations of this biped robot and generate some trajectories for the joints. Finally, the proposed design is validated by experimental results.
在一些应用中,双足机器人比轮式机器人更受青睐,因为双足机器人能够在不同条件下的各种环境中移动。然而,双足机器人的稳定行走是一个具有挑战性的问题。已经开发了各种方法来提高这些机器人的性能。本文首先介绍了一种不同的基于并联机构的双足机器人的机械设计,并将其与传统的机器人设计进行了比较。然后建立了该机器人的动力学方程,并生成了关节的运动轨迹。最后,通过实验验证了设计的正确性。
{"title":"Dynamic analysis and path planning for a redundant actuated biped robot","authors":"A. Karimi, M. Danesh, A. Tabibian, A. Nouri","doi":"10.1109/ICCIAUTOM.2011.6356810","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356810","url":null,"abstract":"In some applications, biped robots are preferred to wheeled robots since biped robots are able to move in various environments with different conditions. However, stable walking for biped robots is a challenging issue. Various approaches have been developed to improve these robots performance. In this paper, we first introduce a different mechanical design of biped robots based on parallel mechanism and then compare it with conventional design of robots. Then we formulate dynamic equations of this biped robot and generate some trajectories for the joints. Finally, the proposed design is validated by experimental results.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"289 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131690318","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}
引用次数: 0
Novel stabilization and robust stabilization conditions for linear discrete time-delayed systems 线性离散时滞系统的新镇定和鲁棒镇定条件
Pub Date : 2011-12-01 DOI: 10.1109/ICCIAUTOM.2011.6356673
M. Fattahi, H. Momeni
In this paper, the problems of stability and stabilization will be discussed for linear discrete time-delayed systems with time-varying delays. At first, applying Lyapunov-Krasovskii functional method, sufficient condition for checking the stability of system is offered. Then, the stabilization of system is improved via dynamic state-feedback controller. In fact, the proposed condition is a criterion which results in increase of regions of stabilization for such systems. This result is in the linear matrix inequality (LMI) framework which can be solved easily by using the existing standard numerical software. Illustrative examples confirm the advantages of developed approach. In the sequel, the obtained stability and stabilization conditions will be extended to uncertain discrete time-delayed systems (UDTDS) with norm-bounded parameter uncertainties.
本文讨论具有时变时滞的线性离散时滞系统的稳定性和镇定问题。首先,应用Lyapunov-Krasovskii泛函方法,给出了检验系统稳定性的充分条件。然后,通过动态状态反馈控制器提高系统的稳定性。实际上,所提出的条件是导致这类系统稳定区域增大的判据。该结果是在线性矩阵不等式(LMI)框架下得到的,可以用现有的标准数值软件很容易地求解。举例说明了所开发方法的优点。在后续研究中,将得到的稳定性和镇定条件推广到具有范数有界参数不确定性的不确定离散时滞系统。
{"title":"Novel stabilization and robust stabilization conditions for linear discrete time-delayed systems","authors":"M. Fattahi, H. Momeni","doi":"10.1109/ICCIAUTOM.2011.6356673","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356673","url":null,"abstract":"In this paper, the problems of stability and stabilization will be discussed for linear discrete time-delayed systems with time-varying delays. At first, applying Lyapunov-Krasovskii functional method, sufficient condition for checking the stability of system is offered. Then, the stabilization of system is improved via dynamic state-feedback controller. In fact, the proposed condition is a criterion which results in increase of regions of stabilization for such systems. This result is in the linear matrix inequality (LMI) framework which can be solved easily by using the existing standard numerical software. Illustrative examples confirm the advantages of developed approach. In the sequel, the obtained stability and stabilization conditions will be extended to uncertain discrete time-delayed systems (UDTDS) with norm-bounded parameter uncertainties.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"33 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131878646","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}
引用次数: 2
期刊
The 2nd International Conference on Control, Instrumentation and Automation
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1