Pub Date : 2011-09-29DOI: 10.1109/MMAR.2011.6031381
R. Cimochowski
The positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roesser models for any switching are established. The considerations are illustrated by numerical examples.
{"title":"Asymptotic stability of the positive switched 2D linear systems described by the Roesser models","authors":"R. Cimochowski","doi":"10.1109/MMAR.2011.6031381","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031381","url":null,"abstract":"The positive switched 2D linear systems described by the Roesser models are addressed. Necessary and sufficient conditions for the asymptotic stability of the positive switched 2D linear systems described by the Roesser models for any switching are established. The considerations are illustrated by numerical examples.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129891126","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031307
M. Stachura, K. Janiszowski
The paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.
{"title":"A methodology of estimating hybrid black-box - prior knowledge models of an industrial processes","authors":"M. Stachura, K. Janiszowski","doi":"10.1109/MMAR.2011.6031307","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031307","url":null,"abstract":"The paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114801658","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031331
W. Krajewski, U. Viaro
This paper is concerned with the finite-dimensional approximation of a fractional-order system represented in state-space form. To this purpose, resort is made to the Oustaloup method for approximating a fractional-order integrator by a rational filter. By applying this method to the RHS of the state equation of the fractional-order system, a matrix differential equation is obtained. This equation is then realized in a state-space form whose state matrix exhibits a (sparse) block-companion structure. To reduce the dimension of this integer-order model, an efficient method for L2 approximation can profitably be applied. Numerical simulations show that the suggested approach compares favourably with alternative techniques recently presented in the literature to the same purpose.
{"title":"On the rational approximation of fractional order systems","authors":"W. Krajewski, U. Viaro","doi":"10.1109/MMAR.2011.6031331","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031331","url":null,"abstract":"This paper is concerned with the finite-dimensional approximation of a fractional-order system represented in state-space form. To this purpose, resort is made to the Oustaloup method for approximating a fractional-order integrator by a rational filter. By applying this method to the RHS of the state equation of the fractional-order system, a matrix differential equation is obtained. This equation is then realized in a state-space form whose state matrix exhibits a (sparse) block-companion structure. To reduce the dimension of this integer-order model, an efficient method for L2 approximation can profitably be applied. Numerical simulations show that the suggested approach compares favourably with alternative techniques recently presented in the literature to the same purpose.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128987039","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031313
A. Bernoussi
In this work, we present some concepts recently introduced in the analysis and control of Distributed Parameter Systems: Spreadability, vulnerability, regional viability and protector control. These concepts permit to describe many biogeographical phenomena, as those of pollution, desertification or epidemics, which are characterized by a spatio-temporal evolution. We give some connection between such concepts. To illustrate these concepts an example is presented
{"title":"Spreadability, vulnerability, regional viability and protector control","authors":"A. Bernoussi","doi":"10.1109/MMAR.2011.6031313","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031313","url":null,"abstract":"In this work, we present some concepts recently introduced in the analysis and control of Distributed Parameter Systems: Spreadability, vulnerability, regional viability and protector control. These concepts permit to describe many biogeographical phenomena, as those of pollution, desertification or epidemics, which are characterized by a spatio-temporal evolution. We give some connection between such concepts. To illustrate these concepts an example is presented","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124978951","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031333
R. Stanisławski, W. Hunek, K. Latawiec
This paper presents new results in finite-memory modeling of a discrete-time fractional derivative. The introduced normalized finite fractional derivative is shown to properly approximate its fractional derivative original, in particular in terms of the steady-state properties. A stability analysis is also presented as well as a recursive computation algorithm is offered for finite fractional derivatives.
{"title":"Finite approximations of a discrete-time fractional derivative","authors":"R. Stanisławski, W. Hunek, K. Latawiec","doi":"10.1109/MMAR.2011.6031333","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031333","url":null,"abstract":"This paper presents new results in finite-memory modeling of a discrete-time fractional derivative. The introduced normalized finite fractional derivative is shown to properly approximate its fractional derivative original, in particular in terms of the steady-state properties. A stability analysis is also presented as well as a recursive computation algorithm is offered for finite fractional derivatives.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122201275","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031376
V. Azizi, A. Haghighat
In this paper a new model free approach is being presented to make walking humanoid robot faster and more stable. This approach presents a controller that is composed of nonlinear and linear neurons. We have used Matsuoka Neural oscillator, for nonlinear neurons, to generate rhythmic signal to control walking of robot. This controller gets feedback from output signal that helps to correct and generate better signals to improve stability of walking. In this approach the role of hands is considered to make walking of robot smooth and robustness. Also, this method controls the role of inertia to improve the speed and robustness of bipedal walking by refining signals and reducing the role of inertia. In this regard, a new population-based search algorithm that called harmony search is used to optimize the signals that are produced by the controller which control joints angel and other parameters. This method is implemented in simulated NAO robot and simulation result shows getting feedback from controller and considering the role of hands and inertia make walking more stable and faster.
{"title":"Fast and robust biped walking involving arm swing and control of inertia based on Neural network with harmony search optimizer","authors":"V. Azizi, A. Haghighat","doi":"10.1109/MMAR.2011.6031376","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031376","url":null,"abstract":"In this paper a new model free approach is being presented to make walking humanoid robot faster and more stable. This approach presents a controller that is composed of nonlinear and linear neurons. We have used Matsuoka Neural oscillator, for nonlinear neurons, to generate rhythmic signal to control walking of robot. This controller gets feedback from output signal that helps to correct and generate better signals to improve stability of walking. In this approach the role of hands is considered to make walking of robot smooth and robustness. Also, this method controls the role of inertia to improve the speed and robustness of bipedal walking by refining signals and reducing the role of inertia. In this regard, a new population-based search algorithm that called harmony search is used to optimize the signals that are produced by the controller which control joints angel and other parameters. This method is implemented in simulated NAO robot and simulation result shows getting feedback from controller and considering the role of hands and inertia make walking more stable and faster.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"62 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114116351","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031343
Gilberto Gonzalez-A, Noe Barrera-G
A bond graph model in a integral causality assignment (BGI) for a singularly perturbed system is presented. This system is characterized by fast and slow dynamics. When the singular perturbation method is applied, the fast dynamic differential equation degenerate to an algebraic equation, the real roots of this equation by using a proposed bond graph, called Singularly Perturbed Bond Graph (SPBG) can be obtained. This SPBG has the property that the storage elements of the fast state and slow state have a derivative and integral causality assignment, respectively. Hence, a quasi steady state model by using SPBG is obtained. A Lemma to determine the junction structure from SPBG is proposed. Finally, the proposed methodology to a classical example of a DC motor and RC network is applied.
{"title":"Quasy steady state model determination using bond graph for a singularly perturbed LTI system","authors":"Gilberto Gonzalez-A, Noe Barrera-G","doi":"10.1109/MMAR.2011.6031343","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031343","url":null,"abstract":"A bond graph model in a integral causality assignment (BGI) for a singularly perturbed system is presented. This system is characterized by fast and slow dynamics. When the singular perturbation method is applied, the fast dynamic differential equation degenerate to an algebraic equation, the real roots of this equation by using a proposed bond graph, called Singularly Perturbed Bond Graph (SPBG) can be obtained. This SPBG has the property that the storage elements of the fast state and slow state have a derivative and integral causality assignment, respectively. Hence, a quasi steady state model by using SPBG is obtained. A Lemma to determine the junction structure from SPBG is proposed. Finally, the proposed methodology to a classical example of a DC motor and RC network is applied.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121035382","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031358
Joanna Zietkiewicz
In this paper a method of an predictive controller design for the control of constrained MIMO levitation system is presented. The proposed control strategy is based on combining feedback linearization and LQ method with modifying reference signal allowing to keep variables inside constrained region.
{"title":"Constrained predictive control of a levitation system","authors":"Joanna Zietkiewicz","doi":"10.1109/MMAR.2011.6031358","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031358","url":null,"abstract":"In this paper a method of an predictive controller design for the control of constrained MIMO levitation system is presented. The proposed control strategy is based on combining feedback linearization and LQ method with modifying reference signal allowing to keep variables inside constrained region.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116168132","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031334
D. Sierociuk, I. Petráš
This paper deals with a discrete fractional-order neural network and its application for modeling of a heat transfer process. Proposed neural network is implemented in Matlab/Simulink and applied to the heater which is a part of the equipment Armfield PCT40. Results obtained from experiments presented in the article show that the fractional-order neural network properly modeled the unknown dynamics.
{"title":"Modeling of heat transfer process by using discrete fractional-order neural networks","authors":"D. Sierociuk, I. Petráš","doi":"10.1109/MMAR.2011.6031334","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031334","url":null,"abstract":"This paper deals with a discrete fractional-order neural network and its application for modeling of a heat transfer process. Proposed neural network is implemented in Matlab/Simulink and applied to the heater which is a part of the equipment Armfield PCT40. Results obtained from experiments presented in the article show that the fractional-order neural network properly modeled the unknown dynamics.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117263126","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031378
M. Ruchaj, R. Stanisławski
This paper presents a comparison of five algorithms used to control acyclic traffic lights at intersections of roads in an urban road network. The following algorithms are selected: Most Cars characterized by low computational complexity, the author's algorithm called In-and-Outbound Lane Control, which is an efficient modification of the Most Cars, Local Hill-Climbing algorithm (LHC), the reinforcement learning RL 1 Bucket 2.0 algorithm and the neural network GenNeural algorithm.
本文介绍了城市道路网络中用于控制道路交叉口无环交通灯的五种算法的比较。选择以下算法:计算复杂度低的Most Cars，作者的In-and-Outbound Lane Control算法，这是Most Cars的有效改进，Local hill - climb algorithm (LHC)，强化学习RL 1 Bucket 2.0算法和神经网络GenNeural算法。
{"title":"Approaches to control acyclic traffic lights in an exemplary urban road network","authors":"M. Ruchaj, R. Stanisławski","doi":"10.1109/MMAR.2011.6031378","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031378","url":null,"abstract":"This paper presents a comparison of five algorithms used to control acyclic traffic lights at intersections of roads in an urban road network. The following algorithms are selected: Most Cars characterized by low computational complexity, the author's algorithm called In-and-Outbound Lane Control, which is an efficient modification of the Most Cars, Local Hill-Climbing algorithm (LHC), the reinforcement learning RL 1 Bucket 2.0 algorithm and the neural network GenNeural algorithm.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"298 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132654159","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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