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Intelligent Control, 1996., Proceedings of the 1996 IEEE International Symposium on

Date 15-18 Sept. 1996

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Displaying Results 1 - 25 of 95
  • Proceedings of the 1996 IEEE International Symposium on Intelligent Control

    Publication Year: 1996
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    Freely Available from IEEE
  • Index of Authors, Chairpersons, and Organizers of the 1996 IEEE CCA/ISIC/CACSD

    Publication Year: 1996, Page(s):553 - 563
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (974 KB)

    Presents an index of the authors whose papers are published in the conference. View full abstract»

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  • Adaptive fuzzy logic control of feedback linearizable discrete-time nonlinear systems

    Publication Year: 1996, Page(s):133 - 138
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    The objective of this paper is to achieve tracking control of a class of unknown feedback linearizable nonlinear dynamical systems using a discrete-time fuzzy logic controller (FLC). Discrete-time FLC design is significant because almost all FLCs are implemented on digital computers. A repeatable design algorithm and the stability proof for an adaptive fuzzy logic controller is presented, that use... View full abstract»

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  • Neural generalized predictive control

    Publication Year: 1996, Page(s):277 - 282
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    An efficient implementation of generalized predictive control using a multilayer feedforward neural network as the plant's nonlinear model is presented. By using Newton-Raphson as the optimization algorithm, the number of iterations needed for convergence is significantly reduced from other techniques. The main cost of the Newton-Raphson algorithm is in the calculation of the Hessian, but even wit... View full abstract»

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  • Fuzzy (PI+D)2 control for flexible robot arms

    Publication Year: 1996, Page(s):536 - 541
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    This paper continues the investigation of a “shoulder-elbow-like” single flexible robot arm model with damping, previously discussed by the authors (1996), to develop a new design of a fuzzy (PI+D)2 control scheme for both vibration suppression and set-point tracking. Computer simulation results are included to show that the fuzzy-logic-based controllers perform very well fo... View full abstract»

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  • Genetic rule induction in the design of computed-torque/fuzzy-logic controllers for robotic manipulators

    Publication Year: 1996, Page(s):325 - 329
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    In this paper, genetic algorithms are used to design computed-torque/fuzzy-logic controllers for robotic manipulators. It is shown that this use of genetic algorithms provides a very effective means of determining the optimal set of fuzzy rules as well as the optimal domains of the associated fuzzy sets of the fuzzy-logic components of such controllers. It is demonstrated that these computed-torqu... View full abstract»

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  • A comparative study of fuzzy logic and neural network control of the truck backer-upper system

    Publication Year: 1996, Page(s):520 - 523
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    In this paper a simulated comparison of fuzzy logic and neural network control of the truck backer-upper system is presented. The aim of the controller is to back a truck to a loading dock which is a difficult task. It is a nonlinear control problem for which no traditional control system design method exists. We assumed that there were no linguistic rules available, and therefore the controllers ... View full abstract»

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  • Model based control using artificial neural networks

    Publication Year: 1996, Page(s):283 - 288
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (900 KB)

    An internal model control (IMC) using artificial neural networks is presented in this paper. IMC is significant because the stability and robustness properties of the structure can be analysed and manipulated in a transparent manner, even for nonlinear systems. Artificial neural networks are used for the construction of plant models and their inverse. Backpropagation algorithm is used to train the... View full abstract»

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  • Multiple agent hybrid control for manufacturing systems

    Publication Year: 1996, Page(s):348 - 353
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    We discuss how our generic hybrid control architecture, the mulitple agent hybrid control architecture (MAHCA), can be implemented to capture the complexity of the manufacturing process in an incremental fashion. We provide an example of how a MAHCA network of agents can be used to solve a planning, scheduling and control problem. MAHCA allows for the online reactive matching of current logic and ... View full abstract»

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  • Feedback neural nets for associative memories-an overview and some new results

    Publication Year: 1996, Page(s):474 - 479
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    This paper presents an overview for the existing synthesis procedures and some new developments for associative memories using feedback neural networks. Specifically, existing results including the outer product method, the projection learning rule, the eigenstructure method, and the sparse design method are reviewed for a class of feedback neural networks. Under certain sparsity constraints on th... View full abstract»

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  • Real-time navigation in unknown environments using fuzzy logic and ultrasonic sensing

    Publication Year: 1996, Page(s):26 - 30
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    In this study a fuzzy logic controller has been designed in order to deal with the uncertainty and ambiguity of the information the system receives. The technique has been used on a mobile robot using a set of seven ultrasonic sensors to perceive the environment. The fuzzy control designed maps the input space (information coming from ultrasonic sensors) to a safe collision avoidance trajectory (o... View full abstract»

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  • A cooperative intelligent system for urban traffic problems

    Publication Year: 1996, Page(s):162 - 167
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (596 KB)

    This paper discusses urban traffic problems and their intelligent solutions. It firstly considers and analyzes the urban traffic problem itself. As a conclusion, a multi-agent paradigm and cooperation between humans and computers are necessary for solving the traffic problems. Such a model is presented to support the argument. Then the paper introduces a cooperative intelligent system for urban tr... View full abstract»

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  • Modeling and control design for a computer controlled brake system

    Publication Year: 1996, Page(s):414 - 419
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    In this paper we consider the problem of modeling and control of a computer controlled brake system. The brake model is developed using a series of experiments conducted on a test bench which contains the full scale brake subsystem of a Lincoln town car and a computer controlled actuator designed by Ford Motor Company. The developed model has the form of a first order nonlinear system with the sys... View full abstract»

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  • A hybrid, self-organizing controller for multi-agent motion planning in a stationary environment

    Publication Year: 1996, Page(s):13 - 19
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    This work explores the construction of a decentralized traffic controller for more than one agents sharing a workspace with stationary forbidden regions. The suggested controller is required to be complete and have a computational effort that linearly increase with the number of agents. The controller is also required to be self-organizing, therefore is able to generate the needed information that... View full abstract»

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  • ANN-based feedback linearization for MIMO systems

    Publication Year: 1996, Page(s):289 - 294
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    This paper addresses the problem of feedback linearization of nonlinear systems. The existing linearization methods require complete knowledge of the system model. A new method for feedback linearization, avoiding this requirement which is rarely satisfied in practice, is proposed. The method is based on artificial neural networks (ANNs). Simulation results show satisfactory performance when the p... View full abstract»

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  • Stability and convergence issues in iterative learning control. II

    Publication Year: 1996, Page(s):480 - 485
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    Repeated accurate path tracking has many control applications. Manufacturing or cycled endurance testing are examples. Repetitions permit adjustments of control signals between cycles with trajectory error information. Iterative learning control (ILC) systems are designed for this situation. Time delays can adversely affect stability especially in iterative schemes. Calculation time by digital sys... View full abstract»

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  • Experiments and comparative analyses in adaptive fuzzy control

    Publication Year: 1996, Page(s):31 - 36
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    Advances in nonlinear control theory have provided the mathematical foundations necessary to establish conditions for stability of several types of adaptive fuzzy controllers. However, very few, if any, of these techniques have been compared to conventional adaptive or nonadaptive nonlinear controllers or tested beyond simulation; therefore, many of them remain as purely theoretical developments w... View full abstract»

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  • Intelligent systems: a semiotic perspective

    Publication Year: 1996, Page(s):61 - 67
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB)

    Intelligent systems have been in the focus of attention of scientific community for a long time. Nevertheless, the concept of intelligent system is not fully understood, and it affects interpretation of the existing research results as well as the choice of new research directions. In this paper, the subject is considered both from the semiotic and control theory point of view. The phenomenon of i... View full abstract»

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  • Fuzzy dynamic model based state estimator

    Publication Year: 1996, Page(s):313 - 318
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    Systems containing uncertainty are traditionally analyzed with probabilistic methods. However, for nonlinear, non-Gaussian systems solutions can sometimes be very difficult to obtain. The focus of this research is to determine if in such cases fuzzy dynamic systems models may provide an alternative approach that more easily leads us to a good solution. In this article, we present a fuzzy estimator... View full abstract»

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  • The BP neural networks with data clustering enhancement-an emerging optimization tool

    Publication Year: 1996, Page(s):188 - 193
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    The present paper examines enhancements to a backpropagation (BP) neural networks to use them efficiently in the optimization problems. A BP algorithm was extended with the aim of improving both the network training and its generalization capability. A clustering algorithm was implemented by using the Euclidean distances technique; clustering the input patterns in n-dimensional space provides incr... View full abstract»

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  • Discrete-time CMAC NN control of feedback linearizable nonlinear systems under a persistence of excitation

    Publication Year: 1996, Page(s):462 - 467
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    This paper attempts to provide a controller design for closed-loop control applications using cerebellar model articulation controller (CMAC) neural networks (NN) instead of feedforward NNs due to its increased structure. This increased local structure of CMAC NN result in better and faster controllers for nonlinear dynamical systems. For a class of multi-input multi-output (MIMO) nonlinear system... View full abstract»

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  • Learning augmented recursive estimation for uncertain nonlinear dynamical systems

    Publication Year: 1996, Page(s):438 - 443
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    This paper describes a learning augmented recursive estimation approach for nonlinear dynamical systems having unmodeled nonlinearities. Utilizing a passive spatially-localized learning system, an approximation of the unknown nonlinearity is synthesized online, based on state and parameter estimates from a nonlinear recursive estimator (an adaptive form of the extended Kalman filter). The learned ... View full abstract»

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  • Intelligent path training of a five-link walking robot on sloped surface

    Publication Year: 1996, Page(s):1 - 6
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    Intelligent path training of a five-link walking robot on sloped surface is introduced. A neural network theory, backpropagation through time, is applied in this study. The learning scheme uses two neural networks, a neural network controller and a neural network emulator, both of which are multilayered feedforward neural networks. The emulator is trained on accuracy data that characterize the act... View full abstract»

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  • Health monitoring of vibration signatures in rotorcraft wings

    Publication Year: 1996, Page(s):121 - 126
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    We propose to design and evaluate an on-board intelligent health assessment tool for rotorcraft machines, which is capable of detecting, identifying, and accommodating expected system degradations and unanticipated catastrophic failures in rotorcraft machines under an adverse operating environment. A fuzzy-based neural network paradigm with an online learning algorithm is developed to perform expe... View full abstract»

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  • A hybrid fuzzy neural network and its control applications

    Publication Year: 1996, Page(s):175 - 180
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    We present an alternative neural network architecture which is similar to the operation of a general fuzzy inference system. This hybrid fuzzy neural network (HFNN) is a modified multilayer feedforward neural network (MFNN) with four different layers. By using the gradient method, learning algorithms are derived. An example is presented to compare the approximation performance of the HFNN with the... View full abstract»

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