Proceedings of the 1996 IEEE International Symposium on Intelligent Control

15-18 Sept. 1996

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  • 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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  • 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 (7)
    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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  • Artificial neural network feedback loop with on-line training

    Publication Year: 1996, Page(s):514 - 519
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (480 KB)

    In this paper, we discuss the implementation of a neural network feedback loop, a state estimator and a state feedback controller, that trains online to overcome variations between the a priori model dynamics and the true system dynamics. The technique uses the previously developed neuro-observer, an extended Kalman filter augmented with a neural network, and a model reference adaptive control law... View full abstract»

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  • Fuzzy control of a mobile robot with multiple trailers-stability analysis and parallel distributed compensation

    Publication Year: 1996, Page(s):259 - 264
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (444 KB)

    Control systems for backing mobile robots with multiple trailers are designed by applying a design technique of model-based fuzzy control and stability analysis. The simulation results show that the designed fuzzy controllers effectively realize backing control of the mobile robots with multiple trailers View full abstract»

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  • Operator interface and situation perception in hierarchical intelligent control: a case study

    Publication Year: 1996, Page(s):68 - 73
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (792 KB)

    This paper covers some operator interface issues of a hierarchical intelligent control system. The logical structure of the operator interface function in reference to the NIST real-time control system (RCS) architecture has been investigated. An emphasis is that the operator interface should be integrated seamlessly with existing systems. A design issue is to allow operators to be involved in sys... 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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  • 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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  • Global asymptotic stable control of growth dynamics of feed-forward neural network

    Publication Year: 1996, Page(s):456 - 461
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (484 KB)

    A design of artificial neural networks by using growth dynamics is proposed. The growth dynamics exist when a hidden neuron is added to a network, and the connection strength is treated as a control input. The objective of controlling the growth dynamics is to find a controller that achieves a global asymptotic stable (GBS) property, i.e. the zero error convergence. Theoretical foundation of the g... View full abstract»

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  • Improving the extrapolation capability of neural networks

    Publication Year: 1996, Page(s):390 - 395
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (540 KB)

    Neural networks can be used as an effective system identification tool in that they can model the vast majority of nonlinear systems to any arbitrary degree of accuracy. However, a fundamental disadvantage of neural networks is their inability to incorporate effectively first-principles models' information into their training so that their predictive capability is improved. This study proposes to ... View full abstract»

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  • Design of adaptive NNs-robust-PID controller for a robot control

    Publication Year: 1996, Page(s):508 - 513
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (476 KB)

    This paper investigates the trajectory control of a robot using a new type of recurrent neural network. A three-layered recurrent neural network is used to estimate the forward dynamics model of the robot manipulator. The standard backpropagation (BP) algorithm is used as a learning algorithm for this network to minimise the difference between the robot manipulator actual response and that predict... View full abstract»

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  • Algebraic design of fuzzy logic controllers

    Publication Year: 1996, Page(s):253 - 258
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (344 KB)

    We present a simple and efficient method for designing Takagi-Sugeno-Kang (TSK) [1985] fuzzy compensators that stabilize plants described by TSK fuzzy models. Our approach is based on the polytopic representation of the TSK fuzzy systems in the input-output domain View full abstract»

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  • Intelligent systems: a semiotic perspective

    Publication Year: 1996, Page(s):61 - 67
    Cited by:  Papers (1)
    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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  • Evolutionary design of fuzzy logic controllers

    Publication Year: 1996, Page(s):127 - 132
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (568 KB)

    An evolutionary approach to fuzzy logic controller design is presented in this paper. We propose the use of a class of genetic algorithms to produce suboptimal fuzzy rule-bases (internally represented as constrained syntactic trees). This model has been applied to the cart centring problem. The obtained results show that a good parametrization of the algorithm and an appropriate evaluation functio... View full abstract»

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  • Learning feedforward control of a flexible beam

    Publication Year: 1996, Page(s):103 - 108
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (508 KB)

    Servo control is usually done by means of model-based feedback controllers, which has two difficulties: 1) the design of a well performing feedback controller requires extensive and time consuming modelling of the process; and 2) by applying feedback control a compromise has to be made between performance and robust stability. The learning feedforward controller (LFFC) may help to overcome these d... View full abstract»

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  • Fuzzy integrated process supervision

    Publication Year: 1996, Page(s):319 - 324
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (568 KB)

    The integrated process supervision (IFS) is a structured refinement of the expert control architecture that allows the integration of different control techniques within a single generic framework. This is achieved in IFS through the classification of system behaviour into acceptable, malfunction and faulty behaviours according to certain system performance measurement using a simple thresholding,... View full abstract»

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  • An analytical framework for local feedforward networks

    Publication Year: 1996, Page(s):450 - 455
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (464 KB)

    Although feedforward neural networks are well suited to function approximation, in some applications networks experience problems when learning a desired function. One problem is interference which occurs when learning in one area of the input space causes unlearning in another area. Networks that are less susceptible to interference are referred to as spatially local networks. To understand these... View full abstract»

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  • Fault diagnosis of hyperbolic distributed parameter systems

    Publication Year: 1996, Page(s):194 - 199
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (516 KB)

    We consider parameter estimation techniques for detecting changes of a distributed nature due to faults, in a plant whose dynamics are governed by a wave equation. We examine changes in the distributed stiffness term, which provides a very simple and practical failure model for distributed parameter systems. Using Lyapunov redesign methods, extended and applied to hyperbolic distributed parameter ... View full abstract»

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  • Neural network control of processes with recycle

    Publication Year: 1996, Page(s):384 - 389
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (364 KB)

    Recycles in processing systems can add significant difficulty for feedback control by increasing complexity, nonlinearity and larger time delays. This study explores the use of neural networks to handle the control problems of recycles. The most critical design issue was the decision to include an auxiliary variable: the equilibrium value of the controlled variable, and the training set used View full abstract»

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  • Stability and optimality in genetic algorithm controllers

    Publication Year: 1996, Page(s):492 - 496
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (496 KB)

    Genetic algorithms are stochastic search techniques that guide a population of solutions towards an optimum using the principles of evolution and natural genetics. In recent years, genetic algorithms have become a popular optimization tool for many areas of research, including the field of system control and control design. Significant research exists concerning genetic algorithms for control desi... View full abstract»

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  • Partially asynchronous distributed algorithms for 2-dimensional multi-agent supporting systems

    Publication Year: 1996, Page(s):236 - 241
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (476 KB)

    This paper studies a physical surface whose shape is controlled by a multi-agent supporting system (MASS) consisting of components that cooperate to restore the original shape of the surface after an arbitrary disturbance. Synchronous distributed algorithms for 2-dimensional MASS have been investigated in the literature. This paper considers two models for 2-dimensional MASS having different numbe... View full abstract»

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  • Robust spacecraft attitude control using fuzzy CMAC

    Publication Year: 1996, Page(s):43 - 48
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (496 KB)

    In this paper, we propose to use a new neural network called fuzzy CMAC (cerebellar model arithmetic computer) to tackle the attitude control problem. The advantages are no linearity in the system parameter assumption is needed and no upper bounds of unknown parameters is required. An online tuning scheme with no off-line training phase is used to update the weights in the neural network. Attitude... View full abstract»

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  • IPCA, an architecture for intelligent control

    Publication Year: 1996, Page(s):80 - 85
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (828 KB)

    IPCA (Intelligent Process Control Architecture) is an architecture for flexible, intelligent control. IPCA is rooted in the generic task (GT) approach to knowledge-based systems and incorporates plan generation and real-time plan execution monitoring components. The plan generation component produces a state-based process control plan representation which typically contains a collection of possibl... View full abstract»

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  • Predicting journey parameters for the intelligent control of a hybrid electric vehicle

    Publication Year: 1996, Page(s):402 - 407
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (708 KB)

    The results from an ongoing project whose aim is to design an intelligent controller for hybrid electric vehicles is presented. Such a controller would be required to manage energy flow through the hybrid drive train and for optimum control would require a number of parameters normally available only upon journey completion. This paper presents work to attempt to predict journey distance and durat... View full abstract»

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  • Gain scheduling control of nonlinear plant using RBF neural network

    Publication Year: 1996, Page(s):502 - 507
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (504 KB)

    In this paper, an on-line approach to gain scheduling control of a type of nonlinear plant is proposed. The method consists of a partitioning algorithm to partition the plant's operating space into several regions, a mechanism that designs a linear controller for each region, and a radial basis function neural network (RBFN) for on-line interpolation of the controller parameters among the differen... View full abstract»

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