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Control Applications, 2007. CCA 2007. IEEE International Conference on

Date 1-3 Oct. 2007

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  • Table of contents

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  • Neural identification based on sliding mode observer

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (643 KB) |  | HTML iconHTML  

    In this paper, a new on-line neural identification method is presented. The identified nonlinear systems are partial-state measurement. Their inner states, parameters and structures are unknown. The design is based on the combination of a sliding mode observer and a neuro identifier. First, a sliding mode observer, which does not need any information of the nonlinear system, is applied to get the full states. Then a dynamic multilayer neural network is used to identify the whole nonlinear system. The main contributions of this paper are: (1) a new observer based identification algorithm is proposed; (2) a stable learning algorithm for the neuro identifier is given. View full abstract»

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  • Optimal State-Space Realizations of Digital Controllers with Roundoff Noise Consideration

    Page(s): 7 - 12
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (422 KB) |  | HTML iconHTML  

    The effect of roundoff noise in a state-space digital controller is investigated for a discrete-time control system. An analytical expression of the roundoff noise gain is obtained, with which the optimal realization problem is solved on the set of fully parametrized realizations. A sparse structure is derived and analyzed in terms of roundoff noise performance. The problem of finding optimized sparse structures is solved. A design example is given, which shows that the optimized sparse realization beats the fully parametrized optimal realization in terms of roundoff noise gain and computation efficiency. View full abstract»

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  • Piezo-Assisted Intra-Cytoplasmic Sperm Injection: A Comparative Study of Two Penetration Techniques

    Page(s): 13 - 17
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (515 KB) |  | HTML iconHTML  

    This paper discusses the application of piezo-actuator in intra-cytoplasmic sperm injection (ICSI). Specifically, it presents a comparative study of two techniques in the penetration of oocyte (egg cell) : linear-reciprocating and partially-rotating techniques. The other conditions during penetration, including media preparation, installation, and controller, are maintained the same during the operation. The experiment shows that piezo-assisted ICSI achieves better results compared to manual ICSI even when mercury is not used (as is usually the case). Furthermore, partially-rotating technique causes less vibration to the oocyte compared to linear-reciprocating technique. View full abstract»

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  • A Novel Q-Learning Approach with Continuous States and Actions

    Page(s): 18 - 23
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (292 KB) |  | HTML iconHTML  

    This paper presents a generalized Q-learning method termed dynamic fuzzy continuous-action Q-learning (DFCAQ) that works in continuous domains. It can be regarded as an extension of Millan's work in continuous-action Q-learning. In the DFCAQ approach, continuous states and actions are generated via a fuzzy structure. Instead of considering actions selected by the nearest unit only in the original continuous-action Q-learning, the global action is generated via a fuzzy approach. Compared with Jouffe's fuzzy Q-learning, the DFCAQ fuzzy structure can be automatically and dynamically generated. At the same time, the local actions in the DFCAQ method are average values of the discrete actions weighted by their Q-values. In addition, comparison studies in robotics domains show the superiority of the proposed DFCAQ method. View full abstract»

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  • Fuzzy neural modeling via clustering and support vector machines

    Page(s): 24 - 29
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (616 KB) |  | HTML iconHTML  

    This paper describes a novel fuzzy rule-based modeling approach for some industrial processes. Structure identification is realized by clustering and support vector machines. When the process is slow, fuzzy rules can be obtained automatically. Parameters identification uses the techniques of fuzzy neural networks. A time-varying learning rate assures stability of the modeling error. View full abstract»

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  • Pattern-based Hybrid Intelligent Control for Rotary Kiln Process

    Page(s): 31 - 35
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (811 KB) |  | HTML iconHTML  

    Rotary kiln process is a strongly coupled multivariable nonlinear system with large lag. It has complex control target with less manipulate variables than controlled variables, and the boundary conditions vary frequently and severely during operation. Most rotary kilns are still under manual control such that the burning status cannot be maintained stable, the product quality is hard to be kept consistent and energy consumption remains at high level. To deal with this problem, this paper presents a pattern-based hybrid intelligent control strategy. Because of the vital importance of the burning zone temperature, several patterns representing kiln operation conditions are distinguished through burning zone temperature pattern recognition. A MIMO supervisory fuzzy controller is designed to address qualitative decoupling among controlled variables in the normal regulation phase, and a human mimic controller is employed to avoid overshoot when process large disturbance happens in the abnormal regulation phase. The two controllers are switched by the pattern recognition model, with their parameters tuned also by the pattern recognition model. This pattern-based hybrid intelligent control approach has been implemented in DCS and successfully applied in an alumina rotary kiln. Satisfactory results have shown that the adaptability and performances of the control system have been improved effectively, and remarkable benefit has been obtained. View full abstract»

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  • Feedback control through networks with packet loss: mixed H2/H approach and application to a teleoperating system

    Page(s): 36 - 41
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (795 KB) |  | HTML iconHTML  

    We consider a networked control system that utilizes unreliable channels where packets may be lost. By modeling the losses as stochastic processes, we propose a mixed H2/H control approach for synthesis of a controller that depends on the information regarding the losses. The approach is applied to a bilateral teleoperating system. Numerical results show that the proposed control achieves desired performance. View full abstract»

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  • Information Transmission by Means of Chaos-Based Frequency Modulation and Adaptive Identification

    Page(s): 42 - 46
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (465 KB) |  | HTML iconHTML  

    The problem of information transmitting using chaotic signals is considered. New method of information coding by means of frequency modulation of the chaotic signal is proposed. Chaotic generator is modulated by information signal by means of its time scaling. The receiver recovering algorithm, using ideas of Lion's and speed-gradient method, based on the adaptive identification procedure and augmented signals is built up. Robustified adaptation law applicable for noisy transmission channel is presented. The example of signal transmission by means of the frequency modulation of the Chua system is given. The simulation results for signal transmission of the audio frequency range signals are demonstrated. View full abstract»

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  • An H control design approach to networked control systems

    Page(s): 47 - 52
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (471 KB) |  | HTML iconHTML  

    This paper is concerned with the design problem of robust H∞ control for linear networked control systems (NCSs) with network-induced delay and data packet dropout. By choosing a new Lyapunov-Krasovskii functional, a sufficient condition on the existence of robust H controller is derived in the form of a matrix inequality. No model transformation is needed and no redundant matrix variable is introduced. Then an iterative algorithm is introduced for obtaining the robust H controller design method based on the matrix inequality. No parameter needs to be selected in advance. Two numerical examples are finally given to illustrate the effectiveness of the proposed algorithm. View full abstract»

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  • Phase Plane Analysis and Design for TCP Congestion Control

    Page(s): 53 - 58
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (711 KB) |  | HTML iconHTML  

    This paper describes a phase-plane method for providing an interpretation of various TCP flow control mechanisms. By using the phase-plane analysis, the stability and dynamical switching behaviors of TCP congestion control protocols are studied. By analyzing the mathematical models of the TCP congestion avoidance algorithms, the equilibrium condition and the dynamical behavior can be characterized within the phase plane. Furthermore, two types of design frameworks for the TCP window size adjustment are proposed and analyzed. These two protocols, called Vegas-like TCP type I and Vegas-like TCP type II, are designed based on the vector field of a dynamical system and inherit the idea from the standard TCP-Vegas protocol that uses RTT (round-trip-time) as a congestion measure. Type I gives a change in the number of switching dynamics of the vector field, while type II keeps the same number of switching dynamics of the vector field as TCP-Vegas but with a different style in each of switching dynamics. Finally, the performance of the proposed scheme is compared with the standard TCP-Vegas by the simulation study in the network simulator, ns-2. View full abstract»

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  • Gain Scheduled Output Feedback Control of Discrete-Time Networked Systems

    Page(s): 59 - 64
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (394 KB) |  | HTML iconHTML  

    This paper discusses the Hinfin control synthesis for discrete-time linear networked systems with time-varying delays in input and output channels. The time-varying delays are assumed to take their values in finite sets, and assumed to be measurable only on line. Our formulation allows the (worst) case of random delays with no stochastic assumption. Considering delays as parameters, we first reformulate the Hinfin control problem for networked systems with time-varying delays into that for linear parameter-varying (LPV) systems with jumping parameters. Next, we present a sufficient condition, which is given as a finite set of linear matrix inequalities (LMIs) depending on values of parameters, for synthesizing a gain scheduled output feedback control for LPV systems with jumping parameters, and based on this condition, derive an output feedback controller scheduled with input-output delays. Finally, applying our controller to the networked system composed of the cart and inverted pendulum plant and the input-output channels with random jumping delays, we show that our controller, which does not assume any stochastic property on delays, displays a good performance almost similar to that of the existing stochastic Hinfin controller. View full abstract»

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  • H controller design of state feedback networked control systems with long delay and packet dropout

    Page(s): 65 - 70
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (473 KB) |  | HTML iconHTML  

    This paper studies the problem of designing robust H controller design of state feedback networked control systems with long delay and packet dropout controllers for state feedback networked control systems (NCSs) with long time delay and packet dropout. A switched delay-based method is proposed to model the NCSs with long time delay and packet dropout as switched systems, then the H controllers are designed for the obtained switched systems by using LMI-based method. The H controller design using the proposed switched delay-based method is proved to be less conservative than the controller design using the existing parameter uncertainty-based method. The simulation results illustrate the effectiveness of the proposed H controller design methods. View full abstract»

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  • Robust Adaptive Control of Coordinated Multiple Mobile Manipulators

    Page(s): 71 - 76
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1591 KB) |  | HTML iconHTML  

    In this paper, robust adaptive controls of multiple mobile manipulators carrying a common object in a cooperative manner have been investigated with unknown inertia parameters and disturbances. At first, a concise dynamics consisting of the dynamics of mobile manipulators and the geometrical constraints between the end-effectors and the object is developed for coordinated multiple mobile manipulators, Then, robust adaptive controls have been designed where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. Simulation studies on the control of coordinated two wheels driven mobile manipulators have been used to show the effectiveness of the proposed scheme. View full abstract»

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  • Optimal Iterative Learning Controls for the Partial Non-Regular Systems Using Lifting Technique

    Page(s): 77 - 81
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (345 KB) |  | HTML iconHTML  

    Deficiencies of the optimal iterative learning control (ILC) for the non-regular systems are investigated in detail, then a faster control input updating and lifting technique is introduced in the design of optimal ILC for the partial non-regular systems. Besides, a novel optimal ILC based on new defined performance index in iteration domain is presented for the lifted systems. At last, simulation results are given to illustrated feasibility of proposed learning controls. View full abstract»

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  • Cooperative Vision-Based Multi-Vehicle Dynamic Coverage Control for Underwater Applications

    Page(s): 82 - 87
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1183 KB) |  | HTML iconHTML  

    This paper studies the dynamic coverage control problem for underwater applications using a fleet of cooperative submarines with vision-based cameras. A sensor model for the vision-based camera is first presented. The coverage goal, which is to collect a desired amount of satisfactory quality samples at every point in a given domain, is stated in a precise mathematical statement. A coverage error function is then defined and used as a metric for the coverage quality. A gradient-descent control law is then derived. Numerical simulations are presented to illustrate the main results. Centralized and decentralized system architectures currently under investigation by the authors for an experimental test-bed are also discussed. View full abstract»

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  • Unified Tracking and Regulation Visual Servo Control for Wheeled Mobile Robots

    Page(s): 88 - 93
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (595 KB) |  | HTML iconHTML  

    A visual servo controller is developed for a monocular camera system mounted on a wheeled mobile robot (WMR), which simultaneously solves the tracking and regulation control problems. A prerecorded image sequence (e.g., a video) or single image of four target points is used to define a desired trajectory or desired fixed position and orientation for the WMR. By comparing the target points from a stationary reference image with the corresponding target points in the live image and the prerecorded sequence of images, projective geometric relationships are exploited to construct Euclidean homographies. The information obtained by decomposing the Euclidean homographies is then used to derive a standard WMR form. The proposed result is the first visual servo control result that solves the unified tracking and regulation problem. View full abstract»

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  • Control of Nonholonomic Mobile Robot Formations: Backstepping Kinematics into Dynamics

    Page(s): 94 - 99
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (474 KB) |  | HTML iconHTML  

    In this paper, we seek to expand framework developed to control a single nonholonomic mobile robot to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. The asymptotic stability of the entire formation is guaranteed using Lyapunov theory, and numerical results are provided The kinematic controller is developed around control strategies for single mobile robots and the idea of virtual leaders. The virtual leader is replaced with a physical mobile robot leader and the assumption of constant reference velocities is removed An auxiliary velocity control is developed allowing the asymptotic stability of the followers to be proved without the use of Barbalat's Lemma which simplifies proving the entire formation is asymptotically stable. A novel approach is taken in the development of the dynamical controller such that the torque control inputs for the follower robots include the dynamics of the follower robot as well as the dynamics of its leader, and the case when all robot dynamics are known is considered. View full abstract»

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  • Lyapunov Design of Cooperative Control and Its Application to the Consensus Problem

    Page(s): 100 - 107
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1021 KB) |  | HTML iconHTML  

    In this paper, cooperative control of nonlinear networked systems is investigated. In particular, the Lyapunov direct method is applied to stability analysis and control design of cooperative systems. The proposed design is based on a necessary and sufficient condition of (linear) cooperative controllability on properties of arbitrarily time-varying topologies and on their corresponding control Lyapunov functions. A class of cooperative control Lyapunov functions with respect to the consensus set x = c1 is explicitly found, and a Lyapunov argument is presented for both analysis and design. Examples are included to illustrate both the design process and performance of cooperative controls. View full abstract»

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  • Modeling and Compensation of Pivot Nonlinearity in Hard Disk Drives

    Page(s): 108 - 113
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (708 KB) |  | HTML iconHTML  

    In this paper the authors propose a new, straightforward approach to derive model of the pivot nonlinearity in the hard disk drive. The proposed nonlinear model is not based on classical pivot nonlinearity models. It is derived using frequency domain measurements obtained for different amplitudes of the actuator excitation current. One of the advantages of the obtained model is that it is derived using actual experimental measurements conducted under the real operating conditions of the hard disk drive. Experimental results show good match of the derived model with both the frequency and time domain measurements. The derived model is subsequently used for feedforward compensation of the pivot nonlinearity and the experimental results are presented. Simulation studies are carried out for adaptive neural network compensation using the derived model. View full abstract»

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  • High bandwidth design of track-following control system of hard disk drive using H control theory

    Page(s): 114 - 117
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (860 KB) |  | HTML iconHTML  

    In hard disk drives, it is important to increase the control bandwidth in order to shorten the track pitch for larger data capacity. However, it is difficult for H control theory to increase the control bandwidth if the mechanical resonance modes have uncertainty. This is because that the robustness of the H control theory is assured by the small-gain theorem for additive or multiplicative perturbation and the control bandwidth is limited by the uncertainty. In this study, we propose an H design method for a high bandwidth design by introducing a new uncertainty model with feedforward and feedback path in order to reduce the conservatism of robust design. The effectiveness is shown by numerical simulations. View full abstract»

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  • Control and Rotation Rate Estimation of Vibrational MEMS Gyroscopes

    Page(s): 118 - 123
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (451 KB) |  | HTML iconHTML  

    There are two major control problems associated with vibrational MEMS gyroscopes: to control two vibrating axes (or modes) of the gyroscope, and to estimate a time-varying rotation rate. This paper demonstrates how a novel active disturbance rejection control addresses these problems in the presence of the mismatch of natural frequencies between two axes, mechanical-thermal noises, quadrature errors, and parameter variations. A demodulation approach based on the estimated dynamics of the system by an extended state observer is proposed to estimate the rotation rate. The simulation results on a Z-axis MEMS gyroscope show that the controller is very effective by driving the output of the drive axis to a desired trajectory, forcing the vibration of the sense axis to zero for a force-to-rebalance operation and precisely estimating the rotation rate. View full abstract»

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