Proceedings of 12th IEEE International Symposium on Intelligent Control

16-18 July 1997

Filter Results

Displaying Results 1 - 25 of 76
  • Proceedings of 12th IEEE International Symposium on Intelligent Control

    Publication Year: 1997
    Request permission for commercial reuse | PDF file iconPDF (524 KB)
    Freely Available from IEEE
  • Advances in robust control design [extended abstract]

    Publication Year: 1997, Page(s): 1
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (75 KB)

    Summary form only given, as follows. The author overviews the exciting developments in the field of Robust Multivariable Feedback Control System Design. The philosophy behind these design methodologies is that in addition to a nominal model of the plant, the designer must have quantitative information about the inevitable modeling errors. Two classes of modeling errors occur simultaneously: (a) pa... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A fuzzy robust controller for induction machine

    Publication Year: 1997, Page(s):83 - 88
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (405 KB)

    This paper describes the fuzzy proportional-plus-integral controller for the speed control of an induction motor and compares the simulation results with those obtained by a conventional PI controller. Results have proved that the fuzzy controller gives higher performances and is less sensitive to motor parameters variations. Simulations were made by Simulink and Matlab software using the direct f... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robust control applied to robot arm

    Publication Year: 1997, Page(s):149 - 154
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (649 KB)

    Fuzzy control has emerged as a practical alternative to several conventional control schemes since it has shown success in some application areas. This paper aims to prove that the controller presented by the authors can be used in the multi-link plant. The fuzzy scheme, only based on the knowledge of the system behavior, does not need any mathematical model and it offers, both globally stable rob... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Telemanipulator neurocontrol using multiple RBF networks

    Publication Year: 1997, Page(s):257 - 262
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (669 KB)

    This paper addresses the control problem of masterslave systems which involve severe modeling errors and other high-level uncertainties, using neural networks. The solution approach is based on a recent teleoperator control scheme of S. Lee and H.S. Lee (1993, 1994), which is suitably enhanced such that to become capable of compensating the uncertainties. The class of radial-basis functions (RBF) ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robot control using a sliding mode

    Publication Year: 1997, Page(s):361 - 366
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    The dynamical model of robot manipulator is represented by a system of equations which are nonlinear and strongly coupled. Furthermore, the inertial parameters of the manipulator depend on the payload which is often unknown and variable. So, to avoid these problems we studied a variable structure system which is well suited for robotic arms. To this end an application of the sliding mode control b... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Author index

    Publication Year: 1997, Page(s):435 - 436
    Request permission for commercial reuse | PDF file iconPDF (80 KB)
    Freely Available from IEEE
  • Solutions of kinematics of robot manipulators using a Kohonen self-organizing neural network

    Publication Year: 1997, Page(s):251 - 255
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    Kohonen self-organizing neural network is used to solve the forward kinematics problems of robot manipulators. Through competition learning, neurons learn their distribution in the training phase. In sequel, the nonlinear mapping has been obtained by proper calibration of training results. The proposed method is based on the unsupervised learning which does not rely on the knowledge of process mod... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Wavelet neural network approach for control of non-contact and contact robotic tasks

    Publication Year: 1997, Page(s):245 - 250
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    In this paper, some basic ideas of wavelet approximation theory is analyzed and applied for intelligent control of manipulation robots in noncontact and contact tasks. In the first part of analysis, the wavelet neural network is applied as feedforward part of learning decentralized control algorithm for robotic nonconstant tasks. Two different approximation strategies are proposed: one where wavel... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Fuzzy logic control of material flow in flexible manufacturing systems

    Publication Year: 1997, Page(s):209 - 214
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    Automated material flow is essential to the optimal performance of a flexible manufacturing system (FMS). For those FMS for which material flow is carried out using conveyors, the control of the conveyor system is the key to managing material delivery to several machines comprising the system. This paper describes a fuzzy logic-based control model for an FMS conveyor system. Fuzzy logic technology... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Optimal phase current profiling of SRM by fuzzy logic controller to minimize torque ripple

    Publication Year: 1997, Page(s):77 - 82
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    This paper presents torque ripple minimization of switched reluctance motor (SRM) by using fuzzy speed controller. The nonlinear model of SRM is used and the motor used in simulation is a 8/6 SRM with C-Dump converter. The fuzzy controller adjusts value of reference current to keep speed constant. The results show that the fuzzy logic is effective in reducing the torque ripple of the motor, and co... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Economic assessment of an irrigation canal automation and control project

    Publication Year: 1997, Page(s):205 - 208
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    This paper briefly describes the system and techniques used to control the water level at different sections of an irrigation canals in Egypt. The canal has a peak design flow of 87 m3/seconds and is controlled by six major regulating structures. This paper also describes the experience and economic assessment of the implementation of the automation and control system. Implementation of... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Neural network generalization and system sensitivity in feedback control systems

    Publication Year: 1997, Page(s):233 - 238
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    A new framework for quantifying and analyzing the generalization ability of neural networks in control systems is presented. Rigorous definitions to quantify the generalization ability of a neural network in the context of system control are given. Utilizing these definitions, it is proved that a successfully trained neural network always generalize “well” to some extent. This dual pro... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A fuzzy logic controlled tracking system for moving targets

    Publication Year: 1997, Page(s):43 - 48
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    A control algorithm for a moving radar target tracking system is developed using fuzzy sets and fuzzy logic (FL) based approaches. The proposed system traces a car, tank, artillery, or a similar object moving with a constant or accelerating speed on a straightforward road or space. The controller was designed to track the moving objects with zero tracking errors View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Fuzzy logic control of a switched reluctance motor including mutual inductances and operating in the linear region

    Publication Year: 1997, Page(s):73 - 76
    Cited by:  Papers (3)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    The paper describes application of fuzzy logic in a speed control system that uses a C-Dump converter and a switched reluctance motor (SRM). In this paper, a novel control solution based on the fuzzy logic control (FLC) principle is formulated, and designed. The main aim of this paper is the minimization of acoustic noise in a 8/6 SRM by sum of the square of the phase currents and FLC methods in t... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • H tracking of unknown nonlinear systems using neural network

    Publication Year: 1997, Page(s):199 - 204
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    A stable neural adaptive control scheme, is proposed to achieve H ∞ performance for a class of unknown nonlinear SISO systems with external disturbances. In the control design, the controller comprises a certainty equivalence control term and an H∞ compensating term. The neural network is used to approximate the unknown nonlinear functions for the design of the eq... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Neural network approximation of piecewise continuous functions: application to friction compensation

    Publication Year: 1997, Page(s):227 - 232
    Cited by:  Papers (7)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    A new neural network (NN) structure is given for approximation of piecewise continuous (PC) functions of the sort that appear in friction, deadzone, backlash and other motion control actuator nonlinearities. The NN consists of neurons having a special class of nonsmooth activation functions termed `jump approximation basis functions'. This `jump approximation' NN plus a NN based on standard smooth... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robust control of an autonomous mobile manipulator

    Publication Year: 1997, Page(s):161 - 166
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    A dynamic model for a mobile manipulator (robot manipulator mounted on a vehicle) is derived; the coupling effects between the two parts and a class of uncertainties are included. The uncertain nature of contact parameters between the wheels and ground calls for a robust control method. For control, all nonlinear terms and uncertainties are considered as external disturbances acting on a linear sy... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Short term load forecasting using genetically optimized neural network cascaded with a modified Kohonen clustering process

    Publication Year: 1997, Page(s):107 - 112
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    A new intelligent approach is developed for short-term load forecasting (STLF). The technique consists of three basic modules. The first module employs the clustering of daily load curves using a modified Kohonen algorithm (MKA). The second module determines the most appropriate supervised neural network topology and associated initial weight values for each cluster extracted from a historical dat... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Postmodernism and intelligent control

    Publication Year: 1997, Page(s):37 - 42
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (656 KB)

    This paper draws parallels between intelligent control and recent trends in intellectual thought. Developments in philosophy, architecture, linguistics, and semiotics are reviewed as representatives of postmodernism and pragmatism, and contrasted with modern, reductive, analytic schools. Intelligent control, a product of the times no less than these other developments, can also be seen as a reacti... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Fuzzy controller design for parametric controllers

    Publication Year: 1997, Page(s):67 - 72
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    In this study, fuzzy logic controller (FLC) design for tuning some parametric controllers are investigated. The objective in designing an FLC is to determine the rule base of the system and the data base which includes membership functions, set operations, and inference engine. Two designs have been realized using heuristic rule generation, one for a PID controller and one for a lead-lag type cont... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Simulation of traffic flow system and control using fuzzy logic

    Publication Year: 1997, Page(s):325 - 330
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    Fuzzy control can be used to control traffic problems. The traffic problem consists of coming and going lane, junction, traffic jam and traffic light. In this study, fuzzy control has three inputs. The first input is average traffic density while the green light is on. The second input is average traffic density while the red light is on. The third input is time of variation. There are three membe... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Neural control of MIMO nonlinear plants: a gain scheduling approach

    Publication Year: 1997, Page(s):193 - 197
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB)

    A neural controller design technique for MIMO nonlinear plants is presented. In a first stage, the plant is identified by a neural network model. In a following stage, using the neural network model, linearized models of the plant are obtained about several operating points. With the aid of conventional linear control theory, linear controllers are designed. Finally, a neural-controller is trained... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Optimal robot hand preshaping control using genetic algorithms

    Publication Year: 1997, Page(s):137 - 142
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    This work focuses on the generation of optimal fingertip trajectories for a given preshape of a five fingered robot hand, the Anthrobot III. The hand preshape is defined in a “look ahead” manner, being related to task properties in manipulating a grasped object and to object constraints such that a performance measure in terms of stability and manipulability is used in the formulation.... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Computer algebra system applications in process control

    Publication Year: 1997, Page(s):221 - 225
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    This paper discusses the use of the computer algebra system Maple for demonstrating and applying process control principles. Control engineers and technicians must be familiar with the simple proportional-integral-derivative (PID) controller for single loop control, and with Bode plot analysis for selecting tuning constants and stability range for the controller. Two Maple procedures are discussed... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.