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Proceedings of 12th IEEE International Symposium on Intelligent Control

16-18 July 1997

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  • Proceedings of 12th IEEE International Symposium on Intelligent Control

    Publication Year: 1997
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    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»

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  • Author index

    Publication Year: 1997, Page(s):435 - 436
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    Freely Available from IEEE
  • An integrated system for electrical systems applications using genetic algorithms

    Publication Year: 1997, Page(s):431 - 434
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    This paper describes the integrated utilization of a graphical user interface, simulation of a power system, the use of artificial intelligence techniques and the real-time data communication for the representation of the electrical operations and analysis of the system. The system is developed in MS-WindowsTM environment, which it makes its utilization and modification more flexible in... View full abstract»

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  • A hybrid system approach to contact stability and force control in robotic manipulators

    Publication Year: 1997, Page(s):143 - 148
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    Force control and manipulation involving contacts are essentially hybrid control problems because of the inherent switching present in the dynamic behavior when the manipulator comes in contact with and leaves a surface. In this study, the game theoretic approach of hybrid control design is used to synthesize the least restrictive control law for a robotic manipulator to establish and maintain con... View full abstract»

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  • Constrained genetic algorithm-based computer-aided control system design-fixed versus variable size population

    Publication Year: 1997, Page(s):425 - 430
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    This paper shows how the desired shape of the system response can be used to define the fitness of a design. The paper also shows that the GA can be used to solve practically constrained optimization problems. The technique is applied to the design of proportional and/or integral and/or derivative behavior controllers for a DC servomechanism system, which is also used as an example to demonstrate ... View full abstract»

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  • 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»

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  • Control of nonlinear dynamical systems using genetic algorithms

    Publication Year: 1997, Page(s):421 - 424
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (284 KB)

    This paper introduces a new method for the control of nonlinear systems using genetic algorithms. The proposed method formulates the nonlinear controller design as an optimization problem and genetic algorithms are used in the optimization process. Simulation examples are included to illustrate the performance and effectiveness of the proposed method View full abstract»

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  • 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»

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  • An experimental verification of a model reference and sensitivity model-based self-learning fuzzy logic controller applied to a nonlinear servosystem

    Publication Year: 1997, Page(s):263 - 268
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    In this paper, an experimental verification of a self-learning fuzzy logic controller (SLFLC) is described. The SLFLC contains a learning algorithm that utilizes a second-order referent model and a sensitivity model. The effectiveness of the proposed controller has been tested in the position control loop of a chopper-fed DC servo system affected by fairly high static friction and by a gravitation... View full abstract»

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  • Adaptive versus adaptive fuzzy-logic control

    Publication Year: 1997, Page(s):49 - 54
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    The direct adaptive fuzzy-logic controller developed by Wang (1993) is compared with an equivalent pure adaptive controller which is proposed in this paper. Both controllers are tested on a nonlinear model of a single-link robot-arm. The adaptive controller requires less computational burden while it has equal or faster response than the fuzzy logic controller View full abstract»

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  • 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»

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  • Telemanipulator neurocontrol using multiple RBF networks

    Publication Year: 1997, Page(s):257 - 262
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 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»

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  • Designing PI/PID controllers for a motion control system based on genetic algorithms

    Publication Year: 1997, Page(s):125 - 130
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    In this paper a design method which determines PI/PID parameters of motion control systems based on genetic algorithms (GAs) is presented. First, a brief review is given of an analytical procedure to obtain optimal PI/PID parameters by minimization of the integral of time multiplied-squared error in the frequency domain. Next, a computationally simple procedure based on real-coded GAs with appropr... View full abstract»

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  • Neuro-based adaptive torque control of a flexible arm

    Publication Year: 1997, Page(s):239 - 244
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    This paper presents a neuro-based adaptive control (NBAC) for torque control of a flexible arm with structural uncertainties. In the NBAC, a neural net (NN) is connected in parallel with a linearized plant model, so that the NN is expected to identify the uncertainties included in the plant. The NN works as an adaptive controller simultaneously that can compensate for the uncertainties. The NBAC i... View full abstract»

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  • 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»

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  • Parallel contour recognition using matched filter

    Publication Year: 1997, Page(s):293 - 296
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    An approach to parallel contour recognition is proposed. This approach is based on a matched filter in the spectral domain in parallel to selected geometrical features of contours such as length of the contour, area, radius and center of gravity. In the experimental part of this paper, the selected contours were extracted from the 2D image using the OCE (object-oriented contour extraction) method ... View full abstract»

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  • A hybrid control approach for a class of underactuated mechanical systems

    Publication Year: 1997, Page(s):367 - 372
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    This paper considers a stabilizing hybrid scheme to control a class of underactuated mechanical systems. The hybrid controller consists of a collection of state feedback controllers plus a discrete-event supervisor. When the continuous-state hits a switching boundary, a new controller is applied to the plant. Lyapunov theory is used to determine the stability of the closed-loop hybrid system. This... View full abstract»

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  • Method for fuzzy rules extraction from numerical data

    Publication Year: 1997, Page(s):61 - 66
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    A method for extraction of fuzzy rules from numerical input-output data is proposed. The main idea consists in separation of the input space into activation rectangles, corresponding to different output intervals. The generation of fuzzy rules and membership functions is based on these activation rectangles, whereas an appropriate fuzzy rules inference mechanism is proposed. The method formalises ... View full abstract»

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  • Genetic adaptive state estimation for a jet engine compressor

    Publication Year: 1997, Page(s):131 - 136
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    A genetic algorithm (GA) uses the principles of evolution, natural selection, and genetics to offer a method for parallel search of complex spaces. In this paper we develop a GA that can perform online adaptive state estimation. First, we show how to construct a genetic adaptive state estimator where a GA evolves the model in a state estimator in real time so that the state estimation error is dri... View full abstract»

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  • Fixturing for mechanical prismatic parts with the input of 3D CAD data in the STEP standard

    Publication Year: 1997, Page(s):403 - 408
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Fixturing plays an important role in process planning since it is the key factor to precision manufacturing. An expert process planning and fixturing system has been developed and implemented in Prolog. This paper presents the fixturing techniques applied to find supporting, locating and clamping faces for 3D prismatic parts. The fixturing systems are outlined and an example part is given View full abstract»

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  • Training recurrent neural networks for dynamic system identification using parallel tabu search algorithm

    Publication Year: 1997, Page(s):113 - 118
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    There are several modern heuristic optimisation techniques, such as neural networks, genetic algorithms, simulated annealing and tabu search algorithms. Of these algorithms, the tabu search is quite a new, promising search technique for numeric problems, especially for nonlinear problems. However, the convergence speed of the standard tabu search to the global optimum is initial-solution-dependent... View full abstract»

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  • Use of neural networks for generating on-off commands for flexible systems

    Publication Year: 1997, Page(s):155 - 160
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (580 KB)

    Methods are presented that generate command profiles for flexible systems equipped with on-off actuators. Optimization methods are used to obtain the command profile for a limited number of possible slew distances. Using these data, neural networks are then trained to generate the command profiles for any desired slew distance. Several different types of networks are evaluated for use in this appl... View full abstract»

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  • 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»

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  • 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»

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