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Intelligent Control and Information Processing (ICICIP), 2011 2nd International Conference on

Date 25-28 July 2011

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  • [Front matter]

    Publication Year: 2011 , Page(s): 1 - 2
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  • Technical program

    Publication Year: 2011 , Page(s): ix - xxvii
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  • Author index

    Publication Year: 2011 , Page(s): A-1 - A-13
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  • Organising Committee

    Publication Year: 2011 , Page(s): 1 - 2
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  • Reaching cluster consensus in multi-agent systems

    Publication Year: 2011 , Page(s): 569 - 573
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (202 KB) |  | HTML iconHTML  

    In this paper, the cluster consensus problem of linearly coupled multi-agent systems in directed networks is studied by constructing a Laplacian of a directed graph. Different from the former work in which the clusters are divided artificially, in this paper, the relationship between the number of the clusters and the Laplacian is revealed. It is obtained that the number of clusters equals to the multiplicity of the zero eigenvalue of the Laplacian. Based on the Algebraic Graph Theory, the Matrix Theory and the Modern Control Theory, a sufficient and necessary condition about the global stability of the cluster consensus in multi-agent system is derived. A numerical example is proposed to illustrate the effectiveness of the method. View full abstract»

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  • Robust adaptive neural network tracking control for manipulators with unmodeled dynamics

    Publication Year: 2011 , Page(s): 574 - 578
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (170 KB) |  | HTML iconHTML  

    Unmodeled dynamics are the unavoidable nonlinear effect that can limit control performance in robotic systems. The unmodeled dynamics of the system include uncertainty or unknown and unmeasured states. Meanwhile, it is not available for the control. Based on universal approximation results for radial basis function neural networks (RBF-NN), it has been proposed as an alternative to NN for approximating arbitrary nonlinear functions in L2(R). Adaptive RBF neural network is used to design a compensator for unmodeled dynamics in robotic system. Then asymptotically stability of the system is assured by combining nominal feedback controller and adaptive law of NN. The simulation results show the validity of the control scheme. View full abstract»

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  • Robust stability criteria for neural Cohen-Grossberg networks with both time-varying delay and parametric uncertainties

    Publication Year: 2011 , Page(s): 579 - 584
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (231 KB) |  | HTML iconHTML  

    In this paper, a stability analysis of a Cohen-Grossberg neural network (CGNN) with both time-varying delays and parametric uncertainties is given by employing Lyapunov-Krasovskii functional, delay partitioning method and free matrix approach. A sufficient condition is derived to ensure the stability of the uncertain CGNN with time-delay. It is noticeable that the theorem derived in this paper does not require the derivative of time-delay, which makes the result more general compared with former works. Besides, the lower bound of time-delay is also considered in this paper, which may lead to a less conservative result. View full abstract»

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  • Neural networks L2-gain control for robot system

    Publication Year: 2011 , Page(s): 585 - 589
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    A new L2-gain disturbance rejection controller and adaptive adjustment are combined into a hybrid robust control scheme, which is proposed for robot tracking control systems. The proposed controller deals mainly with external disturbances and nonlinear uncertainty in motion control. A neural network (NN) is used to approximate the uncertainties in a robotic system. Meanwhile, the approximating error of the NN is attenuated to a prescribed level by the adaptive robust controller. The adaptive techniques of NN will improve robustness with respect to uncertainty of system, as a result, improving the dynamic performance of robot system. A simulation example demonstrates the effectiveness of the proposed control strategy. View full abstract»

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  • Design of web-based 3D control laboratory

    Publication Year: 2011 , Page(s): 590 - 594
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (497 KB) |  | HTML iconHTML  

    In this paper, the design of a 3D web-based control laboratory is introduced. The new design is based on the framework of NCSLab (Networked Control System Laboratory). The 3D models of test rigs are designed in 3DS Max environment. Then, they are imported and rendered in Flash Control by using 3D engines. The Flash Controls can be easily embedded into the NCSLab web based user interface. Communication and Motion Control modules in these Flash Controls are also developed. These modules retrieve the real time data from the server through the AJAX Scripts running in the web browser and control the movements of the 3D models following the changes of the real time data. Therefore, these motions are synchronized with the real movement of the physical test rigs during the remote experiments. The users are allowed to change their perspectives using mousse, so they are able to “watch” the test rigs from different angles. In order to illustrate how the 3D remote laboratory works, an example of experiments on a dual tank test rig is given at the end of the paper. View full abstract»

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  • Analytical tuning of PIλ controllers with phase margin and robustness

    Publication Year: 2011 , Page(s): 595 - 598
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (130 KB) |  | HTML iconHTML  

    An analytical parameters tuning method of PIλ controllers is discussed with exact phase margin and robustness against the gain variations of the controlled plants. According to the definitions of phase margin and the robustness to the gain changes of the controlled plant at gain cross over frequency, three nonlinear equations containing the three tuning parameters of PIλ controller are obtained and an algorithm for analytically solving the nonlinear equations is proposed. The well-known Ziegler-Nichols tuning rule for classical PI Controller is used for the purpose of comparison. It is shown via simulation that the desired phase margin and robustness can be achieved by the proposed tuning rule of PIλ controllers. View full abstract»

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  • Design and implementation of a networked controller based on state prediction

    Publication Year: 2011 , Page(s): 599 - 603
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (155 KB) |  | HTML iconHTML  

    Aiming at the problem of random delay in close-loop networked control systems, this study designed a LQ control strategy based on state prediction. Time-variant transmission delays can be transformed into fixed delays by adding data buffers to the controller and the actuator. Accordingly, time-variant stochastic systems can be transformed into deterministic systems. In this study, controllability of deterministic networked control systems is systematically analyzed, and a LQ control scheme based on state prediction is studied. Also the validity of the algorithm for the controller is demonstrated by practical experiments. View full abstract»

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  • Improved networked predictive control with different transmission delays in both forward and feedback channels

    Publication Year: 2011 , Page(s): 604 - 609
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    The paper is concerned with an improved predictive control method of NCSs (Networked Control Systems) with random time delay and data dropout. The design of networked control system we proposed is based on Scenario-Based Networked Control (SBNC). Through this method the NCSs' performance is relative with an equivalent data-dropout probability. In this paper, the improved method is applied on the linear systems, and the network is in both forward and feedback channels that is more realistic. The buffer in feedback channel makes the system equivalent to a system with an extra forward delay, and the feedback channel has no delay. The simulation on the ball and beam system verifies the effectiveness and rationality of the proposed control algorithm. Besides, the comparison between a different predictive method and this improved one is achieved, and the latter one shows better tracking properties even when the network is very bad. The effects of the parameters are also considered in the simulation. View full abstract»

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  • An improved clustering scheme for EEDC

    Publication Year: 2011 , Page(s): 610 - 613
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (112 KB) |  | HTML iconHTML  

    An improved clustering scheme is proposed for the defeat of producing single-node cluster in EEDC algorithm. In the scheme, a combination of single-hop and multi-hop communication within the cluster is adopted, and the factors of energy, degree, position are considering during election of head node. Simulation results show that compared with EEDC algorithm, the new scheme runs under a more load-balanced network with less single-node clusters and extends the network lifetime more effectively. View full abstract»

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  • Robust H fault-tolerant control of uncertain singular bilinear systems with time-delay

    Publication Year: 2011 , Page(s): 614 - 618
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (190 KB) |  | HTML iconHTML  

    In this paper, the characteristic is the complexity of the system, as a nonlinear system, the system is similar to the linear system. Not only does the system have the value in research, but also for practical application is also important. Time-delays and uncertainties are the two phenomena often appear in the systems. When an actuator failure appears, the system can maintain stability and satisfy the performance index γ by the feedback controller. In the design process, it chooses the weight matrix Q properly in the Riccati equation to process the bilinear terms, and we can get matrix P. Finally, a simulated example verifies that the conclusion is valid. View full abstract»

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  • Speed estimation of induction motor based on neural network

    Publication Year: 2011 , Page(s): 619 - 623
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    According to the mathematic model of induction motor, a new method of speed estimation based on the neural network was presented in this paper. Based on the traditional adaptive system, the neural network replaces the original organization used in the speed-sensorless vector control system. A kind of new method of speed estimation based on the neural network, and the structure and learning algorithm of the neural network were proposed. The designed method has the advantages of simple structure and good robustness. The simulation result showed that the new method could accurately track the variation of the motor speed and had good performance. View full abstract»

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  • Study on the automatic Unmanned Aerial Vehicle Image mosaic algorithm

    Publication Year: 2011 , Page(s): 624 - 628
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (236 KB) |  | HTML iconHTML  

    In this paper, a novel mosaic algorithm for Unmanned Aerial Vehicle Images (UAVI) was put forward. We implemented the automatic mosaic method as follows: Firstly, the UAVI were zoomed and adjusted to the required size using the wavelet frequency-divided encoder. Secondly, the correspondences between the neighboring frames were established and the feature information in the linked list data model was recorded. Finally, the mosaic panorama was fulfilled according as the linked list data model. The experimental result showed that the algorithm was effective and can adapt to the real-time character of UAVI stitching. View full abstract»

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  • Design of electric power equipment operation security condition assessment system based on SSE-CMM

    Publication Year: 2011 , Page(s): 629 - 633
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (215 KB) |  | HTML iconHTML  

    Integrated the system science and security system and combined the security features of the power systems, the security engineering capability maturity model (SSE-CCM) of power systems is built. The assessment model is proposed and the whole electric power equipment operation security condition assessment system (EPEOSCAS) is established based on the fuzzy theory and group analytic hierarchy process (AHP) in this paper. Furthermore, the assessment system based on J2EE is designed. It is a meaningful research both in theory and practice. View full abstract»

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  • Dynamic measurement of the positioning accuracy of redundantly actuated parallel machine tool

    Publication Year: 2011 , Page(s): 634 - 639
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (225 KB) |  | HTML iconHTML  

    A 5-DOF 5-UPS/PRPU parallel machine tool (PMT) is introduced. Redundant actuation is adopted in order to improve the positional accuracy and dynamic performance. A method for the measurement of positioning accuracy of PMT under dynamic condition is described in detail. It is based on Agilent 5529A dual-frequency laser interferometer which is capable of performing dynamic calibration. Based on the working principle of laser interferometer, the positional data of the moving platform are collected and the positional error data in accordance with ISO 230-2 standard of each virtual axis are obtained in high resolution. Meanwhile, the positioning accuracy of each axis is also descried with visual graphics. In order to investigate the influence of redundant actuation on the positioning accuracy of the machine, the linear positional error of X-Axis are both tested under the redundant actuation case as well as its corresponding non-redundant counterpart. These positional error data can be used for the positional error compensation model of machine tool. View full abstract»

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  • Global trajectory tracking control of nonholonomic WMRs with driving motor dynamics being considered

    Publication Year: 2011 , Page(s): 640 - 643
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    In this paper global trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator, that is, driving motor dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov stability theory. Finally simulation results for tracking typical trajectory are presented. View full abstract»

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  • Improved hybrid adaptive genetic algorithm for solving knapsack problem

    Publication Year: 2011 , Page(s): 644 - 647
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (108 KB) |  | HTML iconHTML  

    The paper solves the 0-1 knapsack problem with the hybrid adaptive genetic algorithm which combined with greedy algorithm. It presents a method for optimal design of an improved adaptive genetic algorithm and repairs the infeasible solution with greedy algorithm. Experimental results show that the new algorithm has faster convergent speed, higher robustness and more reliable stability, so this is a very attractive new approach being full of promise. View full abstract»

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  • pth moment exponential synchronization of stochastic Cohen-Grossberg neural networks with continuously distributed delays

    Publication Year: 2011 , Page(s): 648 - 653
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (211 KB) |  | HTML iconHTML  

    In this paper, pth moment exponential synchronization of stochastic Cohen-Grossberg neural networks with continuously distributed delays is considered. By applying the method of variation parameter, inequality techniques and stochastic analysis, some sufficient conditions to ensure pth moment exponential synchronization of stochastic Cohen-Grossberg neural networks with continuously distributed delays are obtained. These results generalize some previous known results. Furthermore, an examples are given to illustrate the efficiency of our results. View full abstract»

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  • Integrating mass and control energy optimization for tensegrity structure

    Publication Year: 2011 , Page(s): 654 - 659
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (333 KB) |  | HTML iconHTML  

    This paper presents a tensegrity structure optimization approach which minimizes the control energy and structure material volume at the same time. Firstly we formulate the dynamic model for Class 1 and Class 2 systems, and based on the nonlinear model we derive the linearized model for Class 1 system. Then using this model we solve the Information Architecture problem for different complexity structures. Based on multiple constrains, an integrated algorithm is presented to optimize the mass, price and control energy simultaneously. At last we use T-Bar structure as an example, and it shows us that the proposed algorithm works well. View full abstract»

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  • Application of Elman neural network based on improved niche adaptive genetic algorithm

    Publication Year: 2011 , Page(s): 660 - 664
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (131 KB) |  | HTML iconHTML  

    The structure and algorithm of an ordinary improved Elman neural network is introduced at first. In order to overcome the problem of being trapped into local minimal points and slow convergence, an improved niche adaptive genetic algorithm was proposed in this paper, which can simultaneously optimize the weights and self-feedback gain coefficient, finally it was applied to the modeling of the near infrared spectrum of cashmere and wool. The near infrared spectrum of cashmere and wool is a nonlinear, strong coupled system, and traditional methods can hardly build up its mathematics model. The simulation experiment based on the cashmere and wool from various regions indicate that the Elman neural network based on improved niche adaptive genetic algorithm make a good match for the near infrared spectrum of cashmere and wool, and it has better dynamic performance, quicker approach speed, better precision and generalization ability. View full abstract»

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  • Design of the fuzzy control system of the centerless grinder

    Publication Year: 2011 , Page(s): 665 - 667
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (105 KB) |  | HTML iconHTML  

    With the higher and higher requirements of the mechanical processing, centerless grinding is paid more and more attentions. Therefore, the performance of the control system for the centerless grinding machine is very important. In this paper, a fuzzy control scheme is utilized in the AC motor control by means of the inverter in order to overcome the disadvantages of the common PID method. Simulation results show that the fuzzy PID controller has better dynamic and static performance. View full abstract»

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  • Optimal output disturbances rejection control for nonlinear systems based on stability degree constraint

    Publication Year: 2011 , Page(s): 668 - 673
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (981 KB) |  | HTML iconHTML  

    This paper considers the problem of optimal output disturbances rejection control for nonlinear systems based on stability degree constraint. The corresponding optimal output feedback control laws are derived from a Riccati equation and Sylvester matrix equations in finite-time and infinite horizon. We give the existence and uniqueness conditions of the optimal output control law. Then an observer which can solve the problem of the actual control state variables difficult to measure by using the signal of input variables u(t) and output variables y(t). With feed forward compensation, the impact of external disturbances is eliminated and achieved optimal output feedback control based on stability degree constraint. Finally, the simulation results show that the method is effective to reject external persistent disturbances, and the robustness is superior to the classical state feedback optimal control, and satisfy the stability degree constraint. View full abstract»

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