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Intelligent Control. 2003 IEEE International Symposium on

Date 8-8 Oct. 2003

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Displaying Results 1 - 25 of 180
  • Proceedings of the 2003 IEEE International Symposium on Intelligent Control (IEEE Cat. No.03CH37461)

    Publication Year: 2003
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    Freely Available from IEEE
  • A Hamilton-Jacobi setup for constrained neural network control

    Publication Year: 2003 , Page(s): 1 - 15
    Cited by:  Papers (3)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (734 KB) |  | HTML iconHTML  

    In this paper, we derive nonlinear state feedback controllers for constrained systems with and without disturbances via Hamilton-Jacobi equations. In the former case, we show how to formulate the associated Hamilton-Jacobi-Bellman (HJB) equation using nonquadratic functionals then solve it using successive iterations between the control and the cost function. The type of constraints considered in ... View full abstract»

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  • Adaptive sliding inverse control of a class of nonlinear systems preceded by unknown non-symmetrical dead-zone

    Publication Year: 2003 , Page(s): 16 - 21
    Request Permissions | Click to expandAbstract | PDF file iconPDF (347 KB) |  | HTML iconHTML  

    This paper is concerned with the control of a class of continuous-time nonlinear dynamic systems preceded by unknown non-symmetrical, non-equal slope dead-zones. By exploring the properties of the dead-zone model intuitively and mathematically, an adaptive sliding mode inverse control scheme is developed by constructing a dead-zone inverse for compensation. The proposed approach ensures global sta... View full abstract»

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  • Uniform asymptotic stabilization of decentralized adaptive robust control for uncertain large scale interconnected systems

    Publication Year: 2003 , Page(s): 22 - 27
    Request Permissions | Click to expandAbstract | PDF file iconPDF (330 KB) |  | HTML iconHTML  

    The problem of decentralized robust control is considered for a class of uncertain time-varying large scale interconnected systems. In the paper, the upper bounds of the uncertainties and external disturbances are assumed to be unknown. The adaptation laws are proposed to estimate such unknown bounds, and by making use of the updated values of these unknown bounds, a class of decentralized robust ... View full abstract»

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  • On decentralized adaptive control of MIMO interconnected systems

    Publication Year: 2003 , Page(s): 28 - 33
    Request Permissions | Click to expandAbstract | PDF file iconPDF (271 KB) |  | HTML iconHTML  

    This paper deals with the decentralized adaptive control of a class of multivariable continuous-time interconnected systems described in the state space form. The interconnection terms are assumed to be unknown but bounded. A new predictive approach is proposed to predict them by using the orthogonal Legendre basis of functions. The problem is investigated in both the decentralized adaptive stabil... View full abstract»

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  • Robust neural network/proportional tracking controller with guaranteed global stability

    Publication Year: 2003 , Page(s): 34 - 39
    Request Permissions | Click to expandAbstract | PDF file iconPDF (312 KB) |  | HTML iconHTML  

    A robust neural network is proposed for use with a proportional fixed control scheme for robot control systems. A stability analysis is included based on sector theory. A special normalized learning algorithm is used to train the neural network, which eliminates the need for a bounded regression signal being input to the system. Furthermore, an adaptive dead zone scheme is employed to enhance the ... View full abstract»

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  • Small gain method for adaptive robust fuzzy control of a class of nonlinear systems

    Publication Year: 2003 , Page(s): 40 - 45
    Cited by:  Papers (8)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (412 KB)  

    A new adaptive robust fuzzy control (ARFC) algorithm is presented for a class of nonlinear systems with unstructured uncertainties which are coming from modelling errors and external disturbances. In the algorithm, without any prior knowledge of the bounding functions of the uncertainties, Takagi-Sugeno type fuzzy logic systems are employed to approximate uncertain functions. A systematic procedur... View full abstract»

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  • Adaptive range identification for exponential visual servo tracking

    Publication Year: 2003 , Page(s): 46 - 51
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (403 KB) |  | HTML iconHTML  

    A projective homography is developed by relating feature points extracted from images taken at the reference and current camera position/orientation. By decomposing the homography into translation and rotation components, geometric relationships are determined that facilitate the construction of an adaptive strategy to identify unknown depth information. The development of the parameter identifica... View full abstract»

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  • A continuous asymptotic tracking control strategy for uncertain multi-input nonlinear systems

    Publication Year: 2003 , Page(s): 52 - 57
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (356 KB) |  | HTML iconHTML  

    In this paper, we present a novel continuous control mechanism that compensates for uncertainty in a class of multi-input nonlinear systems. The control strategy is based on limited assumptions on the structure of the system nonlinearities. A Lyapunov-based stability argument is employed to prove semi-global asymptotic tracking. The control mechanism has the interesting feature of "learning" the u... View full abstract»

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  • Nonlinear disturbance rejection for magnetic levitation systems

    Publication Year: 2003 , Page(s): 58 - 62
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (319 KB) |  | HTML iconHTML  

    In this paper, a position regulation control strategy is developed for a magnetic levitation system operating in the presence of a bounded, nonlinear, periodic disturbance. The proposed controller utilizes a saturated control force input in conjunction with a learning based disturbance estimator to asymptotically regulate the target mass to a desired set point position despite. the actuator's unid... View full abstract»

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  • Use of iterative learning control on improving intra-oral hydraulic loading system of dental implants

    Publication Year: 2003 , Page(s): 63 - 68
    Cited by:  Papers (7)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (363 KB) |  | HTML iconHTML  

    This study presents the control design and tests of an intra-oral hydraulic system for quantitatively loading of a dental implant. The computer-controlled system was developed and employed for better pressure error compensation by PID (proportional-integral-derivative) control and point-to-point iterative learning algorithm. In vitro experiments showed that implant loading is controlled constantly... View full abstract»

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  • New connections between positivity and Parameter-Optimal Iterative Learning Control

    Publication Year: 2003 , Page(s): 69 - 74
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (358 KB) |  | HTML iconHTML  

    In this paper new connections between positivity and Parameter-Optimal Iterative Learning Control (ILC) are established. It is in fact shown that if a given plant satisfies a positivity condition, there exists both a simple feedforward and feedback ILC-algorithm that gives convergent learning, and the convergence is monotonic. Furthermore, under the positivity assumption the feedback algorithm res... View full abstract»

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  • On-line nonparametric regression to learn state-dependent disturbances

    Publication Year: 2003 , Page(s): 75 - 80
    Request Permissions | Click to expandAbstract | PDF file iconPDF (441 KB) |  | HTML iconHTML  

    A combination of recursive least squares and weighted least squares is made which can adapt its structure such that a relation between in- and output can be approximated, even when the structure of this relation is unknown beforehand. This method can adapt its structure on-line while it preserves information offered by previous samples, making it applicable in a control setting. This method has be... View full abstract»

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  • On human machine cooperative learning control

    Publication Year: 2003 , Page(s): 81 - 86
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (410 KB) |  | HTML iconHTML  

    Human-machine cooperation and learning control have essential connections. From a basic viewpoint, they all involve the work distribution among humans and machines. Studies on both of them cover many subjects: behavior model of human, human-machine interaction, intelligent control, etc. In this paper, we present a study combining human-machine cooperation and learning control, pay attention to a w... View full abstract»

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  • Deterministic learning of nonlinear dynamical systems

    Publication Year: 2003 , Page(s): 87 - 92
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (443 KB) |  | HTML iconHTML  

    In this paper, we present an approach for neural networks (NN) based identification of unknown nonlinear dynamical systems undergoing periodic or periodic-like (recurrent) motions. Among various types of NN architectures, we use a dynamical version of the localized RBF neural network, which is shown to be particularly suitable for identification in a dynamical framework. With the associated proper... View full abstract»

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  • Learning to predict with the Delayed Action Classifier System

    Publication Year: 2003 , Page(s): 93 - 98
    Request Permissions | Click to expandAbstract | PDF file iconPDF (369 KB) |  | HTML iconHTML  

    This paper describes an extended version of the Delayed Action Classifier System (DACS), a rule-based system which employs the genetic algorithm to discover temporal rules for learning in environments with temporal structure. The extended version of DACS (called DACS2) is described and experimentally evaluated. A mathematical analysis is provided which offers a theoretical justification of the adv... View full abstract»

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  • Robust H/sub /spl infin// control of singular-impulsive uncertain systems

    Publication Year: 2003 , Page(s): 99 - 103
    Request Permissions | Click to expandAbstract | PDF file iconPDF (240 KB) |  | HTML iconHTML  

    This paper discusses the problem of robust H/sub /spl infin// control for singular-impulsive uncertain systems which has not been studied up to now. Based on the Riccati inequality approach, several sufficient conditions for robust H/sub /spl infin// criteria of the corresponding singular-impulsive closed loop systems are established. A simple approach to the design of a robust impulsive controlle... View full abstract»

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  • A new EC-based controller

    Publication Year: 2003 , Page(s): 104 - 109
    Request Permissions | Click to expandAbstract | PDF file iconPDF (458 KB) |  | HTML iconHTML  

    This paper introduces an Evolutionary Computation (EC) based controller and its application to the classical Cart-Pole balancing problem. The paper also provides some detailed analysis of the properties of the proposed controller that belongs to the class of reinforcement based controllers. View full abstract»

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  • A hierarchical approach to classification for systems with complex low-level interactions

    Publication Year: 2003 , Page(s): 110 - 115
    Request Permissions | Click to expandAbstract | PDF file iconPDF (367 KB) |  | HTML iconHTML  

    Learning in multiple steps or layers is useful when the system under study is characterized by the complex inter-action of low level components. In this case it is convenient to decompose the classification problem into different layers of complexity, starting at the bottom with all low-level features, and progressing to the top through the construction of more abstract terms. In this paper we pro... View full abstract»

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  • Extended Kohonen networks for the pose control of microrobots in a nanohandling station

    Publication Year: 2003 , Page(s): 116 - 121
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1497 KB) |  | HTML iconHTML  

    A microrobot-based nanohandling station, which is able to handle objects in the micrometer range and below, is introduced. A functional description of the microrobot's mobile platform is given as well as an overview over the control system architecture and the low-level control part. The application of an extended Kohonen network for the adaptive open-loop pose control of the mobile platform is pr... View full abstract»

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  • Stabilization of T-S fuzzy systems using LTV system theory

    Publication Year: 2003 , Page(s): 122 - 127
    Request Permissions | Click to expandAbstract | PDF file iconPDF (315 KB) |  | HTML iconHTML  

    Takagi-Sugeno (T-S) fuzzy systems are equivalent to linear time-varying (LTV) systems, the theory of LTV systems can therefore be used to design global feedback controllers to stabilize T-S fuzzy systems. It is seen that the closed-loop T-S fuzzy system is first transformed into the canonical form by using a Lyapunov transform, a global feedback controller is then designed to assign all Parallel D... View full abstract»

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  • A sufficient and necessary condition for the controllability of linear hybrid systems

    Publication Year: 2003 , Page(s): 128 - 133
    Request Permissions | Click to expandAbstract | PDF file iconPDF (355 KB) |  | HTML iconHTML  

    An algebraic approach for the controllability analysis of a class of hybrid control systems called controlled switching linear hybrid systems is proposed. A sufficient and necessary condition is obtained based on the algebraic manipulation of related system matrices. This consequence is directly oriented to numerical computation of the controllability. Beside that, the existing result for LTI syst... View full abstract»

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  • Output controllability of switched linear systems

    Publication Year: 2003 , Page(s): 134 - 139
    Request Permissions | Click to expandAbstract | PDF file iconPDF (372 KB) |  | HTML iconHTML  

    In this paper, the output controllability of switched linear systems is studied. The main contribution of this paper is necessary and sufficient geometric type criterion for output controllability of switched linear systems is presented. Furthermore, it is shown that if the system is output controllable, then there exists a basic switching sequence such that the output controllability can be reali... View full abstract»

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  • State feedback controller for distributed systems with non-deterministic time delays

    Publication Year: 2003 , Page(s): 140 - 145
    Request Permissions | Click to expandAbstract | PDF file iconPDF (383 KB) |  | HTML iconHTML  

    Physical distribution of modules of a closed loop control system, i.e., sensor, controller and actuator over a communication network, is the state of the art in the modern motion control industry. The gains are to reduce system wiring, ease of fault diagnosis, maintenance etc. Inserting a communication network to connect the sensor to controller and controller to actuator, makes the analysis and c... View full abstract»

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  • New criteria for model reduction of sampled data control systems

    Publication Year: 2003 , Page(s): 146 - 151
    Request Permissions | Click to expandAbstract | PDF file iconPDF (350 KB) |  | HTML iconHTML  

    Optimal controller design for sampled-data systems using model reduction tools is proposed and illustrated with practical examples. New criteria for quantitative selection of reduced order models are proposed and shown to be effective for processes with large transport lags. The results presented in the paper are less restrictive than the existing ones on model reduction of such systems. View full abstract»

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