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Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation

Date 27-29 June 2005

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Displaying Results 1 - 25 of 274
  • Welcome

    Publication Year: 2005 , Page(s): i - xix
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    Freely Available from IEEE
  • 2005 ISIC-MED technical program

    Publication Year: 2005 , Page(s): xx - xxii
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  • Session index

    Publication Year: 2005 , Page(s): xxiii - XIV
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  • Solution of Optimal Control Problems by Hybridization

    Publication Year: 2005 , Page(s): 1 - 7
    Request Permissions | Click to expandAbstract | PDF file iconPDF (641 KB) |  | HTML iconHTML  

    Optimization problems for hybrid systems have attracted a lot of attention in recent years. This interest stimulated numerous scientific works and the development of tools to study optimal trajectories, such as necessary conditions. The idea of the present contribution is to use such results for hybrid systems to construct a hybridization of an optimal control problem. The approximation via a hybr... View full abstract»

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  • A General Robustness Theorem for Switched Linear Systems

    Publication Year: 2005 , Page(s): 8 - 11
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (194 KB) |  | HTML iconHTML  

    In this paper, we study the robustness property of switched linear systems under linear perturbations. We prove that, if the normal switched system is asymptotically stabilizable, then the perturbed switched system is also asymptotically stabilizable if the perturbation is sufficiently small. The theorem generates the previous robustness results reported in the literature. Its implication to struc... View full abstract»

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  • On the Quadratic Stability of Switched Interval Systems: Preliminary Results

    Publication Year: 2005 , Page(s): 12 - 17
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    In this paper we present some preliminary results on the quadratic stability of switched systems with uncertain parameters. We show that the quadratic stability of a class of switched uncertain systems may be readily verified using simple algebraic conditions. Examples are presented to demonstrate the efficacy of our techniques View full abstract»

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  • Synthesis of Switched Linear Systems handling Sliding Motions

    Publication Year: 2005 , Page(s): 18 - 23
    Cited by:  Papers (8)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (307 KB) |  | HTML iconHTML  

    The synthesis problem on how to select the linear vector fields among the possible ones such that a switched system becomes (exponentially) stable is treated in this paper. Earlier synthesis results guarantee stability under the restriction that sliding motions do not occur. In this paper, we extend the design procedure allowing sliding motions to occur by introducing additional conditions. Furthe... View full abstract»

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  • Stability and Stabilizability of Switched Linear Systems: A Short Survey of Recent Results

    Publication Year: 2005 , Page(s): 24 - 29
    Cited by:  Papers (26)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (154 KB) |  | HTML iconHTML  

    During the last decade, there has been increasing interest in the stability analysis and switching control design for switched linear systems. This paper aims to briefly survey recent results in this field, focusing on stability analysis and switching stabilization problems. First, the stability analysis problem for switched linear systems is reviewed. We focus on the asymptotic stability analysis... View full abstract»

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  • Design of Luenberger-Like Observers for Detectable Switching Systems

    Publication Year: 2005 , Page(s): 30 - 35
    Cited by:  Papers (4)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (126 KB) |  | HTML iconHTML  

    We address the problem of reconstructing the state of a switching system from partial knowledge of the dynamics of the plant. Under the assumption that the discrete state of the switching system is known, we show that if the conditions ensuring detectability are satisfied, a suitable Luenberger-like observer solves the problem of estimating the continuous component of the state View full abstract»

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  • Evolving Connectionist Systems Based Role Allocation of Robots for Soccer Playing

    Publication Year: 2005 , Page(s): 36 - 40
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (347 KB) |  | HTML iconHTML  

    For a group of robots (multi-agents) to complete a task, it is important for each of them to play a certain role changing with the environment of the task. One typical example is robotic soccer in which a team of mobile robots perform soccer playing behaviors. Traditionally, a robot's role is determined by a closed-form function of a robot's postures relative to the target which usually cannot acc... View full abstract»

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  • Automatic Generation of Fuzzy Inference Systems Using Unsupervised Learning

    Publication Year: 2005 , Page(s): 41 - 46
    Request Permissions | Click to expandAbstract | PDF file iconPDF (253 KB) |  | HTML iconHTML  

    This paper presents a new approach of online generation and tuning of fuzzy inference systems (FIS) using unsupervised learning (OGFIS-UL). The proposed approach is capable of generating the antecedents of the FIS and selecting the best consequents automatically. The antecedents are generated and tuned using the fuzzy multi-agent structure learning (FMASL) and the consequents are selected using re... View full abstract»

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  • Robust Adaptive Control of Uncertain Nonlinear Systems Using Fuzzy Logic Systems

    Publication Year: 2005 , Page(s): 47 - 52
    Cited by:  Papers (3)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (251 KB) |  | HTML iconHTML  

    In this paper, we present a novel robust adaptive tracking control for a class of uncertain nonlinear system with uncertain system and gain functions, which are all unstructured (or non-repeatable) state-dependent unknown nonlinear functions. The Takagi-Sugeno type fuzzy logic systems are used to approximate uncertain functions and the robust adaptive fuzzy tracking control (RAFTC) algorithm is de... View full abstract»

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  • A Hybrid Neural Network Based Modeling For Hysteresis

    Publication Year: 2005 , Page(s): 53 - 58
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (285 KB) |  | HTML iconHTML  

    This paper presents a hybrid neural network (NN) model for hysteresis in mechanical or piezoelectric systems. It is proven that the Preisach-type hysteresis can be transformed to the general continuous mappings such as one-to-one or multi-value-to-one mapping, which can be approximated by the neural network based universal approximators. The proposed hybrid neural model consists of two neural netw... View full abstract»

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  • Stabilization of a Class of Nonlinear Continuous Time Systems Via Fuzzy Control Approach

    Publication Year: 2005 , Page(s): 59 - 64
    Request Permissions | Click to expandAbstract | PDF file iconPDF (247 KB) |  | HTML iconHTML  

    This paper addresses stabilization issue of a class of nonlinear systems via fuzzy control approach. A result on exponential stabilization of the so called dynamic fuzzy models with affine terms is presented. Then based on the universal approximation property of the dynamic fuzzy models, semi-global stabilization of the original nonlinear system via fuzzy control is discussed. A simulation example... View full abstract»

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  • New Hamiltonian Formulation and Control of Robotic Systems

    Publication Year: 2005 , Page(s): 65 - 70
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (225 KB) |  | HTML iconHTML  

    In this paper, a novel constructive method is presented to provide a new Hamiltonian formulation with dissipation for both fully actuated and underactuated robotic systems. Firstly, a high-order partial derivative operator, unified partial derivative operator (UPDO) is introduced, and its properties are investigated, which play essential and instrumental roles in the results presented in the paper... View full abstract»

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  • Average Speed Control of Reciprocating Machinery

    Publication Year: 2005 , Page(s): 71 - 76
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (453 KB) |  | HTML iconHTML  

    This paper introduces average speed control (ASC), a novel way of controlling heavy-duty reciprocating machinery, such as weaving machines. Its main goal is to reduce the power consumption of such machine, by only regulating their average speed, and thus allowing for instantaneous drive speed fluctuations. Its basic structure combines a linear phase FIR-filter, which calculates a moving average, w... View full abstract»

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  • Force/Position Regulation for a Robotic Finger in Compliant Contact with an Unknown Surface

    Publication Year: 2005 , Page(s): 77 - 82
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (259 KB) |  | HTML iconHTML  

    In this paper we are concerned with the problem of force and position regulation of a soft robotic finger in contact with a flat unknown surface. A type of parallel control scheme with gravity compensation is applied. Using nonlinear stability theory it is shown that the proposed controller achieves exact force regulation. It is further shown that position errors may stay close to zero and in some... View full abstract»

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  • Semi - Autonomous Olfactive Environment Inspection by a Mobile Robot

    Publication Year: 2005 , Page(s): 83 - 88
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    Mobile robots can be of great value in the automated monitoring of chemical warehouses and industrial sites to prevent hazardous fluid leakages, thus increasing the safety level for human operators. This paper describes recent and current research at the University of Lecce aiming at developing a mobile platform with olfactory capability for hazardous site monitoring. An innovative smart transduce... View full abstract»

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  • A GUI Framework for GPS-Enabled Robotic Guidance

    Publication Year: 2005 , Page(s): 89 - 94
    Request Permissions | Click to expandAbstract | PDF file iconPDF (763 KB) |  | HTML iconHTML  

    A framework has been developed to address difficulties in controlling teams of heterogeneous robots built around the integration of spatial data used with GPS-enabled robots. The spatial data is in the form of an aerial photograph. This framework centers around a GUI capable of controlling single or multiple robots, displaying information from the robots, and performing large scale path planning f... View full abstract»

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  • Experimental Evaluation of Occupancy Grid Map Improvement by Sonar Data Corrections

    Publication Year: 2005 , Page(s): 95 - 100
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (361 KB) |  | HTML iconHTML  

    This paper addresses the creation of a consistent occupancy grid map from local sensors data collected during mobile robot movement. The map building problem, together with the mobile robot localization problem, is one of the major problems of mobile robots navigation. It can be defined as an environment modelling problem using different algorithms for sensor data integration. Bayesian and Dempste... View full abstract»

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  • Trajectory Tracking in the Presence of Obstacles Using the Limit Cycle Navigation Method

    Publication Year: 2005 , Page(s): 101 - 106
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (303 KB) |  | HTML iconHTML  

    This paper proposes a system for effecting trajectory tracking in combination with obstacle avoidance in mobile robotic systems. In robotics research, these two situations are typically considered as separate problems. This work approaches the problem by integrating classical trajectory following control schemes with Kim et al.'s limit cycle navigation method for obstacle avoidance. The use of art... View full abstract»

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  • Development of a Model-Based Nested Controller for Electrohydraulic Servos

    Publication Year: 2005 , Page(s): 107 - 112
    Cited by:  Papers (2)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1031 KB) |  | HTML iconHTML  

    In this paper, a tracking controller for electrohydraulic servo systems is developed that includes a fast model-based force tracking loop. Full rigid body and electrohydraulic models, including servovalve models are employed and described by a set of integrated system equations. The control analysis is based on a nonlinear input-output linearization control approach. The control law is augmented w... View full abstract»

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  • An AI Based Controller for Temperature Control for a Hot Embossing System

    Publication Year: 2005 , Page(s): 113 - 118
    Request Permissions | Click to expandAbstract | PDF file iconPDF (890 KB) |  | HTML iconHTML  

    The hot embossing microreplication microfabrication, HEMM, systems are gaining popularity in the MEMS and more specifically the BioMEMS area due to their capability to quickly and inexpensively replicate microstructures on various types of polymers or used for thermal bonding of BioMEMS substrates. Control issues associated with a HEMM system include temperature, heat and force control for process... View full abstract»

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  • Modeling Plasticity in Nanostructured Materials

    Publication Year: 2005 , Page(s): 119 - 124
    Request Permissions | Click to expandAbstract | PDF file iconPDF (246 KB) |  | HTML iconHTML  

    The definition and magnitude of the intrinsic length scale are keys to the development of the theory of plasticity that incorporates size effects. Gradient plasticity theory with a material length scale parameter is successfully in capturing the size dependence of material behavior at the micron scale. However, a fixed value of the material length-scale is not always realistic and that different p... View full abstract»

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  • Application of Thin Plate Splines for Surface Reverse Engineering and Compensation for Femtosecond Laser Micromachining

    Publication Year: 2005 , Page(s): 125 - 130
    Cited by:  Papers (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (368 KB) |  | HTML iconHTML  

    The femtosecond laser micromachining (FLM) systems could potentially be used for the rapid prototyping of microstructures on the surface of a workpiece. However, surface scale characteristics or workpiece holding fixtures could introduce position and orientation errors of the workpiece surface. These errors must be accounted and compensated for during FLM such that the focused laser spot position ... View full abstract»

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