Computer Controlled Systems: Theory and Design

Particle Swarm Optimization (PSO), in its present form, has been in existence for roughly a decade, with formative research in related domains (such as social modelling, computer graphics, simulation and animation of natural swarms or flocks) for some years before that; a relatively short time compared with some of the other natural computing paradigms such as artificial neural networks and evolutionary computation. However, in that short period, PSO has gained widespread appeal amongst researchers and has been shown to offer good performance in a variety of application domains, with potential for hybridisation and specialisation, and demonstration of some interesting emergent behaviour. This paper aims to offer a compendious and timely review of the field and the challenges and opportunities offered by this welcome addition to the optimization toolbox. Part I discusses the location of PSO within the broader domain of natural computing, considers the development of the algorithm, and refinements introduced to prevent swarm stagnation and tackle dynamic environments. Part II considers current research in hybridisation, combinatorial problems, multicriteria and constrained optimization, and a range of indicative application areas.

A review of particle swarm optimization. Part II: hybridisation, combinatorial, multicriteria and constrained optimization, and indicative applications

This chapter contains sections titled: Historical Review Supervised Multilayer Networks Unsupervised Neural Networks: Kohonen Network Unsupervised Networks: Adaptive Resonance Theory Network Model Validation Summary References Recommended Exercises

Nonlinear System Identification

The Self-Organizing Map (SOM) algorithm has attracted a great deal of interest among researches and practitioners in a wide variety of fields. The SOM has been analyzed extensively, a number of variants have been developed and, perhaps most notably, it has been applied extensively within fields ranging from engineering sciences to medicine, biology, and economics. We have collected a comprehensive list of 5384 scientific papers that use the algorithms, have benefited from them, or contain analyses of them. The list is intended to serve as a source for literature surveys. The present addendum contains 2092 new articles, mainly from the years 1998-2002. We have provided a keyword index to help finding articles of interest, and additionally a modern automatically constructed variant of a thematic index: a WEBSOM interface to the whole article collection of years 1981-2000. The SOM of SOMs is available at http://websom.hut.fi/websom/somref/search.cgi for browsing and searching the collection.

Bibliography of Self-Organizing Map SOM) Papers: 1998-2001 Addendum

In this paper, the problem of fuzzy control for nonlinear networked control systems with packet dropouts and parameter uncertainties is studied based on the interval type-2 fuzzy-model-based approach. In the control design, the intermittent data loss existing in the closed-loop system is taken into account. The parameter uncertainties can be represented and captured effectively via the membership functions described by lower and upper membership functions and relative weighting functions. A novel fuzzy state-feedback controller is designed to guarantee the resulting closed-loop system to be stochastically stable with an optimal performance. Furthermore, to make the controller design more flexible, the designed controller does not need to share membership functions and amount of fuzzy rules with the model. Some simulation results are provided to demonstrate the effectiveness of the proposed results.

Control of Nonlinear Networked Systems With Packet Dropouts: Interval Type-2 Fuzzy Model-Based Approach

Kalman filtering approach to multi-rate information fusion in the presence of irregular sampling rate and variable measurement delay ☆

In this paper, different approaches to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator are presented. On the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using neural networks identification with different structures to solve the problem. The accuracy of the results of each method is analyzed in detail and the advantages and the disadvantages of them in computing the forward kinematic map of the given mechanism is discussed in detail. It is concluded that ANFIS presents the best performance compared to MLP, RBF and PNN networks in this particular application.

Neural Networks Approaches for Computing the Forward Kinematics of a Redundant Parallel Manipulator

In this paper, we consider an important practical industrial process identification problem where the time delay can change at every sampling instant. We model the time-varying discrete time-delay mechanism by a Markov chain model and estimate the Markov chain parameters along with the time-delay sequence simultaneously. Besides time-varying delay, processes with both time-invariant and time-variant model parameters are also considered. The former is solved by an expectation-maximization (EM) algorithm, while the latter is solved by a recursive version of the EM algorithm. The advantages of the proposed identification methods are demonstrated by numerical simulation examples and an evaluation on pilot-scale experiments.

A Data-Driven Hybrid ARX and Markov Chain Modeling Approach to Process Identification With Time-Varying Time Delays

In this paper, based on the nonmonotonic Lyapunov functions, a new less conservative state feedback controller synthesis method is proposed for a class of discrete time nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy systems. Parallel distributed compensation (PDC) state feedback is employed as the controller structure. Also, a T-S fuzzy observer is designed in a manner similar to state feedback controller design. The observer and the controller can be obtained separately and then combined together to form an output feedback controller by means of the Separation theorem. Both observer and controller are obtained via solving a sequence of linear matrix inequalities. Nonmonotonic Lyapunov method allows the design of controllers for the aforementioned systems where other methods fail. Illustrative examples are presented which show how the proposed method outperforms other methods such as common quadratic, piecewise or non quadratic Lyapunov functions.

Alireza Fatehi

Papers

Kalman filtering approach to multi-rate information fusion in the presence of irregular sampling rate and variable measurement delay ☆

Neural Networks Approaches for Computing the Forward Kinematics of a Redundant Parallel Manipulator

A Data-Driven Hybrid ARX and Markov Chain Modeling Approach to Process Identification With Time-Varying Time Delays

Nonmonotonic observer-based fuzzy controller designs for discrete time T-S fuzzy systems via LMI.

Identification, prediction and detection of the process fault in a cement rotary kiln by locally linear neuro-fuzzy technique