International Journal of Control Automation and Systems (INT J CONTROL AUTOM )

Publisher: Institute of Control, Automation, and System Engineers (Korea); Taehan Chŏnʼgi Hakhoe, Springer Verlag

Description

  • Impact factor
    0.95
    Show impact factor history
     
    Impact factor
  • 5-year impact
    0.90
  • Cited half-life
    3.50
  • Immediacy index
    0.13
  • Eigenfactor
    0.00
  • Article influence
    0.20
  • Website
    International Journal of Control, Automation, and Systems website
  • Other titles
    Journal of control, automation, and systems
  • ISSN
    1598-6446
  • OCLC
    214059131
  • Material type
    Periodical, Internet resource
  • Document type
    Journal / Magazine / Newspaper, Internet Resource

Publisher details

Springer Verlag

  • Pre-print
    • Author can archive a pre-print version
  • Post-print
    • Author can archive a post-print version
  • Conditions
    • Authors own final version only can be archived
    • Publisher's version/PDF cannot be used
    • On author's website or institutional repository
    • On funders designated website/repository after 12 months at the funders request or as a result of legal obligation
    • Published source must be acknowledged
    • Must link to publisher version
    • Set phrase to accompany link to published version (The original publication is available at www.springerlink.com)
    • Articles in some journals can be made Open Access on payment of additional charge
  • Classification
    ​ green

Publications in this journal

  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper is concerned with the joint decision and control strategy for a class of nonhomogeneous Markovian jump systems subject to input constraints. By assuming the mode transition rate matrix (MTRM) of Markovian jump systems is piecewise homogeneous instead of homogeneous, a higher-level Markov chain represented by the higher-level mode transition rate matrix (HMTRM) is introduced to describe the variation of MTRM. Based on this, taking into account the minimization of system cost, a novel joint decision and control strategy is proposed in the presence of input constraints. This strategy consists of two sections: decisions are applied to the HMTRM such that the occurrence probability of subsystems is adjusted ultimately; next on the basis of altered HMTRM, controller is designed in view of input constraints. In comparison with conventional control method, this strategy not only guarantees the stability of the considered system well, but also decreases the system cost effectively. Numeral examples along with comparisons are put forward to illustrate the effectiveness of the proposed strategy.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This article describes the application of the so-called attractive ellipsoidal method to solve the trajectory stabilization problem for a class of genetic network systems modelled by a stochastic model. The genetic network model is described by a stochastic quasi-linear system affected by additive and multiplicative noises simultaneously. The solution of the control design provided in this study is based on a linear feedback structure. In this paper the algorithm to construct a suboptimal gain for adjusting the control design is introduced. The attractive ellipsoidal method is the key stone for designing the so-called suboptimal gain. Moreover, the practical stability of the genetic network trajectories is demonstrated on the mean and in almost sure senses. Some numerical simulations show how a set of stochastic trajectories are stabilized by the controller suggested in this study and how the predicted ellipsoid region is achieved by these trajectories.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper deals with the problem of formation control for nonholonomic mobile robots under a cluttered environment. When the obstacles are not detected, the follower robot calculates its waypoint to track, based on the leader robot’s state. The proposed geometric obstacle avoidance control method (GOACM) guarantees that the robot avoids the static and dynamic obstacles using onboard sensors. Due to the difficulty for the robot to simultaneously get overall safe boundary of an obstacle in practice, a safe line, which is perpendicular to the obstacle surface, is used instead of the safe boundary. Since GOACM is executed to find a safe waypoint for the robot, GOACM can effectively cooperate with the formation control method. Moreover, the adaptive controllers guarantee that the trajectory and velocity tracking errors converge to zero with the consideration of the parametric uncertainties of both kinematic and dynamic models. Simulation and experiment results present that the robots effectively form and maintain formation avoiding the obstacles.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper is concerned with the issue of consensus for leader-following multi-agent systems, wherein the agents acting as followers update states based on the information received from the time-varying neighbors and the virtual leader. Moreover, the neighbors of an agent are divided into three types according to their relative position, which may also be changed with time. Consensus protocol is derived mainly by using intermittent control, and based on the Lyapunov stability theory, sufficient conditions for consensus are presented and proved theoretically. Finally, some numerical examples are given to demonstrate the effectiveness of the results.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This work introduces an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control (MPC) theory. The framework has been developed in the widely used MatLab/Simulink environment. A two-wheeled inverted pendulum is considered as hands-on experimental scenario. For such a system, starting from its mathematical modeling, an established design methodology is presented aiming to outline step-by-step the predictive controller implementation on a low power architecture. This methodology stress the design of a non-linear MPC controller on a low power embedded system, pruning the designer to deal with hard real time constraints without impacting the overall design requirements. The effectiveness of this multidisciplinary approach is shown through this presentation and demonstrated with experimental results.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: A distributed leader-follower flocking problem of multiple robotic fish governed by extended second-order unicycles is studied in this paper. The multi-agent system consists of only one leader with pre-appointed and bounded speeds. A distributed flocking algorithm on the basis of the combination of consensus and attractive/repulsive functions is investigated, in which adaptive strategy is adopted to compute the weight of the velocity coupling strengths. The proposed control algorithm enables followers to asymptotically track the leader’s varying velocities and approach the equilibrium distances with their neighbors. Furthermore, the arbitrarily-shaped formation flocking problem of the system can also be solved by adding the information of a desired formation topology to the potential function term. Finally, simulations are carried out to verify the effectiveness of the proposed theoretical results.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: In this paper, we propose a virtual joint method that better utilizes quasi-velocities for the kinematic modeling of wheeled mobile manipulators. By identifying quasi-velocities as motions of imaginary revolute and prismatic kinematic pairs, our method enables one to regard a mobile manipulator as an ordinary articulated manipulator for the purposes of velocity analysis. We also propose an inverse kinematic scheme for the mobile manipulators along the line with the virtual joint based kinematic framework. Details are worked out for mobile manipulators with representative differential-drive and car-like mobile platforms.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper presents a new Unscented Kalman Filtering (UKF) method by using robust model prediction. This method incorporates system driving noise in system state through augmentation of state space dimension to expand the input of system state information. The system model error is constructed by model prediction, and is then used to rectify the UKF process to obtain the estimate of the real system state. The proposed method endows the robustness to the traditional UKF, thus overcoming the limitation that the traditional UKF is sensitive to system model error. Experimental results show that the convergence rate and accuracy of the proposed filtering method is superior to the Extended Kalman Filtering and traditional UKF.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper discusses the exponential state estimation problem for stochastic complex dynamical networks involving multi-delayed and adaptive control. A new approach, very different to the linear matrix inequality (LMI) method, has been developed to solve the above problem. Meanwhile, some sufficient conditions are derived to ensure the exponential stability in pth moment for the dynamics of state estimator error. The feedback gain update law is found by the adaptive control technique. An illustrative example is provided to show the usefulness and effectiveness of the proposed design method.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: The adaptive fault estimation problem is studied for a class of stochastic Markovian jumping systems (MJSs) with time delays and nonlinear parameters. By means of Takagi-Sugeno fuzzy models, the dynamics of observer error generator and the fuzzy error dynamical system are constructed. Based on the selected Lyapunov-Krasovskii functional framework, the adaptive fault estimation algorithm is proposed to enhance the rapidity and accuracy performance of fault estimation. In terms of linear matrix inequalities techniques, a sufficient condition on the existence of the adaptive observer is presented and proved. Moreover, the presented results are also extended to multiple time-delayed nonlinear MJSs. A numerical example is given at last to illustrate the effectiveness of the proposed approach.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper studies the exponential stability of a class of discrete-time piecewise-linear systems (DPLS). Some basic properties of the proposed DPLS are established, which enables the generating function approach to be used for the system stability analysis. By introducing the generating functions of DPLS and showing their properties, a sufficient and necessary condition for the exponential stability of DPLS is derived. Furthermore, the maximum exponential growth rate of system trajectories can be obtained exactly by computing the radii of convergence of the generating functions. The algorithm for computing the generating functions is developed and two examples are given to demonstrate the proposed approach.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper presents the design and implementation of a practical visual servo. The visual servo has been designed for pose correction of an end-effector that is placed wrongly away from the test point on a printed circuit board (PCB). It is widely acknowledged that the error could be attributed to the connecting joints of robot arms, angular errors, geometric model, and/or camera projection model. In the automated fault insertion test (AFIT), the typical difficulty encountered by a robot is to servo and place the probe tip accurately on the targeted test point, i.e., the conductive pad on the PCB. Conventionally, touch and sense with a probe tip has been utilized. Upon detection of a failure, the visual servo is triggered and the robot literally looks through a camera and re-attempts with the use of visual information from the camera. Currently, no clearly defined specifications in carrying out feature extraction exist and thereby the test point detection as it is not cost-effective to designate part of PCB footprint as the test point separately from the main design to accommodate visual sensing. As a result, various kinds of test points have been implanted into PCB industrial design. This research work requires building of a custom knowledge base of the test point features to support image recognition. Furthermore, the operational factors in industrial manufacturing, e.g., head structure maintenance, the replacement of end-effectors and the changes of projection parameters caused by hardware adjustment, impact the accuracy of the probe placement. These factors cause the original geometric model to shift from the original configuration and thus errors. This research paper proposes the practical design of a closed-looped visual servo to address the issues of precision error, image feature extraction, and manufacturing factors. Besides, the paper details the findings from the design phase to the implementation phase.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: The problem of consensus for double-integrator dynamics with velocity constraints and a constant group reference velocity is addressed such that: (i) the control law of an agent does not depend on the local neighbors’ velocities or accelerations, but only on the neighbors’ positions and on the own agent velocity; (ii) the constraints are non-symmetric; (iii) the class of nonlinear functions used to account for the velocity constraints is more general than the ones that are normally considered in the literature. We propose a decentralized control strategy with the neighboring topology described by an undirected interaction graph that is connected. Mathematical guarantees of convergence without violating the constraints are given. A numerical experiment is provided to illustrate the effectiveness of our approach.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper revisits the problem of designing switched observers for switched linear systems with unknown inputs. By performing a state and output coordinates transformation that decouples the unknown input, a novel piecewise time-varying Lyapunov function is introduced to analyze the stability of the switched error dynamics. Compared with the existing time-invariant Lyapunov function method, the proposed time-varying Lyapunov function method is more suitable to exploit the structural characteristics of switched linear systems. New conditions are derived that guarantee the exponential stability of the switched error dynamics. These conditions are formulated in term of linear matrix inequalities (LMIs). By solving a set of LMIs, the switched observers can be designed. Two numerical examples are provided to illustrate the effectiveness of the proposed method.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: Unlike the continuous-time case, algebraic necessary and sufficient conditions for a single output discrete-time system to be state equivalent to a nonlinear observer canonical form have been found and are easier to verify for those who are not accustomed to differential geometry. The geometric conditions look very different from the algebraic conditions. In this paper, we show direct equivalence of the geometric conditions and the algebraic conditions in order to enhance the understanding of the geometric conditions.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: Taking into consideration both the autopilot dynamics and uncertainties, this paper proposes a finite time convergent guidance law for homing missile to intercept a maneuvering target. Firstly, an exact observer (differentiator) is employed to estimate the target maneuvers in finite time. Then, a finite time convergent guidance law is designed based on the existing finite time sliding-mode control theory. It is proved that the line-of-sight (LOS) angular rate converges to zero in finite time under the proposed guidance law. Compared with the existing finite time guidance laws, this guidance law can compensate for the effects of the autopilot dynamics and uncertainties, and the information used for feedback control is much easier to obtain. Finally, simulation results show that our scheme, as a finite time convergent algorithm, has strong robustness to bounded disturbances.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: An approach for eigenvalue assignment in strongly controllable and observable linear descriptor systems using dynamic compensators is proposed. Parametric expressions for the controller coefficient matrices are given. The approach assigns the full number of distinct finite closed-loop eigenvalues, guarantees the closed-loop regularity and overcomes the defects of some previous works. In addition, using the proposed eigenvalue assignment approach, a sufficient condition for generic eigenvalue assignability using dynamic compensators is proved.
    International Journal of Control Automation and Systems 10/2014; 12(5).
  • [Show abstract] [Hide abstract]
    ABSTRACT: We were able to detect the step initiation for the Unmanned Technology Research Center Exoskeleton before visible movements occurred during the peak time approach. Detection of the step initiation is important for the rapid onset of assistance with the exoskeleton operator’s movement. Many previous studies have attempted to detect the step initiation more rapidly using the precedence walking assistance mechanism with electromyography, or the shadow walking assistance mechanism with the heel-off or toe-off time. In this paper, we detect the step initiation and implement the precedence walking assistance mechanism using the peak time approach. In particular, we detect the vertical ground reaction forces before visible movements occur, which is more reliable, simpler and faster than the previous approaches. We also present insole-type force sensing resistors based on the peak time approach that are used in force plates that can be applied to the Unmanned Technology Research Center Exoskeleton to detect similar events, such as the ground reaction force events, and the step initiation. With the insole-type force sensing resistors, the Unmanned Technology Research Center Exoskeleton can not only detect step initiation before visible movements occur, but can also implement the precedence walking assistance mechanism for step initiation without using any bio-signals.
    International Journal of Control Automation and Systems 10/2014; 12(5).

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