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A model reference adaptive control strategy for a self-balancing chair

A model reference adaptive control strategy for a self-balan...

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international conference on methods and models in automation and robotics (MMAR)

作者： Florian Straussberger Manuel Schwab Michael Huber Christian Baumann Markus Fink Andreas Michaels Matthias Kasch Johannes Reuter Constance University of Applied Sciences

this paper describes the control aspects and results of a student project called “MonoChair”. the goal was to have students walk through a complete control systems development cycle. the focus in this contribution is put on the design of a stabilizing linear controller, a sensitivity analysis in order to study the impact of parameter variations, and the design and test of an adaptive controller using a model reference approach. the linear controller has been implemented on the physical system and has extensively been tested in driving experiments. the adaptive controller has been tested in simulations and implemented on the physical plant as well. Initial experimental results are presented. A video showing the performance with the nominal linear controller can be found on [1].

关键词： Mathematical model Adaptation models Wheels Vectors Equations Control systems Adaptive control

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Modelling, investigation, simulation, and PID current control of Active Magnetic Levitation FEM model

Modelling, investigation, simulation, and PID current contro...

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international conference on methods and models in automation and robotics (MMAR)

作者： Adam Piłat Department of Automatics and Biomedical Engineering AGH - University of Science and Technology Kraków Poland

this elaboration presents the numerical model of the Active Magnetic Levitation (AML). the model is developed in the 2D axis symmetry mode. the Finite Element Method is used to calculate the magnetic field. the Ordinary Differential Equation is solved simultaneously to simulate the levitated object motion. the model is solved in the time domain, together with the levitated object motion being simulated. A few investigation simulations are realized to diagnose the basic properties of the model. the PID current mode controller is used to drive the coil and keep the object levitated in the desired position. the electromagnetic force and magnetic flux density are investigated to analyze the AML non-linearities. Finally, the conclusions towards the experimental research are given.

关键词： Mathematical model Electromagnets Coils Iron Numerical models Electromagnetic forces Magnetic levitation

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Adatpive LQR control system for the nonlinear 4-DoF model of a container vessel

Adatpive LQR control system for the nonlinear 4-DoF model of...

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international conference on methods and models in automation and robotics (MMAR)

作者： Michał Brasel Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Szczecin Poland

In the paper an adaptive Linear-Quadratic (LQR) control system for Multi-Input, Multi-Output (MIMO) nonlinear dynamic plants is presented. A nonlinear four-Degrees-of-Freedom (4-DoF) mathematical model of a singlescrew, high-speed container vessel is used as a MIMO plant. the main task of the proposed system is control the course angle and forward speed of the ship according to the changing hydrodynamic operating conditions. Due to the strongly nonlinear nature of the equations of the ship motions adaptive LQR controller is tuned according to the current operating point of the ship. the system synthesis is carried out by linearization of the nonlinear model of the ship at its nominal operating points in the steady-state. the final part of the paper includes results of simulation tests of the proposed control system carried out in the MATLAB/Simulink environment.

关键词： Marine vehicles Mathematical model Adaptation models Control systems Containers MIMO Vectors

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Neural network based LQ control of a semiactive quarter-car model

Neural network based LQ control of a semiactive quarter-car ...

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international conference on methods and models in automation and robotics (MMAR)

作者： Piotr Krauze Jerzy Kasprzyk Politechnika Slaska Gliwice PL

the paper presents an application of LQ control dedicated to a semiactive quarter-car model (2 degrees of freedom) which includes nonlinear model of a magnetorheological (MR) damper. Optimal control gains are derived based on known quarter car model parameters and limitations imposed on absolute vertical velocities of sprung and unsprung masses as well as on desired force generated by MR damper. Solutions of the algebraic Riccati equation obtained for LQ continous time infinite horizon problem using system output and control weights matrices are approximated using neural network. the static feedforward neural network model was identified using Levenberg-Marquardt backpropagation method in order to map nonlinear relations between system variables limitations and control gains. the algorithm was adapted to the semiactive system using a linearized inverse MR damper model. Simulation based analysis of vibration mitigation was carried out in frequency domain for different experiments conditions; the analysis justifies application of neural networks in LQ based control of semiactive suspension.

关键词： Shock absorbers Vehicles Artificial neural networks Mathematical model Analytical models

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the fuzzy-neuro development system FUZNET

The fuzzy-neuro development system FUZNET

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international conference on methods and models in automation and robotics (MMAR)

作者： Petr Cermak Miroslav Pokorny Research Institute of the IT4Innovations Centre of Excellence Silesian University in Opava Bezruc Sq. 13 746 01 Opava Czech Republic Department of Informatics and Applied Mathematics Moravian University College Olomouc Jeremenkova 1142/42 77200 Olomouc Czech Republic

the Fuzzy-neural development system is presented in two versions. the First version is the implementation in C, C++ with interface to Matlab or other programs using DLL calling. the second implementation is newer, conform to Referential transparency. For implementation we choose functional programming language Scheme. the Scheme version R5RS is adopted on different platforms like PC, microprocessors and FPGAs. this allows easy transfer of Scheme code on mentioned platforms. there is presented short programming example of Takagi Sugeno Kang fuzzy rule based model in form of the Fuzzy Neural Network. the possible applicatons of the proposed development system are presented.

关键词： Fuzzy neural networks Field programmable gate arrays Educational institutions Optimization Genetic algorithms Shape Predictive models

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Comparative study on sensorless vibration suppression of fast moving flexible linear robots

Comparative study on sensorless vibration suppression of fas...

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14th international conference on Computer Aided Systems theory, EUROCAST 2013

作者： Kilian, F. Johannes Gattringer, Hubert Springer, Klemens Bremer, Hartmut Institute for Robotics Johannes Kepler University Linz Altenbergerstr. 69 4040 Linz Austria

ISBN: (纸本)9783642538612

this contribution introduces three sensorless vibration suppression methods for flexible, fast moving linear robots. After some investigations concerning the required mathematical models of the flexible linear robot, several vibration suppression techniques are derived in detail. the main idea of all concepts is the specific modification of an arbitrary trajectory in real time. therefore, all conventional control concepts of the robot may remain unchanged. the application of each technique leads nearly to a complete annihilation of the TCP vibrations immediately after the end of the trajectory. For this reason, the implementation of these methods allows much higher velocities and therefore lower cycle times in nearly every manipulation process. Over and above, these vibration suppression methods enable light-weight construction and therefore lower energy consumption and represent an important step to increase velocity and energy efficiency in automation processes. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Energy efficiency

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From Robots to Reinforcement Learning

From Robots to Reinforcement Learning

引用

international conference on Tools with Artificial Intelligence

作者： Tongchun Du Michael T. Cox Don Perlis Jared Shamwell Tim Oates Department of Automation Harbin Engineering University Department of Computer Science University of Maryland Department of Computer Science and Electrical Engineering University of Maryland

ISBN: (纸本)9781479929733

In this paper, we review recent advances in Reinforcement Learning (RL) in light of potential applications to robotics, introduce the basic concepts of RL and Markov Decision Process (MDP), and compare different RL algorithms such as Q-learning, Temporal Difference learning, the Actor Critic, and the Natural Actor Critic. We conclude that policy gradient methods are more suitable for solving continuous state/action MDP problems than RL with lookup tables or general function approximators. Further, natural policy gradient methods can efficiently converge to locally optimal solutions. Some simulation results are given to support our arguments. We also present a brief overview of our approach to developing an autonomous robot agent that can perceive, learn from and interact with the environment, and reason about and handle unexpected problems using its knowledge base.

关键词： Reinforcement Learning Autonomous robots Value function Policy gradients Natural Actor Critic Robot knowledge base

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Fuzzy logic-based adaptive control system prototypying for laboratory scaled overhead crane

Fuzzy logic-based adaptive control system prototypying for l...

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international conference on methods and models in automation and robotics (MMAR)

作者： Jarosław Smoczek Janusz Szpytko Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

the prototyping process of a fuzzy logic-based anti-sway control scheme for the laboratory scaled overhead crane is described. the software-hardware equipment of control system, as well as the contact and contactless techniques of sway angle of a payload sensing which have been implemented on the laboratory stand are presented. Proposed anti-sway control system is based on a set of the linear controllers determined at the selected operating points using a pole placement method (PPM) and the fuzzy interpolation of controllers parameters within the range of scheduling variables: rope length and mass of a payload. the control algorithm, a linear dynamic model of a planar crane, as well as the fuzzy schedulers of controllers and model's parameters were implemented using structured text (ST) on the PAC system with RX3i controller. the softwarehardware tools allows to automate the crane's models identifications for the selected operating points, determine the controllers parameters, validate the closed-loop system through real-time simulating on the PAC system and finally pass to conducting the experiments on the laboratory device.

关键词： Cranes Control systems Payloads Laboratories Mathematical model Interpolation Hardware

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Interval-based sliding mode observer design for nonlinear systems with bounded measurement and parameter uncertainty

Interval-based sliding mode observer design for nonlinear sy...

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international conference on methods and models in automation and robotics (MMAR)

作者： Luise Senkel Andreas Rauh Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

the estimation of non-measurable state variables as well as the reliable identification of unknown system parameters are important prerequisites for the design and implementation of controllers for nonlinear dynamic systems. However, these tasks are often impeded by the nonlinearity of dynamic system models as soon as observer techniques are sought for, which can be used for large operating ranges. Moreover, parameters and measured data are typically only known within given tolerance bounds. Such uncertainty makes the proof of the asymptotic stability of the error dynamics of classical state observers quite difficult. therefore, a novel interval-based sliding mode observer providing point-valued estimates is presented in this paper which is designed in such a way that asymptotic stability can be guaranteed by means of an online evaluation of a suitable Lyapunov function. Furthermore, an efficient strategy for the adaptation of the switching amplitude of the observer's variable structure part is presented to reduce the amplification of measurement noise as far as possible if time-varying state variables and time-invariant system parameters are estimated simultaneously. An illustrative example, describing the longitudinal dynamics of a vehicle, is presented to highlight the practical applicability of the observer.

关键词： Observers Switches Trajectory Vectors Measurement uncertainty Vehicle dynamics Lyapunov methods

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State-feedback H∞ control of LPV T-S fuzzy systems using piecewise Lyapunov functions

State-feedback H∞ control of LPV T-S fuzzy systems using pi...

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international conference on methods and models in automation and robotics (MMAR)

作者： Yang Hu Jizhen Liu Taihua Chang Wei Li Zhongwei Lin State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing P. R. China

this paper studies the linearization and control design for a class of Affine Nonlinear Parameter Varying (ANPV) systems. In advance, a kind of Takagi-Sugeno (T-S) fuzzy modeling procedure with homogeneous consequent part based on the ANPV system is proposed to deal with the nonlinearity and the LPV T-S fuzzy system is obtained. then, taking the LPV T-S fuzzy system as the control design model, the piecewise parameter-dependent Lyapunov function is introduced for the LPV T-S fuzzy gain scheduling control. Especially, the statefeedback H ∞ control design of the LPV T-S fuzzy system is studied and the sufficient conditions are given in LMIs form. Finally, a numerical example is provided to validate the availability of the approaches. the simulation results show the universal approximation ability of the LPV T-S fuzzy system to the nonlinearity and the effectiveness of the LPV T-S fuzzy gain scheduling control.

关键词： Fuzzy systems Power systems Lyapunov methods Control design Approximation methods Laboratories Renewable energy sources

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