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On the Simulation of Lower Order control Strategies for Higher Order Systems 22

On the Simulation of Lower Order Control Strategies for High...

引用

ieee Joint 22nd International symposium on computational intelligence and Informatics / 8th ieee International Conference on Recent Achievements in Mechatronics, automation, Computer Science and Robotics (CINTI-MACRo)

作者： Atinga, Awudu Bito, Janos F. Tar, Jozsef K. Obuda Univ Doctoral Sch Appl Informat & Appl Math Budapest Hungary Obuda Univ John Von Neumann Fac Informat ABC iRob Budapest Hungary Obuda Univ John Von Neumann Fac Informat ABC iRob Doctoral Sch Appl Informat & Appl Math Budapest Hungary

ISBN: (纸本)9798350398823

In model-based control of dynamical systems the order of the necessary controller is that of the time-derivative of the generalized coordinate of the system that immediately can be set by the controller. It is determined by the "physics" of the system to be controlled. In finite time-resolution approach the digital controllers model the derivatives by finite differences, and the simplest numerical integration via Euler's method also uses such differences. Whenever some fractional order derivative of the tracking error is fed back, this long memory term allows the realization of such control strategies for various integer order systems by appropriately "masking" and weighting certain elements of longer sequences. On this mathematical basis the idea of controlling a higher order system by the application of a lower order strategy can be formulated, too. The main benefit may be achieving monotonic decrease in the components of the tracking error. In this paper the first order control of a popular second order system often used for benchmark applications, the van der Pol oscillator is considered. The realization of a simple proportional feedback first order controller in two variants, and a PID-type Computed Torque control are considered in the fixed point iteration-based adaptive framework to tackle the problems caused by modeling imprecisions. The applicability and the limits of the investigated approaches are concluded.

关键词： Adaptive control Fixed Point Iteration Adaptive Deformation Abstract Rotations Fractional Order Derivaties

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Design of a novel compact dexterous hand for teleoperation

Design of a novel compact dexterous hand for teleoperation

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Jia, GW Chen, G Xie, M Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore

ISBN: (纸本)0780372034

This paper focuses on the mechanism design of a novel compact dexterous hand of 3 fingers, 9 joints and 7 DOF (degrees of freedom). The technology of single-motor actuation is used and a kind of compact bilateral clutch is designed to reduce the size of actuation and control part of the hand. Different from most dexterous hand designs, no lengthy tendons are needed in this design since the actuation and control parts are all integrated closely to the fingers. Furthermore, passive joints are added to reduce the number of control DOF and make the hand behave like a human hand. The notion of perfect dexterous hands is discussed from the viewpoint of degrees of freedom. The hand's kinematics and its control architect-are in our experiment system of teleoperation are also briefly presented.

关键词： Remote control

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On the tuning of the free parameters of a new adaptive robot control based on geometric principles of Hamiltonian Mechanics

On the tuning of the free parameters of a new adaptive robot...

引用

1997 ieee International symposium on computational intelligence in Robotics and automation (CIRA 97) - Towards New computational Principles for Robotics and automation

作者： Tar, JK Rudas, IJ Bito, JF Kaynak, OM Banki Donat Polytechnic Budapest Hungary

ISBN: (纸本)0818681381

A novel approach toward the adaptive control of robots dynamically interacting,vith an unmodelled environment and having only approximately known dynamic parameters has recently been developed on the basis of the principles of the Hamiltonian Mechanics. Like different means of modern Soft Computing technology as artificial neural networks (ANNs) or fuzzy controllers having a more or less uniform architecture independent of the particular details of the problems to be solved by them, the proposed method also has a uniform structure not strictly tailored to the peculiar properties of the mechanical system to be controlled. However, as special kinds of ANNs are fil to solve wide but typical classes of tasks the proposed method is invented for tackling problems related to the control of mechanical devices in which the dominating non-linear coupling originates from the laws of Classical Mechanics. As ANNs have a plenty of free parameters (connection weights and threshold values) the tuning of which means learning, this mechanical model also contains tunable parameters so offering the possibility for learning. In this paper the model's free parameters, possible constraints imposed on them as well as different tuning strategies are discussed partly on the basis of computer simulations.

关键词： Mobile robots

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Fuzzy synthetic evaluation of economic benefit of enterprise based on neural network

Fuzzy synthetic evaluation of economic benefit of enterprise...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Wang, XS Peng, GZ Cheng, YH Beijing Inst Technol Dept Automat Control Beijing 100081 Peoples R China

ISBN: (纸本)0780378660

A method of fuzzy multi-layer synthetic evaluation of economic benefit of enterprise is proposed, which applies artificial neural network to analyze the influence coefficients of evaluation indexes of economic benefit. In this way, many subjective factors involved can be avoided and so the economic benefit of enterprise can be analyzed and evaluated more objectively and justly. The presented method is very simple and easy to implement. A practical example is also given and the results verify the validity of the method.

关键词： Economic and social effects

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Repetitive robot visual servoing via segmented trained neural network controller

Repetitive robot visual servoing via segmented trained neura...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Jiang, P Chen, YQ Tongji Univ Dept Informat & Control Shanghai 200092 Peoples R China

ISBN: (纸本)0780372034

The purpose of this paper is to design a neural network controller for a nonlinear system with uncertainties which are invariant or repetitive over repeatedly executed tasks such that the maximum tracking errors can be kept within a predefined region through an iterative learning or training process. The desired trajectory is segmented and for each segment a local neural network is constructed. The training of the local neural networks is done iteratively as the task repeats. Meanwhile, the training is segment-wise progressively from the starting segment to the ending one. The accurate tracking of the whole desired trajectory is thus accomplished in a step-by-step or segment-by-segment manner. As an application example, a robot visual servoing control problem is considered with ail unknown system structure and camera parameters.

关键词： neural networks iterative learning control nonlinear control visual servoing

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Development of PC-based 3D dynamic human interactive robot simulator

Development of PC-based 3D dynamic human interactive robot s...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Onishi, M Odashima, T Asano, F Luo, ZW RIKEN Biomimet Control Res Ctr Wako Saitama Japan

ISBN: (纸本)0780378660

PC-based immersion-type display integrated with a motion capture system as well as a 3D dynamic simulator has been successfully constructed in our laboratory, as a first universal development environment of human interactive robot within Japan. This system makes it possible for us to design and examine the next generation of human interactive robot easily and safely. Experiments of a virtual robot interacts with human and performs dynamic motion show the effectiveness of our system.

关键词： Machine design

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The True Online Continuous Learning automation (TOCLA) in a continuous control benchmarking of actor-critic algorithms

The True Online Continuous Learning Automation (TOCLA) in a ...

引用

ieee symposium Series on computational intelligence (ieee SSCI)

作者： Frost, Gordon Vallejo, Marta Heriot Watt Univ Sch Engn & Phys Sci Edinburgh Midlothian Scotland

ISBN: (纸本)9781728125473

Reinforcement learning problems are often discretised, use linear function approximation, or perform batch updates. However, many applications that can benefit from reinforcement learning contain continuous variables and are inherently non-linear, for example, the control of aerospace or maritime robotic vehicles. Recent work has brought focus onto online temporal difference methods, specifically for using non-linear function approximation. In this paper, we evaluate the Forward Actor-Critic against the regular Actor-Critic, and Continuous Actor-Critic Learning automation. We also propose and evaluate a new algorithm called True Online Continuous Learning automation (TOCLA) which combines these two approaches. The chosen benchmark problem was the MountainCarContinuous-v0 environment from OpenAI Gym, which represents a further step in complexity over the benchmark used to test the Forward Actor Critic in previous works. Our results demonstrate the superiority of TOCLA in terms of its sensitivity to hyper-parameter selection compared with the Forward Actor Critic, Continuous Actor-Critic Learning automation, and Actor Critic algorithms.

关键词： Reinforcement Learning Actor-Critic TOCLA CACLA Forward Actor-Critic Nonlinear Function Approximation

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Direct adaptive control for linear discrete-time uncertain systems with exogenous disturbances and l₂ disturbances

Direct adaptive control for linear discrete-time uncertain s...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Fu, SH Cheng, CC Natl Sun Yat Sen Univ Dept Mech & Electromech Engn Kaohsiung 80424 Taiwan

ISBN: (纸本)0780378660

In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems with exogenous bounded disturbances and l(2) Disturbances. The proposed adaptive controller addresses adaptive stabilization and disturbance rejection. For bounded energy l(2) disturbances the proposed method guarantees a nonexpansivity constraint on the closed-loop input-to-states map. The framework is Lyapunov-based and the adaptive laws are characterized by Kronecker calculus. The only assumption is reachability of the pair (A, B). Finally, several numerical examples axe provided to demonstrate the efficacy of the proposed frameworks.

关键词： Disturbance rejection

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A fuzzy control for cooperative tentacle robot system 3

A fuzzy control for cooperative tentacle robot system

引用

3rd ieee International symposium on computational intelligence in Robotics and automation, CIRA 1999

作者： Ivanescu, Mircea Bizdoaca, Nicu Automatic and Computer Department University of Craiova Romania

ISBN: (纸本)0780358066

A robust control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the distribution force: Then, the lower-level local control problem is treated as an open-chain redundant manipulator control problem. The stability and robustness of a class of the fuzzy logic control (FLC) are investigated and a robust FLC is proposed with uncertainties of the load. The fuzzy rules are established. Simulation results are presented and discussed. © 1999 ieee.

关键词： Fuzzy control

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Joystick teaching system for polishing robots using fuzzy compliance control

Joystick teaching system for polishing robots using fuzzy co...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Nagata, F Watanabe, K Kiguchi, K Tsuda, K Kawaguchi, S Noda, Y Komino, M Fukuoka Ind Technol Ctr Interior Design Res Inst Fukuoka 8310031 Japan

ISBN: (纸本)0780372034

In this paper, a joystick teaching system using a fuzzy compliance control is presented for polishing robots. The joystick is regarded as a virtual spring-damper system, so that the joystick's compliance in operation can be easily adjusted according to the friction force acting between the polishing tool and the workpiece. In conventional compliance control, both the damping coefficient and the stiffness coefficient are generally selected to be suitable for each task by trial and error. Our proposed method described suitably generates the component of stiffness by a simple fuzzy reasoning method. The effectiveness of the proposed system has been examined by some teaching experiments using an industrial robot FS-20 with a PC based controller.

关键词： Compliance control

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