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Adaptive robot manipulator control based on plant-controller model reference using soft computing and performance index analyzer

Adaptive robot manipulator control based on plant-controller...

引用

2009 ieee symposium on computational intelligence in control and automation, cica 2009

作者： Nahapetian, N. Jahed Motlagh, M.R. Analoui, M. Iran University of Science and Technology Tehran Iran Computer Eng. Department Iran University of Science and Technology Tehran Iran

ISBN: (纸本)9781424427529

This paper addresses an application that involves the adaptive control of robot manipulator joint. It tries to explore the potential of using soft computing methodologies in control of plant (robot manipulator) with unknown internal behavior and environmental changes. The main methodology is based on using dual controller instead of one. One of them is for controlling identified plant (plant model) which used as model reference, and the other one for controlling the real plant (Manipulator). The real controller presents a PID tuning method that uses a Fuzzy Logic as a main gain estimator and a signal analyzer, which extract some Performance Indexes (Overshoot, Rise Time and Steady State Error) from controller error signal. By defining these PI parameters and the one which is available as a reference (from reference model), the controller tries to match its output to reach the desired PIs, come from model reference. The suggested approach is used to tune the PID gains for different response specifications. Experimental results demonstrate that better performance can be achieved with suggested adaptive controller. Robot manipulator which was used as case study in this work was simulated with professional simulation software package consist of Matlab/Simulink, Solid work and Visual Nastran. ©2009 ieee.

关键词： controllers

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Orthogonal-Type Robot with a CAD/CAM-Based Position/Force controller

Orthogonal-Type Robot with a CAD/CAM-Based Position/Force Co...

引用

ieee symposium on computational intelligence in control and automation

作者： Nagata, Fusaomi Tani, Shintaro Mizobuchi, Takanori Hase, Tetsuo Haga, Zenku Omoto, Masaaki Watanabe, Keigo Tokyo Univ Sci Dept Elect & Comp Sci Yamaguchi Japan Meiho Co Ltd R&D Ctr Nogata Japan Saga Univ Grad SchSci & Engn Dept Adv Syst Control Engn Saga Japan

ISBN: (纸本)9781424427529

In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of I pm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a bull-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.

关键词： Computer aided design

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Adaptive Sliding Mode Trajectory Tracking control of Mobile Robot with Parameter Uncertainties

Adaptive Sliding Mode Trajectory Tracking Control of Mobile ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Li Kunpeng Wang Xuewen Yuan Mingxin Li Xiaohu Wang Sunan Xi An Jiao Tong Univ Dept Mech Engn Xian 710049 Shanxi Peoples R China Xi An Jiao Tong Univ Dept Engn Mech Xian 030024 Peoples R China

ISBN: (纸本)9781424448081

The trajectory tracking control problem of nonholonomic mobile robots with parameter uncertainties has been analyzed. The kinematics and dynamical models of mobile robots are taken into account, the control rule based on the kinematics model is taken as desired virtual control, and the adaptive sliding mode controller is designed, as the controller take into account both kinematics and dynamical model, the robot can not only track trajectory smoothly, but also be robust to parameter uncertainties. Based on Lyapunov theory, the system is stable. Finally, simulations are performed on the system with parameter uncertainties, and the results show that the proposed controller can track desired trajectory effectively.

关键词： parameter uncertainty Mobile robots kinematics control rule trajectory tracking Sliding mode controllers Nonholonomic mobile robots kinetic model fuzzy sliding mode controllers

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Exploration and Mapping for Unstructured Robot Teams

Exploration and Mapping for Unstructured Robot Teams

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Martin, Adrian Emami, M. Reza Univ Toronto Inst Aerosp Studies Space Mcchatron Grp Toronto ON Canada Univ Toronto Inst Aerosp Studies Toronto ON Canada

ISBN: (纸本)9781424448081

As the applications of mobile robot teams become more complex, the impracticality of designing custom solutions is becoming increasingly obvious. A new approach to control system design is required to facilitate the development of modular and scalable systems. control ad libitum is an approach that decouples the software and hardware design of robot teams, allowing the system to adapt to changing hardware and simplifying the process of adding functionality to the control system. The "Host, Avatar, Agent" control architecture was developed utilizing this approach and preliminary experimental results from an exploration and mapping scenario are presented here. The experimental results demonstrate the viability of the architecture, specifically in the areas of modularity and scalability, and provide some insights into how such a system could work for real-world applications.

关键词： control systems

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Active Suspension control Scheme for vehicles without Measurements of Tire Deflection

Active Suspension Control Scheme for vehicles without Measur...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Okumura, Katsuhiro Oya, Masahiro Nagae, Masashi Ota, Hidetaka Wada, Hideki Dept Fukuoka Ind Technol Ctr Fukuoka Japan Kyushu Inst Technol Fukuoka Japan Shin Nippon Nondestructive Inspect Co Fukuoka Japan

ISBN: (纸本)9781424448081

In this paper, a new active suspension control scheme is proposed in which the tire deflections are not required. The controller has good property that we can specify a location where the ride comfort becomes best. To achieve this end, a combined ideal vehicle is designed. In the ideal vehicle, the location where ride comfort becomes best can be moved by setting only one design parameter. Next, to force the real vehicle track the motion of the combined ideal vehicle, a robust tracking controller is proposed.

关键词： controllers

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Gain-Scheduled Takagi-Sugeno Fuzzy PI control Methodology for LPV Systems

Gain-Scheduled Takagi-Sugeno Fuzzy PI Control Methodology fo...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Silva, Joabe Serra, Ginalber Fed Inst Educ Sci & Technol IFMA So Lus MA Brazil

ISBN: (纸本)9781424448081

This work proposes a theoretical approach of gain-scheduled fuzzy PI control design based on gain and phase margins specifications for LPV (Linear and Parameters Varying) systems, in the continuous time domain. A mathematical formulation from the Takagi-Sugeno fuzzy model structure as well as the PDC (Parallel Distributed Compensation) strategy is developed. Analytical formulas are deduced for the PI sub-controllers parameters, in the robust fuzzy controller rules base, according to the fuzzy model parameters of the LPV plant to be controlled. Results of the necessary and sufficient conditions for the fuzzy controller design, from the proposed robust methodology, with one Axiom and two Theorems are also presented.

关键词： Continuous time systems

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Force control in Multi-degree-of-freedom Flexible Systems - Sensor less Technique

Force Control in Multi-degree-of-freedom Flexible Systems - ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Khalil, Islam S. M. Naskali, A. T. Sabanovic, Asif Sabanci Univ Fac Engn & Nat Sci TR-34956 Istanbul Turkey

ISBN: (纸本)9781424448081

This paper presents a novel sensorless force control algorithm for Multi-degree-of-freedom flexible systems which enables controlling the interaction forces with the environment without using force sensors. The coupled nature of flexible system dynamics makes it possible to estimate externally applied forces or torques that arise due to system's interaction with the environment. Disturbance and flexibility are simultaneously utilized to estimate system parameters, dynamics and externally applied forces or torques. The interaction torque estimate is then used to accomplish sensorless torque control assignment. This paper attempts to keep the flexible plant free from any measurement while performing a torque control assignment. However, actuator's parameters and variables are assumed to be available.

关键词： Torque

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Vision-based Servo control of a Quadrotor Air Vehicle

Vision-based Servo Control of a Quadrotor Air Vehicle

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ieee International symposium on computational intelligence in Robotics and automation

作者： Ceren, Zebra Altug, Erdinc Istanbul Tech Univ Syst Dynam & Control Grad Program TR-80626 Istanbul Turkey Istanbul Tech Univ Mech Engn Dept Istanbul Turkey

ISBN: (纸本)9781424448081

Unmanned aerial vehicles (UAVs) are seeing more widespread use in military, scientific, and civilian sectors in recent years. This study presents algorithms for the visual-servo control of an UAV. The helicopter has been stabilized with visual information through the control loop. Unlike previous study that use pose estimation approach which is time consuming and subject to various errors, the visual-servo control is more reliable and fast. The model involves the camera speed and visual sensor blocks. Visual sensor block consists of the camera model and feature extraction blocks. Various simulations are developed on MATLAB, in which the quadrotor aerial vehicle has been visual-servo controlled. In order to show the effectiveness of the algorithms, experiments were performed on a model UAV which suggest successful performance.

关键词： MATLAB

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Adaptive control of Systems with Input Saturation -A Scheme Using Output Derivatives of Order up to Relative Degree-

Adaptive Control of Systems with Input Saturation -A Scheme ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Takagi, Natsuki Oya, Masahiro Wang, Qiang Kobayashi, Toshihiro Kyushu Inst Technol Dept Mech & Control Engn Fukuoka 8048550 Japan Kyushu Inst Technol Dept Syst Design & Informat Iizuka Fukuoka 8208502 Japan

ISBN: (纸本)9781424448081

In this paper, the main attention is focused on transient property of control input signal, we propose a novel adaptive controller for time-continuous single-input single-output linear systems with an input saturation in which i-th derivatives of the output signal (i = 1, ... , relative degree) are available. To improve the control performance, a novel estimator using an observer for the tracking error signals is proposed. Using the estimator, it is shown theoretically that the tracking error between the controlled object output and the reference model output can converge to zero when the initial value of the tracking error satisfies a condition.

关键词： Linear systems

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A Master-Slave Algorithm for control of Micro-Macro Manipulators along Unknown Path

A Master-Slave Algorithm for Control of Micro-Macro Manipula...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Sadigh, Mohammad J. Salehi, Ali Isfahn Univ Technol Dept Mech Engn Esfahan Iran

ISBN: (纸本)9781424448081

Micro-Macro manipulators are considered as a solution for applications which needs precise manipulation within a large work space. Such systems consists of two parts i.e. a flexible large manipulator - Macro - and a rigid short manipulator - Micro. There are many cases in which the mathematical description of desired path is unknown. In such cases one of the best solutions would be to use a master-slave algorithm to control the end-effector along the path. However, due to complicated configuration of the arm one need to employe a joystick type master to command the system. A method based on artificial constraint motion is presented which can semi-manually control the system. To this end, operator controls the macro manipulator by a macro-like master close to the desired path while generating tracking error signal by a joystick A close loop computed-torque like controller which is designed based on constrained motion tries to eliminate the error and track the desired trajectory precisely.

关键词： Nanotechnology

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