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Fuzzy sliding mode control for a robot manipulator

Fuzzy sliding mode control for a robot manipulator

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： Bekit, BW Whidborne, JF Seneviratne, LD King's Coll London London United Kingdom

ISBN: (纸本)0818681381

A sliding mode control algorithm combined with a fuzzy control scheme is developed for the trajectory control of a robot manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives good system performance in the face of uncertain system parameters and external disturbances.

关键词： Manipulators

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Live-constraint-based control for contact transitions

Live-constraint-based control for contact transitions

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： Sarkar, N Yun, XP Ellis, R Univ of Hawaii Honolulu United States

ISBN: (纸本)0818681381

The concept and theoretical derivation of a new, continuous controller for contact transition tasks was presented in an early paper [25]. The design of this new controller was derived based on an analysis of impulsive constraints. Unlike other control methods that require switching control strategies before and after contacts, this design is able to accomplish contact transition tasks with a single control strategy, avoiding control discontinuities. In this paper, the proposed controller design is further developed, and results from computer simulation and physical experiments are presented to demonstrate the feasibility and effectiveness of the controller design.

关键词： control equipment

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Communication Protocols in Substation automation and IEC 61850 based proposal

Communication Protocols in Substation Automation and IEC 618...

引用

14th ieee International symposium on computational intelligence and Informatics (CINTI)

作者： Horalek, J. Matyska, J. Sobeslav, V. Univ Hradec Kralove Dept Informat Technol Hradec Kralove Czech Republic

ISBN: (纸本)9781479901944;9781479901975

The automation of control systems of substations in the energy industry uses a variety of specialized standards, technologies and protocols. Among the most frequently used belong MODBUS, IEC60870, DNP3 and IEC61850 protocols. The present paper analyses and compares approaches to data communication among the above mentioned protocols with the main focus on modern standard IEC61850. The paper was created on the basis of experience while implementing data communications for CEPS a.s., the national distributor in the Czech Republic.

关键词： IEC standards power system control substation automation IP networks ethernet networks network topology

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Development of an LQ regulator for longitudinal vehcile control of an automated vehicle 19

Development of an LQ regulator for longitudinal vehcile cont...

引用

ieee Joint 19th International symposium on computational intelligence and Informatics / 7th International Conference on Recent Achievements in Mechatronics, automation, Computer Sciences and Robotics

作者： Ratkovics, Andras Vass, Sandor Tihanyi, Viktor Budapest Univ Tehncol & Econ Dept Automot Technol Budapest Hungary

ISBN: (纸本)9781728156255

Nowadays in road transport lower fuel consumption, higher traffic safety and reduced environmental impact are in the focus of the developments. To reach these future objectives it is necessary to increase the level of automation of road vehicles. Driving a road vehicle by a software is a complex controlling task. This paper presents a basic longitudinal motion controller, which uses a Linear-Quadratic (LQ) regulator. This controller is widespread in the controlling of MIMO systems, because it provides an interactive control, optimized for certain elements of the state vector. The aim of this work is to create an operative longitudinal vehicle control based on an LQ regulator and use it in a demonstration vehicle.

关键词： longitudinal control vehicle control LQ regulator pedal position control

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Smartphone-controlled industrial robots: Design and user performance evaluation 22

Smartphone-controlled industrial robots: Design and user per...

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： Deak, Adrienn Szanto, Zoltan Feher, Aron Marton, Lorinc Sapientia Hungarian Univ Transylvania Dept Elect Engn Corunca Romania

ISBN: (纸本)9798350398823

This work presents a solution for distant control of industrial robots using mobile devices. The developed application can monitor the motion of the robot based on video and sensor information, it can send commands and control scripts to the robot, and it ensures the jogging-like manual control of the robot. In addition to the aforementioned functionalities, the application can analyze the teleoperation performances of the user. A set of performance metrics were introduced to rate user performances. They are useful to evaluate and educate remote manual robot control techniques. Experimental measurements are also presented to show the applicability of the developed remote control application and user performance evaluation method.

关键词： Telerobotics Human-Robot Interface User evaluation Robot control Mobile application IoT

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Learning the perceptual control manifold for sensor-based robot path planning

Learning the perceptual control manifold for sensor-based ro...

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： Zeller, M Schulten, K Sharma, R Univ of Illinois at Urbana-Champaign Urbana United States

ISBN: (纸本)0818681381

The Perceptual control Manifold is a recently introduced concept that extends the notion of the robot configuration space to include sensor feedback for robot motion planning. In this paper, we propose a framework for sensor-based robot motion planning using the Topology Representing Network algorithm to develop a learned representation of the Perceptual control Manifold. The topology preserving features of the neural network lend themselves to yield after learning, a diffusion-based path planning strategy for flexible obstacle avoidance. Simulations on path control and flexible obstacle avoidance demonstrate the feasibility of this approach for motion planning and illustrate the potential for further robotic applications.

关键词： Mobile robots

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Autonomic collision control of mobile agents by disorder of chaotic itinerancy

Autonomic collision control of mobile agents by disorder of ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Kubo, M Natl Def Acad Dept Comp Sci Yokosuka Kanagawa 239868 Japan

ISBN: (纸本)0780378660

This paper conducts simulations of reformation of mobile agents structure with analysis and provides a primitive but new method for automatic collision control. This dynamics is based on synchronization of coupled chaotic oscillators. The author applys this for agent simulator and verify the performance by agent's standpoint of view.

关键词： Mobile agents

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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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Proposal of emotion-driven control model for robot-assisted activity

Proposal of emotion-driven control model for robot-assisted ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Hashimoto, T Hamada, T Akazawa, T Nasu Univ Dept Urban Econ Kuroiso Shi Tochigi 3293121 Japan

This paper proposes 1) Robot-Assisted Activity (RAA) to provide physical and mental support and 2) an emotion-driven control model for RAA. The construction of the control model uses hierarchical knowledge. A robot ca... 详细信息

ISBN: (纸本)0780378660

关键词： robot-assisted activity emotion hierarchical knowledge

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intelligence computing for direct human-robot communication using natural language and cognitive graphics

Intelligence computing for direct human-robot communication ...

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： Litvintseva, LV Tanaka, T Yamafuji, K Ulyanov, VS Univ of Electro-Communications Tokyo Japan

ISBN: (纸本)0818681381

Direct human-robot communication system based on natural language (NL) and cognitive graphics (CG) as a part of a new hierarchical structure of AI control system of mobile robot for service use (MRSU) is developed, The software of simulation system for direct human-robot communication and MRSU behavior based on NL and CG is described. The NL an CG is used for description and representation of possible external worlds in the robot artificial life, This system allows us to evaluate the control algorithms of real time robot behavior and to reduce difficulties connected with such troubles as robot collisions with real objects and robot hardware damages. The mathematical background of direct NL human-robot communication and robot behavior simulation system is knowledge engineering based on spatio-temporal and action logics, default reasoning, cognitive graphics and soft computing, The main concepts, structure, conceptual model of simulation system for description of artificial life of MRSU are discussed, The example of simulation and real experimental results are described.

关键词： Intelligent control

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