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International Conference on Neural Information Processing

作者： A. Harati M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence & AI and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.

关键词： Feedback Intelligent agent Intelligent robots Process control control systems Intelligent control Artificial intelligence Robot kinematics Physics computing Reliability engineering

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A decision-making based approach for fault-handling in multi-agent systems

A decision-making based approach for fault-handling in multi...

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International Conference on Neural Information Processing

作者： M.S. Mirian M.N. Ahmadabadi Z. Navabi Robotics and AI Laboratory Department of Elect. and Comp. Eng Faculty of Engineering University of Tehran Iran Robotics and AI Lab Control & Intelligent Processing Center of Excellence Dept. of Elect. and Comp. Eng. University of Tehran Iran

This paper focuses on distributed fault recovery in agent-based systems by providing help for faulty members. In the presented method, if one faulty agent requests for help or agents are informed of fault in one of their teammates, they first decide if they are able to help or not. In the case that they are able to help and several help requests exist, helper agents specify a sequence of help actions through another distributed decision-making phase. The introduced fault clearing method is totally distributed in the sense that each helper agent makes its decisions by itself and no central or special agent exists in the system. In fact, the decision making process and the required information are designed such that the agents cooperate implicitly to prevent the system performance loss. The developed ideas are implemented in a simulated distributed control system. As it is shown, the proposed distributed fault-clearing method through reconfiguring the agents' roles is very effective.

关键词： Decision making Multiagent systems Robustness Condition monitoring Process control Robots Artificial intelligence Hardware Distributed decision making System performance

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Voltage-fed permanent magnet stepper motor control with position only feedback

Voltage-fed permanent magnet stepper motor control with posi...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

A robust adaptive nonlinear dynamic controller is designed to achieve practical stabilization for position tracking error of a voltage-fed permanent-magnet stepper motor. The control design is an output-feedback design that utilizes only rotor positions measurements. Rotor velocity and stator phase currents are not available for feedback. Furthermore, the only motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized so that no other knowledge of motor parameters is required. The proposed controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. These results can also be extended to other classes of motors.

关键词： Motor drives Robust control Rotors Programmable control Adaptive control Voltage control Error correction Permanent magnet motors control design Position measurement

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Decentralized control of large-scale nonlinear systems in generalized output-feedback canonical form

Decentralized control of large-scale nonlinear systems in ge...

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IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Department of Electrical and Computer Engineering Six Metrotech Center Control/Robotics Research Laboratory Polytechnic University Brooklyn NY USA

ISBN: (纸本)0780370619

A global decentralized adaptive output-feedback dynamic compensator is proposed for stabilization and tracking of a class of large-scale systems that are globally diffeomorphic into systems which are interconnections of subsystems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities, and, also, unknown nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that reduced-order observers and backstepping controllers can be designed to achieve practical stabilization of the tracking error in each subsystem. Sufficient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. This represents the first decentralized adaptive output-feedback tracking results for this class of systems.

关键词： Distributed control Large-scale systems Nonlinear systems Programmable control Adaptive control Output feedback control systems Polynomials Uncertainty Robot control

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Robust adaptive friction compensation in servo-drives using position measurement only

Robust adaptive friction compensation in servo-drives using ...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhi Wang H. Melkote F. Khorrami Control Robotics Research Laboratory CRRL Department of Electrical Engineering Six MetroTech Center Polytechnic University Brooklyn NY USA

Friction compensation via position measurement only in servo-drives is considered in this paper. A robust nonlinear adaptive controller is designed which uses only the motor position (i.e., the output) for feedback and does not require knowledge of electromechanical system parameters, such as parameters in the friction model, rotor inertia, etc. Moreover, the proposed controller can reject any bounded unknown disturbance. The reduced-order Lunberger observer is introduced and an observer-based backstepping procedure is carried out. Simulation results are depicted to show the performance of the advocated controller.

关键词： Robustness Friction Position measurement Robust control Programmable control Adaptive control Nonlinear control systems Servomotors Output feedback Electromechanical systems

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Robust adaptive control of formationkeeping for a pair of satellites

Robust adaptive control of formationkeeping for a pair of sa...

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American control Conference (ACC)

作者： Zhi Wang F. Khorrami W. Grossman Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Applied Systems Engineering Inc. Gambrills MD USA

Two robust adaptive control schemes (state-feedback and output-feedback) for formationkeeping of a pair of satellites are proposed. In contrast to most existing results, both control schemes are based on the nonlinear model directly, not on the simplified linearized model. In addition, the uncertainties and disturbances in the system such as the effects due to solar pressure, noncentral gravitational field, air drag, etc. are all considered. The objective of the control design is to force the relative position between two satellites to track a given reference signal while maintaining the desired Keplerian trajectory (in this case circular) for the master satellite. The results of this paper may be easily generalized to formationkeeping of a number of satellites.

关键词： Robust control Adaptive control Satellites Spaceborne radar control systems Uncertainty Trajectory Nonlinear optics Optical interferometry Interferometers

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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C4ISR architectures: I. Developing a process for C4ISR architecture design

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Systems engineering 2000年第4期3卷 225-247页

作者： Levis, Alexander H. Wagenhals, Lee W. System Architectures Laboratory C3I Center MSN 4D2 George Mason University Fairfax VA 22030 United States Department of Electrical Computer and Systems Engineering C3I Center System Architectures Laboratory United States Institute of Electrical and Electronic Engineers (IEEE) Advancement of Science (AAAS) United States Center of Excellence Command Control Communications and Intelligence George Mason University Fairfax VA United States System Architectures Laboratory United States

The C4ISR Architecture Framework document issued by the department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to serve as the basis for C4ISR system development and acquisition. The Framework does not provide a process for architecture design. In this paper, information architectures are described in the context of Structured Analysis, and then the architecture views of the Framework and the related products are interpreted in that context. A methodology for architecture design is developed that is then implemented using Structured Analysis and object orientation in two companion papers. © 2000 John Wiley & Sons, Inc.

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Output feedback control of a three degree-of-freedom linear stepper motor with position measurements only

Output feedback control of a three degree-of-freedom linear ...

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American control Conference (ACC)

作者： H. Melkote F. Khorrami Control/Robotics Research Laboratory Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

In this paper, an adaptive current-level controller is designed for two-dimensional linear stepper motors that renders the closed-loop system robust to a variety of uncertainties and disturbances prevalent in the motor dynamics. The controller uses only the motor position and the yaw angle for feedback. The tracking error is shown to be globally uniformly bounded. Simulation studies are presented to validate the controller performance.

关键词： Output feedback Linear feedback control systems Position measurement Reluctance motors Open loop systems Programmable control Adaptive control Robust control Micromotors control systems

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Adaptive control of systems with backlash hysteresis at the input

Adaptive control of systems with backlash hysteresis at the ...

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American control Conference (ACC)

作者： N.J. Ahmad F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center PolyTechnical University Brooklyn NY USA

A new compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.

关键词： Adaptive control Hysteresis Gears Inverse problems Programmable control PD control control systems Degradation Output feedback Robot control

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