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作者： Yang, Chenguang Li, Yanan Ge, Shuzhi Sam Lee, Tong Heng Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424474264

In this paper, a novel adaptive predictive control is presented for a class of multi-input-multi-output (MIMO) nonlinear systems in block-triangular form with uncertain couplings of states/delayed states as well as inputs among subsystems. For each subsystem of the MIMO system, future states prediction is developed and using the predicted future states, adaptive predictive control is designed under certainty equivalence principal to compensate the parametric uncertainties in the couplings. To eliminate the functional uncertainties in the couplings, a novel compensation mechanism is developed for each subsystem. Under the proposed adaptive controls, all the signals in the closed-loop MIMO systems are guaranteed to be globally bounded. In addition, all the output tracking errors are guaranteed to converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation. © 2010 AACC.

关键词： Couplings

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

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Antagonistically actuated compliant joint: Torque and stiffness control

Antagonistically actuated compliant joint: Torque and stiffn...

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2010 IeeE/RSJ International Conference on intelligent Robots and systems

作者： I. Sardellitti G. Palli N. G. Tsagarakis D. G. Caldwell Advanced Robotics Laboratory Italian Institute of Technology Genoa Italy Department of Electronics Computer Science and Systems University of Bologna Italy

The current research effort in the design of lightweight and safe robots is resulting in increased interest for the development of variable stiffness actuators. Antagonistic pneumatic muscle actuators (pMAs) have been proposed for this purpose, due to their inherent nonlinear spring behavior resulting from both air compressibility and their nonlinear force-length relation. This paper addresses the simultaneous torque and stiffness control of an antagonistically actuated joint with pneumatic muscles driven by compact, fast-switching solenoid valves. This strategy allows compensation of unmodeled joint dynamics while adjusting the joint stiffness depending on the task requirements. The proposed controller is based on a sliding mode force control applied to an average model of the valve-pneumatic muscle system. This was necessary to cope with both the well known model uncertainties of the pMA and the discontinuous on-off behavior of the solenoid valves. Preliminary experimental results verified the effectiveness of the proposed implementation.

关键词： Muscles Valves Joints Force Torque Robots Solenoids

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Analysis of task feasibility for a home robot using prismatic joints

Analysis of task feasibility for a home robot using prismati...

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2010 IeeE/RSJ International Conference on intelligent Robots and systems

作者： Tomoaki Mashimo Rosen Diankov Takateru Urakubo Takeo Kanade Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and Systems Engineering Kobe University Kobe Japan

This paper evaluates the dynamic and kinematic properties of a prismatic mechanism and shows its capabilities in performing home manipulation tasks when integrated into a robotic arm. Our design is motivated from the observation that human hand motions often follow a linear trajectory when manipulating everyday objects. We present the mechanical design for a light-weight, energy-efficient robot named PRISM that emphasizes translational motion. By simulating the dynamics equations and comparing the structure of commonly used anthropomorphic arms and our proposed arm, we verify that translational motion is more energy efficient with PRISM, and the robot can maneuver itself in narrower places. Through simulation experiments using state of the art manipulation planning algorithms, we analyze the success rates of PRISM and an anthropomorphic robot arm in performing basic tasks. The simulation experiments center on pick-and-place tasks in cluttered kitchen scenes. We show a real-world prototype of PRISM and perform several manipulation experiments with it.

关键词： Robots Elbow Wrist Integrated circuit modeling Prototypes Torso

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Singularity-based mechanism with high responsiveness

Singularity-based mechanism with high responsiveness

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2010 IeeE/RSJ International Conference on intelligent Robots and systems

作者： Tomoaki Mashimo Takateru Urakubo Takeo Kanade Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and Systems Engineering Kobe University Kobe Japan

We propose a singularity-based mechanism (SBM) to exploit the singular configuration that improves the angular acceleration instead of constraining the movement. The tradeoff between the responsiveness and the range of motion is achieved by varying a length of linkage in the SBM. In this paper, we clarify the responsiveness of the SBM using the dynamics analysis. For the demonstration, we build an experimental SBM system with the high responsiveness, a practical range of motion, and a size comparable to a human arm. In the experiment, the effectiveness of the SBM is shown in a vertical lifting task. The characteristic of the SBM that generates a large acceleration at start is similar to the human arm moved by a muscle. The similarity between the SBM and the human arm is analyzed in terms of the static torque.

关键词： Actuators

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Learning compliance control of robot manipulators in contact with the unknown environment

Learning compliance control of robot manipulators in contact...

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2010 IeeE International Conference on Automation science and Engineering, CASE 2010

作者： Li, Yanan Yang, Chenguang Ge, Shuzhi Sam Social Robotics Lab. NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424454471

In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation. © 2010 IeeE.

关键词： Modular robots

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Accurate mobile robot localization in indoor environments using bluetooth

Accurate mobile robot localization in indoor environments us...

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IeeE International Conference on robotics and Automation (ICRA)

作者： Aswin N Raghavan Harini Ananthapadmanaban Manimaran S Sivamurugan Balaraman Ravindran Department of Computer Science and Engineering National Institute of Technology Tiruchirappalli India Department of Electronics and Communication Engineering National Institute of Technology Tiruchirappalli India Department of Computer Science and Engineering Reconfigurable and Intelligent Systems Engineering Laboratory Indian Institute of Technology Madras India

In this paper, we describe an accurate method for localization of a mobile robot using bluetooth. We introduce novel approaches for obtaining distance estimates and trilateration that overcome the hitherto known limitations of using Bluetooth for localization. Our approach is reliable and has the potential of being scaled to multi-agent scenarios. The proposed approach was tested on a mobile robot, and we present the experimental results. The error obtained was 0.427 ± 0.229 m, which proves the accuracy of our method.

关键词： Mobile robots Indoor environments Bluetooth Particle filters computer science Mobile communication Energy consumption Radiofrequency identification Radio control robotics and automation

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Sensitivity function of LTI fractional order dynamic systems with respect to the orders

Sensitivity function of LTI fractional order dynamic systems...

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American Control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration.

关键词： Green's function methods Lyapunov method intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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Boundary control of a flexible marine riser with vessel dynamics

Boundary control of a flexible marine riser with vessel dyna...

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作者： He, Wei Voon ee How, Bernard Ge, Shuzhi Sam Choo, Yoo Sang Department of Electrical and Computer Engineering Centre for Offshore Research and Engineering National University of Singapore Singapore 117576 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu 610054 China Department of Civil Engineering Centre for Offshore Research and Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9781424474264

In this paper, boundary control of a flexible marine riser with vessel dynamics is developed to reduce the riser's vibrations. To provide an accurate and concise representation of the riser's dynamic behavior, the distributed parameter model of the flexible marine riser with vessel dynamics is described by a partial differential equation (PDE) coupled with ordinary differential equations (ODEs) involving functions of space and time. Boundary control is developed at the top boundary of the riser based on Lyapunov's direct method to regulate the riser's vibrations. With the proposed boundary control, uniform boundedness is achieved. The boundary control is implementable with actual instrumentation since all the signals in the control can be measured by sensors or calculated by a backwards difference algorithm. Simulations are provided to illustrate the effectiveness of the proposed control. © 2010 AACC.

关键词： Dynamics

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An intelligent assistant for power plants based on factored MDPs

An intelligent assistant for power plants based on factored ...

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2009 15th International Conference on intelligent System Applications to Power systems, ISAP '09

作者： Reyes, Alberto Spaan, Matthijs T. J. Sucar, L. Enrique Instrumentation and Control Department Instituto de Investigaciones Eléctricas Cuernavaca Mexico Institute for Systems and Robotics Lisbon Portugal Computer Science Department INAOE Puebla Mexico

ISBN: (纸本)9781424450985

Making good operation decisions during abnormal power plant conditions represents in many cases the possibility to avoid a unit trip or having economical losses. This paper introduces AsistO, an intelligent assistant for the decision support based on decision theoretic planning techniques. It provides power plant operators with useful recommendations to (i) maintain a plant running under safe conditions, or (ii) deal with process transients when an unexpected event occurs. We present the formalism of Markov decision processes as the core of the intelligent assistant which uses a factored representation of plant states. We also show a very intutive algorithm to approximate decision models based on training data collected through random exploration routines in a simulated environment. We have tested our system in the steam generation system of a combined power plant to deal with load disturbances. © 2009 IeeE.

关键词： Markov processes

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