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Nonholonomic stratified motion planning along decomposed reference trajectories

Nonholonomic stratified motion planning along decomposed ref...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： I. Harmati B. Lantos S. Payandeh Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Experimental Robotics Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

This work studies a new stratified motion planning algorithm. The proposed technique is able to lead a stratified system along a restricted class of reference trajectories while the earlier approach aimed only to reach a final state without influencing the trajectory. The suitable class of reference trajectories is still restricted because they should go through a sequence of connected integral submanifolds. A highly oscillatory sequence (HOS) of inputs is built in the method to produce a sequence of trajectories converging to the reference trajectory. The major benefit of the new concept in comparison with the conventional approach emerges when obstacle avoidance is required in the configuration space. The method is demonstrated on a simple model of a hexapod robot.

关键词： Trajectory Motion planning Robots Legged locomotion control systems control engineering Information technology Laboratories Technology planning Orbital robotics

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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...

引用

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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An extension of weighted strategy sharing in cooperative Q-learning for specialized agents

An extension of weighted strategy sharing in cooperative Q-l...

引用

International Conference on Neural Information Processing

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

Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.

关键词： Intelligent robots Intelligent agent Process control control systems Intelligent control Laboratories Intelligent systems Physics Mathematics Entropy

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Certainty and expertness-based credit assignment for cooperative Q-Learning agents with an AND-type task

Certainty and expertness-based credit assignment for coopera...

引用

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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Optimal genetic representation of complete strictly-layered feedforward neural networks

引用

6th International Work-Conference on Artificial and Natural Neural Networks, IWANN 2001

作者： Raptis, Spyros Tzafestas, Spyros Karagianni, Hermione Intelligent Robotics and Automation Laboratory Division of Signals Control and Robotics Department of Electrical and Electronic Engineering National Technical University of Athens Zographou Campus Athens15773 Greece

ISBN: (纸本)9783540422372

The automatic evolution of neural networks is both an attractive and a rewarding task. The connectivity matrix is the most common way of directly encoding a neural network for the purpose of genetic optimization. However, this representation presents several disadvantages mostly stemming from its inherent redundancy and its lack of robustness. We propose a novel representation scheme for encoding complete strictly-layered feedforward neural networks and prove that it is optimal in the sense that it utilizes the minimum possible number of bits. We argue that this scheme has a number of important advantages over the direct encoding of the connectivity matrix. It does not suffer from the curse of dimensionality, it allows only legal networks to be represented which relieves the genetic algorithm from a number of checking and rejections, and the mapping from the genotypes to phenotypes is one-to-one. Additionally, the resulting networks have a simpler structure assuring an easier learning phase. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Genetic algorithms

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Robust control for dynamic walking of a biped robot with ground contacting condition

Robust control for dynamic walking of a biped robot with gro...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： In-Gyu Park Jin-Geol Kim Control & Robotics Laboratory Department of Automation Engineering Inha University Incheon South Korea

ISBN: (纸本)0780370902

A robust controller with the sliding mode is proposed for stable dynamic walking of a biped robot in this paper. The robot system is modeled as 14-DOF rigid bodies considering kinematic construction of a humanoid. The method of multibody dynamics is applied to construct the equations of motion for the complicated biped robot system. In order to obtain the optimized trunk trajectory, the modified FFT method is solved iteratively. The dynamic walking simulation is performed by using optimized trajectories of the trunk and each foot. Also, Hertz force model and hysteresis damping element are employed for the ground reaction and impact forces during contact with the ground. Finally, the sliding mode control is applied to solve the problems of modeling imprecisions or uncertainties. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance.

关键词： Legged locomotion Robust control Sliding mode control Humanoid robots Kinematics Equations Optimization methods Foot Hysteresis Damping

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Global adaptive output feedback tracking for nonlinear systems linear in unmeasured states

Global adaptive output feedback tracking for nonlinear syste...

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American control Conference (ACC)

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

A global adaptive output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems 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. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. It is also shown that this assumption can be removed by introducing extra dynamics. This represents the first adaptive output-feedback tracking results for this class of systems.

关键词： Output feedback Nonlinear systems control systems Adaptive control Programmable control Backstepping State feedback Linear feedback control systems Robot control Linearization techniques

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

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

引用

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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Large envelope flight control satisfying H/sub /spl infin// robustness and performance specifications

Large envelope flight control satisfying H/sub /spl infin// ...

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American control Conference (ACC)

作者： P. Blue L. Guvenc D. Odenthal Robust Control Group Institute of Robotics and Mechantronics German Aerospace Center Wessling Germany Department of Mechanical Engineering Istanbul Technical University Istanbul Turkey

A method of designing large envelope flight controllers for high performance aircraft is presented. The approach combines the simple two-degree of freedom architecture and recent advances in parameter-space control design techniques to form a new approach for large envelope flight control design. The procedure enables the designer to explicitly define the desired closed-loop dynamics and ensures that the closed-loop is stable and satisfies weighted frequency response magnitude (H/sub /spl infin//) specifications. The result is a straightforward procedure that enables the design of a robust flight controller that "forces" the closed-loop dynamics to behave like the specified 'desired dynamics' despite disturbances, modeling uncertainties, and variations in aircraft dynamics due to changing flight conditions. The procedure is presented by designing a pitch-rate controller for the F-16 Variable Stability In-Flight Simulator Test Aircraft (VISTA). Finally, the controller is compared to a 7/sup th/ order and a 10/sup th/ order linear parameter-varying controller and found to provide better performance and robustness.

关键词： Aerospace control Aircraft Robust control Design methodology control design Frequency response Force control Uncertainty Stability Testing

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