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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Y. Hayashibara K. Tanie H. Arai H. Tokashiki Department of Control and System Engineering Toin University of Yokohama Yokohama Kanagawa Japan Robotics Department Mechanical Engineering Laboratory M.I.T.I. Tsukuba Ibaraki Japan Institute of Engineering Mechanics University of Tsukuba Tsukuba Japan

This paper present the design concept of a power assist system. In such system, when the controller is designed without considering the maximum torque of the actuators, the actuators can sometimes become saturated, resulting in a loss of stability and manoeuvrability. We propose a method for dealing with this problem. The load force is divided into gravitational and dynamic component, and each component is attenuated by an individual ratio. These ratios are determined considering the maximum power of the operator and the actuators.

关键词： Gravity Actuators control systems Force control Force sensors Stability Power engineering and energy Laboratories Torque control Aerodynamics

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Region-based Q-learning using convex clustering approach

Region-based Q-learning using convex clustering approach

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J.H. Kim I.H. Suh S.R. Oh Y.J. Cho Y.K. Chung Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Kyunggi South Korea Advanced Robotics Research Center KIST Seoul South Korea School of Mechanical Engineering Information Research Laboratories PIRL Pohang University of Science and Technology South Korea

For continuous state space applications, a novel method of Q-learning is proposed, where the method incorporates a region-based reward assignment being used to solve a structural credit assignment problem and a convex clustering approach to find a region with the same reward attribution property. Our learning method can estimate a current Q-value of an arbitrarily given state by using effect functions, and has the ability to learn its actions similar to that of Q-learning. Thus, our method enables robots to move smoothly in a real environment. To show the validity of our method, the proposed Q-learning method is compared with conventional Q-learning method through a simple two dimensional free space navigation problem, and visual tracking simulation results involving a 2-DOF SCARA robot are also presented.

关键词： Orbital robotics Learning systems Intelligent robots State-space methods Mechanical engineering Mechanical factors State estimation Motion planning Discrete event simulation Humans

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Fuzzy-Q learning for autonomous robot systems

Fuzzy-Q learning for autonomous robot systems

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International Conference on Neural Networks

作者： Il Hong Suh Jae-Hyun Kim F.C.-H. Rhee Intelligent Control and Robotics Laboratory Department of Electronic Engineering Hanyang University Ansan South Korea Computational Vision and Fuzzy Systems Laboratory Hanyang University Ansan South Korea

It is desirable for autonomous robot systems to posses the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Since Q-learning is normally used for optimizing a series of discrete actions, it may be undesirable when applied to a real environment which involves continuous states and actions. In this paper, we propose a new method of Q-learning that incorporates a fuzzy interpolation technique which is used to approximate a continuous state. Our learning method can estimate current state by its neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to react smoothly in a real environment. Simulation results involving an autonomous robot are given to show the validity of our method.

关键词： Robot sensing systems control systems Laboratories Interpolation State estimation Intelligent robots Learning Robot control Robot vision systems Machine vision

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Fuzzy modeling and control of a nonlinear magnetic bearing system

Fuzzy modeling and control of a nonlinear magnetic bearing s...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Sung-Kyung Hong R. Langari Joongseon Joh Department of Mechanical Engineering and Center for Fuzzy Logic Roboticsand Intelligent Systems Research Texas A and M University College Station TX USA Department of Control and Instrumentation engineering Changwon NatE28099l University South Korea

This paper presents an approach, called fuzzy model based nonlinear fuzzy control, that overcomes position dependent nonlinearity of magnetic bearing systems. We represent the nonlinear magnetic bearing by the Takagi-Sugeno-Kang fuzzy model. Based on such model, nonlinear fuzzy controllers can be derived by means of a systematic synthesis approach. Moreover, the stability analysis of the fuzzy control system can be done efficiently by using linear matrix inequality method. Simulation results demonstrate that the proposed fuzzy controller yields not only maximized stability boundary but also better performance than a single operating point linear controller.

关键词： Fuzzy control Fuzzy systems Nonlinear control systems Magnetic levitation Fuzzy logic control systems Nonlinear dynamical systems Nonlinear magnetics Rotors Magnetic forces

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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FasBack: matching-error based learning for automatic generation of fuzzy logic systems

FasBack: matching-error based learning for automatic generat...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： J.M.C. Izquierdo Y.A. Dimitriadis J.L. Coronado Group of Vision and Robotics. Department of Automatic Electronic and Industrial Electricity School of Industrial Engineering. University of Murcia Murcia Spain Department of Signal Theory Telecommunications and Telematics Enginnering School of Telecommunications Engineering. University of Valladolid Spain Department of Systems Engineering and Control School of Industrial Engineering. University of Valladolid Spain

Many research works have been reported with respect to the relation between neural and fuzzy systems. Looking for a synergistic relation of these technologies, an important property of neural network-based systems is their learning capacity, that permits to embed self-organization in fuzzy logic systems. In this paper, a new neuro-fuzzy system, called FasBack, is proposed, that combines learning based on prediction error minimization and pattern matching. FasBack adds error-based learning to a previously proposed model, called FasArt, which extended and formalized neural networks models of the ART family, as fuzzy logic systems. Experimental results are presented in nonlinear systems identification problems, typically used in the literature.

关键词： Fuzzy logic control systems Fuzzy systems Hardware Industrial engineering Neural networks Subspace constraints System performance Service robots Robot vision systems

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Adaptive variable structure control and applications to friction compensation

Adaptive variable structure control and applications to fric...

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IEEE Conference on Decision and control

作者： S. Sankaranarayanan F. Khorrami Dept. of Electr. Eng. Polytech. Univ. Brooklyn NY USA Control Robotics Research Laboratory (CRRL) Department of Electrical Engineering Polytechnic University Brooklyn NY USA

A smooth adaptive control methodology combining the results of a variable structure control scheme and backstepping is proposed for the class of systems in the special strict feedback form. The controller ensures the global asymptotic tracking and regulation of the first /spl kappa/ states which are in a chain of integrators form and globally uniformly bounded tracking for the remaining states. An application of this methodology for the case of friction compensation in drives containing a compliant transmission between the load and the actuator is presented. The friction model considered is a six parameter dynamic model. This problem is significant because the load side friction is mismatched with the control. The advocated controller does not require knowledge of any of the parameters of friction and is shown to give global asymptotic tracking of the load angle and velocity in the presence of dynamic uncertainties. Simulation results indicate the efficacy of the proposed approach.

关键词： Programmable control Adaptive control Friction Uncertainty Electric variables control control systems Nonlinear systems Nonlinear dynamical systems Backstepping Feedback

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Analysis of deadlocks and circular waits using a matrix model for discrete event systems

Analysis of deadlocks and circular waits using a matrix mode...

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IEEE Conference on Decision and control

作者： F.L. Lewis S. Bogdan A. Gurel O. Pastravanu Automation and Robotics Research Institute University of Texas Arlington Worth TX USA Faculty of Electrical Engineering and Computer University of Zagreb Zagreb Croatia Department Automatic Control and Ind. Inf Polytechnic Institute Iasi Romania

A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these systems. In this application to deadlock analysis, the exact relations between circular blockings and deadlocks are given for a large class of reentrant flow lines. Explicit matrix equations are given for online dynamic deadlock analysis in terms of circular blockings, and certain 'critical siphons' and 'critical subsystems'. This allows efficient dispatching with deadlock avoidance using a generalized kanban scheme. For the class of flow lines considered, the existence of matrix formulae shows that deadlock analysis is not NP-complete, but of polynomial complexity.

关键词： System recovery Discrete event systems Equations Dispatching robotics and automation Petri nets Manufacturing Bills of materials Assembly Lifting equipment

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A Dynamic Predicting Algorithm for Estimating Bus Arrival Time

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IFAC Proceedings Volumes 1997年第8期30卷 1225-1228页

作者： Edwin M. Reinhoudt S.A. Velastin Delft University of Technology Department of Electrical Engineering Telecommunications and Traffic Control Systems Group Mekelweg 4 2628 CD Delft the Netherlands fax: +31 (15) 278 1774 Department of Electronic & Electrical Engineering Vision and Robotics Laboratory King’s College London Strand London WC2R 2LS United Kingdom fax: +44 (171) 873 2211

In order to maintain a high quality service and keep up with the ever increasing demands in the field of public transport, London Transport Buses (LTB) equipped bus routes in a test area in North London with a new system called Countdown. The system calculates arrival time estimations which inform both the customers and the operators of the company about the running of their buses. The calculations should be as accurate as possible in the interest of customer satisfaction. This paper shows that the use of a dynamic Kalman filter instead of a previously used static averaging algorithm, improves the error distribution up to 7% and often reduces maximum absolute error figures significantly. This technique may also prove to be a useful tool for other predicting systems.

关键词： Measurement Surveillance Estimation Practical Application Results Travel Traffic Information Public Transport

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Internal force-based impedance control for cooperating manipulators

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1996年第1期12卷 78-89页

作者： Bonitz, RG Hsia, TC Systems Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.

关键词： Impedance Force control Motion control Manipulator dynamics Velocity control Robot sensing systems End effectors Kinematics Stability Computational modeling

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