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Comparing approximations of the value function for entry time optimal control

Comparing approximations of the value function for entry tim...

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作者： Rungger, Matthias Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

ISBN: (纸本)9783902661937

A fundamental quantity of the solution of an optimal control problem is the value function, i.e., the optimal cost-to-go function. In the general case, the function is not known exactly, but need to be approximated numerically. Most approaches to numerical approximation of the value function follow a procedure of three steps: first, the original continuous problem formulation is fully discretized;second, the discretized finite optimal control problem is solved by a shortest-path algorithm, and as third step, the solution is projected back from the finite space onto the continuous state space by using an interpolating function. This paper investigates the differences of discretization schemes and interpolating functions in this context. The performance of the computed approximations is evaluated in terms of an a-posteriori error, which is obtained from the approximating value functions. The convergence of the approximations to the true value function is proved for all considered schemes for the case that the discretization parameters are decreased to zero. © 2011 IFAC.

关键词： Approximation algorithms

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Get out of the way - Obstacle avoidance and learning by demonstration for manipulation

Get out of the way - Obstacle avoidance and learning by demo...

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作者： Phung, A.S. Malzahn, J. Hoffmann, F. Bertram, T. Institute of Control Theory and System Engineering Technische Universität Dortmund 44221 Dortmund Germany

ISBN: (纸本)9783902661937

Humans acquire manipulation skills by trial and error within a few trials, whereas programming a robot to perform the same task requires robotic expertise and effort. This paper presents a robot which learns a movement from demonstrations with the ability to generalize the movement to new goal poses and avoid the collision with obstacles in the workspace. The general movement is represented by dynamic movement primitives (DMP) augmented by potential fields in order to modulate the motion in the presence of obstacles. The approach is validated in experiments with a robotic arm in which dynamic obstacles partially blocking the movement are detected by a Photonic-Mixer-Devices (PMD) camera. © 2011 IFAC.

关键词： Image processing

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Data based kinematic model of a multi-flexible-link robot arm for varying payloads

Data based kinematic model of a multi-flexible-link robot ar...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Phung, A.S. Malzahn, J. Hoffmann, F. Bertram, T. Institute of Control Theory and Systems Engineering Technische Universität Dortmund D-44221 Dortmund Germany

ISBN: (纸本)9781457721373

Reducing weight and inertias of conventional robot arms with an elastic structure allows safer interactive cooperation between humans and robots. While the end effector pose of a rigid robot is determined by the forward kinematic chain, the pose of elastic arms results from a superposition of the rigid kinematics and the pose dependent deflection caused by gravity. This property complicates the computation of forward and inverse kinematics in particular in case of dynamic loads. This paper presents a machine learning approach to extract various nonlinear regression models of the forward and inverse kinematics of a three degrees of freedom (DOF) flexible-link robot arm with dynamic loads from experimental data. The forward model predicts the target pose, given the joint angles and the strain signals while the inverse kinematic model predicts the joint angles required to assume a target pose. The transformation of the original features onto suitable nonlinear features substantially improves the generalisation ability of the both forward and inverse kinematic model. The closed loop inverse kinematic controller archieves a pose accuracy of 3 mm and the results show that the learned model can solve the inverse kinematics problem of flexible robot arms with sufficient accuracy even with unknown payloads. © 2011 IEEE.

关键词： Dynamic loads

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Vibration control of a multi-flexible-link robot arm under gravity

Vibration control of a multi-flexible-link robot arm under g...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Malzahn, J. Phung, A.S. Hoffmann, F. Bertram, T. Institute of Control Theory and Systems Engineering Technische Universität Dortmund D-44221 Dortmund Germany

ISBN: (纸本)9781457721373

This paper proposes a novel independent joint control concept on a 3 DOF flexible link robot subject to deflections caused by gravity. The scheme dampens induced link oscillations in the presence of configuration dependant plant frequency and damping variations by integrating link strain feedback and impulse based input shaping. The approach is robust and the control does not depend on a dynamic model at runtime. The damping efficiency is evaluated experimentally in terms of strain measurement as well as end-effector position across the entire workspace. © 2011 IEEE.

关键词： Vibration control

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Mixed-integer programming for optimal path planning of robotic manipulators

Mixed-integer programming for optimal path planning of robot...

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2011 7th IEEE International Conference on Automation Science and engineering, CASE 2011

作者： Ding, Hao Reißig, Gunther Groß, Dominic Stursberg, Olaf Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany Germany

ISBN: (纸本)9781457717307

One of the fundamental problems in the field of robotic motion planning is to safely and efficiently drive the end effector of a robotic manipulator to a specified goal position. Here, safety refers to the requirement that the robotic manipulator must have no collision with surrounding obstacles, and efficiency requires that some predefined cost function is minimized. In addition, kinematic and dynamic constraints have to be satisfied. These requirements lead to non-convex optimization problems, which may be approximated by mixed-integer linear programs (MILPs). The solution of the latter, however, is often intolerably complex due to a huge number of binary decision variables. In the present paper, we consider motion planning scenarios with polyhedral obstacles and velocity constraints for the joint positions of the robotic manipulator. We provide a geometric result whose application leads to MILPs with drastically reduced numbers of binary decision variables. Computational efficiency is demonstrated for two- and three-link manipulators interacting with obstacles, where the number of simplex steps during the MILP solution is reduced by a factor of roughly 200 over previous methods. We also demonstrate the application of the proposed method to an industrial robot. © 2011 IEEE.

关键词： Cost functions

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Observer-based control strategies for compensation of dynamic friction

Observer-based control strategies for compensation of dynami...

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Mediterranean Conference on control and Automation

作者： Ruderman, Michael Bertram, Torsten Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221 Dortmund United Kingdom

ISBN: (纸本)9781457701252

This paper describes and compares different observer-based control strategies for compensating the dynamic friction in controlled motion systems. The once identified system with friction requires usually an observer due to unknown disturbances and time variant friction behavior. The recently developed two-state dynamic friction model with elasto-plasticity is applied within three different types of observer, all involved in the control loop. Each of the observer-based compensation schemes as well as the friction model in feed-forwarding augments a standard linear feedback velocity control which serves for evaluation as the reference one. The performance of the realized control approaches is evaluated on an ordinary electro-mechanical actuator system with multiple coupled sources of friction without its direct measurement. © 2011 IEEE.

关键词： Friction

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Pusher Reheating Furnace control Via Fuzzy-Neural Model Predictive control Synthesis

Pusher Reheating Furnace Control Via Fuzzy-Neural Model Pred...

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IEEE International Conference Intelligent Systems

作者： Goran Stojanovski Mile Stankovski Imre J. Rudas Juanwei Jing Faculty of Electrical Eng. & Information Technologies Karpos 2 SS Cyril & Methodius University Skopje MK-1000 R. of Macedonia Institute of Intelligent Engineering Systems óbuda University Bécsi út 96/B H-1034 Budapest Hungary College of Information Science and Engineering Institute of Control Theory & Navigation Technology Northeastern University Shenyang Liaoning 100006 P.R. of China

ISBN: (纸本)9781467322768

A design of fuzzy model-based predictive control for industrial furnaces has been derived and applied to the model of three-zone 25 MW RZS pusher furnace at Skopje Steelworks. The fuzzy-neural variant of Sugeno fuzzy model, as an adaptive neuro-fuzzy implementation, is employed as a predictor in a predictive controller. In order to build the predictive controller the adaptation of the fuzzy model using dynamic process information is carried out. Optimization procedure employing a simplified gradient technique is used to calculate predictions of the future control actions.

关键词： Fuzzy-neural models fuzzy model predictive control optimization set-point control time-delay processes. fuzzy modeling Predictive controllers Model predictive control dial steel machine Industrial furnaces Reheating furnaces Optimization Procedure Predictive control Pusher furnaces Steel plants

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control of an underactuated manipulator using similarities to the double integrator

Control of an underactuated manipulator using similarities t...

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作者： Knoll, Carsten Röbenack, Klaus Institute of Control Theory Faculty of Electrical and Computer Engineering Technische Universität Dresden 01062 Dresden Germany

ISBN: (纸本)9783902661937

A horizontally mounted two-link manipulator is considered. We assume that only the first joint is actuated, while the second joint is passive and frictionless. The system exposes challenging properties, e. g. it is not controllable in the equilibrium points. We transform the equations of motion in Byrnes-Isidori normal form and consider the projection into the subspace spanned by the velocity-like state variables. From this viewpoint the manipulator system reveals qualitative similarities to the well-understood double integrator. In particular the drift vector field is investigated. Exploiting these similarities, an approach for equilibrium point transition based on sliding mode control is proposed. © 2011 IFAC.

关键词： Sliding mode control

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Inherent robustness properties of quasi-infinite horizon MPC

Inherent robustness properties of quasi-infinite horizon MPC

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作者： Yu, Shuyou Reble, Marcus Chen, Hong Allgöwer, Frank Institute of Systems Theory and Automatic Control University of Stuttgart Germany State Key Laboratory of Automobile Dynamic Simulation Department of Control Science and Engineering Jilin University China

ISBN: (纸本)9783902661937

We consider inherent robustness properties of model predictive control (MPC) for continuous-time nonlinear systems with input constraints and terminal constraints. We show that when the linear quadratic control law is chosen as the terminal control law, and the related Lyapunov matrix is chosen as the terminal penalty matrix, MPC with nominal prediction model and bounded disturbances has some degree of inherent robustness. We emphasize that the input constraint sets can be any compact set rather than convex sets, and our results do not rely on the continuity of the optimal cost functional or control law in the interior of the feasible region. © 2011 IFAC.

关键词： Model predictive control

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Optimal and optimal-linear control over lossy, distributed networks

Optimal and optimal-linear control over lossy, distributed n...

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作者： Kögel, Markus Blind, Rainer Allgöwer, Frank Findeisen, Rolf Institute for Automation Engineering Otto-von-Guericke-University Magdeburg Germany Institute for Systems Theory and Automatic Control University of Stuttgart Germany

ISBN: (纸本)9783902661937

We consider an optimal control problem for networked control systems, where the loop is closed via a lossy, distributed network with an acknowledgment mechanism. The network is distributed in the sense that there are different sets of sensors and actuators that each communicate individually with the controller. We assume that all packets, i.e., the measurement packets, the control packets and the acknowledgment packets are sent over the lossy network and thus are subject to loss. We derive suboptimal controllers with respect to a quadratic cost criterion for the general case and optimal controllers for the case that all states are perfectly measured over a single link. Additionally, we present stability criteria for both cases. © 2011 IFAC.

关键词： Networked control systems

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