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    Wyświetlanie 1-7 z 7
    Tytuł:
    Second order sufficient conditions and sensitivity analysis for optimal multiprocess control problems
    Autorzy:
    Augustin, D.
    Maurer, H.
    Powiązania:
    https://bibliotekanauki.pl/articles/206723.pdf
    Data publikacji:
    2000
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    multiprocess control systems
    Riccati equations
    robot control
    second order sufficient conditions
    sensitivity analysis
    Opis:
    Second order sufficient optimality conditions (SSC) are derived for optimal multiprocess control problems. For that purpose the multiprocess control problem is transformed into a single stage control problem with augmented state variables which comprise the state variables of all individual stages as well as the switching times as choice variables. This toansformation allows to apply the known SSC for single stage control problems. A numerical test of SSC involves the solution of an associated Riccati equation together with boundary conditions adapted to the multiprocess. Sensitivity analysis of parametric multiprocess problems can be based on SSC. A numerical example of the optimal two-stage control of a robot illustrates both SSC and sensitivity analysis.
    Źródło:
    Control and Cybernetics; 2000, 29, 1; 11-31
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    ANFIS-based PID continuous sliding mode controller for robot manipulators in joint space
    Autorzy:
    Elawady, Wael M.
    Asar, Mohammed F.
    Sarhan, Amany M.
    Powiązania:
    https://bibliotekanauki.pl/articles/1839129.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    PID
    continuous sliding mode control
    ANFIS
    uncertainties
    robot
    Opis:
    This paper presents a feasible design for a con- trol algorithm to synthesize an adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS- PIDCSMC) for adaptive trajectory tracking control of the rigid robot manipulators (RRMs) in the joint space. First, a PID sliding mode control algorithm with sliding surface dynamics-based continuous proportional-integral (PI) control action (PIDSMC-SSDCPI) is presented. The global stability conditions are formulated in terms of Lyapunov full quadratic form such that the robot system output can track the desired reference output. Second, to increase the control system robustness, the PI control action in the PIDSMC- SSDCPI controller is supplanted by an ANFIS control signal to provide a control approach that can be termed adaptive neuro-fuzzy inference system-based PID continuous sliding mode control system (ANFIS-PIDCSMC). For the proposed control algorithm, numerical simulations using the dynamic model of RRM with uncertainties and external disturbances show high quality and effectiveness of the adopted control approach in high-speed trajectory tracking control problems. The simulation results that are compared with the results, obtained for the traditional controllers (standalone PID and traditional sliding mode controller (TSMC)), illustrate the fact that the tracking control behavior of the robot system achieves acceptable tracking performance.
    Źródło:
    Control and Cybernetics; 2019, 48, 4; 525-555
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control aspects of the blackboard agent architecture for a mobile robot
    Autorzy:
    Brzykcy, G.
    Martinek, J.
    Meissner, A.
    Skrzypczyński, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/970592.pdf
    Data publikacji:
    2003
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    robot ruchomy
    system agentowy
    wiedza kontrolna
    mobile robot
    agent system
    blackboard system
    control knowledge
    Opis:
    In the paper, the architecture of a mobile robot cooperating with other robots and some stationary devices in a task of collective perception and world modeling is considered. We present data-driven processing of information performed by an individual robot treated as an agent and we propose to organize it as a set of experts (also treated as agents) exchanging data by means of a blackboard. The roles of particular agents and the structure of the blackboard are described. We analyze the control aspects of the system and the form of control knowledge.
    Źródło:
    Control and Cybernetics; 2003, 32, 4; 851-866
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Stiffness control of robot manipulators in the operational space using fuzzy mapping of dynamic functions
    Autorzy:
    Bertol, D. W.
    Barasuol, V.
    Martins, N. A.
    De Pieri, E. R.
    Powiązania:
    https://bibliotekanauki.pl/articles/971046.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    stiffness control
    fuzzy mapping
    robot manipulators
    operational space
    trajectory tracking
    Opis:
    In this paper a stiffness control strategy based on the fuzzy mapped nonlinear terms of the robot manipulator dynamic model is proposed. The proposed stiffness controller is evaluated on a research robot manipulator performing a task in the operational space. Tests attempted to achieve fast motion with reasonable accuracy associated with lower computational load compared to the non-fuzzy approach. The stability analysis is presented to conclude about the mapping error influence and to obtain precondition criteria for the gains adjustment to face the trajectory tracking problem. Simulation results that supported the implementation are presented, followed by experiments and results obtained. These tests are conducted on a robot manipulator with SCARA configuration to illustrate the feasibility of this strategy.
    Źródło:
    Control and Cybernetics; 2013, 42, 3; 639-661
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: proposed adaptive neural control
    Autorzy:
    Martins, N. A.
    Alencar, M.
    Lombardi, W. C.
    Bertol, D. W.
    Pieri, E. R.
    Filho, H. F.
    Powiązania:
    https://bibliotekanauki.pl/articles/971045.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    wheeled mobile robot
    trajectory tracking
    kinematic control
    variable structure control
    dynamic control
    sliding mode theory
    neural networks
    Lyapunov theory
    Opis:
    This paper analyses a trajectory tracking control problem for a wheeled mobile robot, Rusing integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach.
    Źródło:
    Control and Cybernetics; 2015, 44, 1; 47-98
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Design of an adaptive fuzzy variable structure compensator for the nonholonomic mobile robot in trajectory tracking task
    Autorzy:
    Begnini, M.
    Bertol, W.
    Martins, N. A.
    Powiązania:
    https://bibliotekanauki.pl/articles/971054.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    nonholonomic mobile robot
    trajectory tracking
    variable structure control
    uncertainties and disturbances
    fuzzy compensator
    Lyapunov theory
    Opis:
    A robust adaptive kinematic control strategy, based on the methodology of variable structure control is considered in this paper. Because the dynamics of mobile robots is subject to uncertainties and disturbances, a fuzzy compensator is adopted to estimate them. In order to minimize the tracking errors and to attenuate the chattering phenomenon, an adaptation law for the fuzzy compensator is obtained by Lyapunov stability theory so as to asymptotically stabilize the control system as well as guarantee the convergence of the tracking errors. In terms of comparison with the boundary layer variable structure controller, simulations and experiments verify the feasibility and effectiveness of the proposed kinematic control strategy for the nonholonomic mobile robots under the incidence of uncertainties and disturbances.
    Źródło:
    Control and Cybernetics; 2018, 47, 3; 239-275
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An adaptive fuzzy network for control of manipulating robot dynamic behavior
    Autorzy:
    Petrović, P.
    Milacić, V.
    Powiązania:
    https://bibliotekanauki.pl/articles/206872.pdf
    Data publikacji:
    1998
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    model dynamiczny rozmyty
    robot
    sterowanie adaptacyjne
    adaptive fuzzy network
    fuzzy dynamic model
    impedance control
    manipulating robots
    Opis:
    In this paper is considered the problem how to achieve a specific dynamic behavior of robot end-point from the aspect of impedance control and actuation redundancy. The target impedance is analytically formulated. Due to its complexity, analytical formulation is not suitable for real-time application. To overcome this problem, a simple fuzzy model of isotropic impedance in the form of adaptive fuzzy network is proposed. This model is incorporated in the general form of impedance control law, so that a new fuzzy-impedance control law is obtained. Verification of the proposed control law is provided by computer simulation, taking as example 2-d.o.f. manipulating robot.
    Źródło:
    Control and Cybernetics; 1998, 27, 4; 503-519
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-7 z 7

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