Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525070
K. Young
An integrated motion and contact control algorithm for robotic manipulators is introduced in this paper for improving the intelligence of the robotic control systems in dealing with tasks in which the end effector begins in an unconstrained region of the work space, and the terminating conditions involve contact with a deformable surface with uncertain impedance characteristics. The basic feedback control elements are derived from sliding mode control. Transition characteristics from unconstrained motion control to impedance control are prescribable in the proposed algorithm where initial impact velocity, and desired contact impedance are inputs to the design process. Design and simulation results for single-degree-of-freedom contact tasks are presented.
{"title":"Integrated motion and contact control of robotic manipulators","authors":"K. Young","doi":"10.1109/ISIC.1995.525070","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525070","url":null,"abstract":"An integrated motion and contact control algorithm for robotic manipulators is introduced in this paper for improving the intelligence of the robotic control systems in dealing with tasks in which the end effector begins in an unconstrained region of the work space, and the terminating conditions involve contact with a deformable surface with uncertain impedance characteristics. The basic feedback control elements are derived from sliding mode control. Transition characteristics from unconstrained motion control to impedance control are prescribable in the proposed algorithm where initial impact velocity, and desired contact impedance are inputs to the design process. Design and simulation results for single-degree-of-freedom contact tasks are presented.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115047603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525101
Hsin-Nan Lin, S. Tadokoro, T. Takamori
This paper proposes a design method for control systems with disturbance observers, and discusses a method for linearization and decoupling of nonlinear systems. The feature of the proposed method is the use of H/sup /spl infin// optimal theory for the two-degrees-of-freedom controller to design control systems with disturbance observers. Therefore not only disturbance observers but also preliminary controllers are designed, and the control systems which are optimum as a whole can be attained. The proposed method was applied to motor speed control to illustrate its effectiveness. Simulation results show that a controller satisfying the specification can be designed easily.
{"title":"A design method for control systems with disturbance observers using H/sup /spl infin// optimal control","authors":"Hsin-Nan Lin, S. Tadokoro, T. Takamori","doi":"10.1109/ISIC.1995.525101","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525101","url":null,"abstract":"This paper proposes a design method for control systems with disturbance observers, and discusses a method for linearization and decoupling of nonlinear systems. The feature of the proposed method is the use of H/sup /spl infin// optimal theory for the two-degrees-of-freedom controller to design control systems with disturbance observers. Therefore not only disturbance observers but also preliminary controllers are designed, and the control systems which are optimum as a whole can be attained. The proposed method was applied to motor speed control to illustrate its effectiveness. Simulation results show that a controller satisfying the specification can be designed easily.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116817308","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525047
C. Kwan, F. L. Lewis, D. Dawson
A robust neural network (NN) controller is proposed for the motion control of rigid-link electrically-driven (RLED) robots. The NNs are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the uniformly, ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require persistent excitation conditions and no lengthy and tedious preliminary analysis to determine a regression matrix is needed.
{"title":"Robust neural network control of rigid-link electrically-driven robots","authors":"C. Kwan, F. L. Lewis, D. Dawson","doi":"10.1109/ISIC.1995.525047","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525047","url":null,"abstract":"A robust neural network (NN) controller is proposed for the motion control of rigid-link electrically-driven (RLED) robots. The NNs are used to approximate two very complicated nonlinear functions. The main advantage of our approach is that the NN weights are tuned online, with no off-line learning phase required. Most importantly, we can guarantee the uniformly, ultimately bounded (UUB) stability of tracking errors and NN weights. When compared with standard adaptive robot controllers, we do not require persistent excitation conditions and no lengthy and tedious preliminary analysis to determine a regression matrix is needed.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115236672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-08-27DOI: 10.1109/ISIC.1995.525106
S. Mazumdar, C. Lim
A neural network based model reference adaptive control approach to anti-skid brake system (ABS) design is investigated in this paper. The principal benefit of using neural networks in an ABS is their ability to adapt to changes in the environmental conditions without significant degradation in performance. In the proposed approach, the controller neural network is designed to produce a braking torque which regulates the wheel slip for the vehicle-brake system to a prespecified level. Simulation studies are performed to demonstrate the effectiveness of the proposed neural network based anti-skid brake system.
{"title":"Investigation of the use of neural networks for anti-skid brake system design","authors":"S. Mazumdar, C. Lim","doi":"10.1109/ISIC.1995.525106","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525106","url":null,"abstract":"A neural network based model reference adaptive control approach to anti-skid brake system (ABS) design is investigated in this paper. The principal benefit of using neural networks in an ABS is their ability to adapt to changes in the environmental conditions without significant degradation in performance. In the proposed approach, the controller neural network is designed to produce a braking torque which regulates the wheel slip for the vehicle-brake system to a prespecified level. Simulation studies are performed to demonstrate the effectiveness of the proposed neural network based anti-skid brake system.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115255782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1994-11-01DOI: 10.1109/ISIC.1995.525053
Jung‐Min Yang, Jong-Hwan Kim
A multisensor decision fusion strategy with fuzzy measure theory is proposed. This fusion strategy is constructed for finding optimal decisions through fusing decisions derived from a suite of parallel sensors. Each element of the possible target object set is assigned a priori a fuzzy measure for all the sensors meaning the subjective weights of the sensors on each object. Through recursive sensing process all the possible target objects have the cumulative decision measures (CDM), which are derived from fuzzy measures to represent possibilities that one object is the target to be identified. The properties and applicability of the proposed algorithm is analyzed.
{"title":"A multisensor decision fusion strategy using fuzzy measure theory","authors":"Jung‐Min Yang, Jong-Hwan Kim","doi":"10.1109/ISIC.1995.525053","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525053","url":null,"abstract":"A multisensor decision fusion strategy with fuzzy measure theory is proposed. This fusion strategy is constructed for finding optimal decisions through fusing decisions derived from a suite of parallel sensors. Each element of the possible target object set is assigned a priori a fuzzy measure for all the sensors meaning the subjective weights of the sensors on each object. Through recursive sensing process all the possible target objects have the cumulative decision measures (CDM), which are derived from fuzzy measures to represent possibilities that one object is the target to be identified. The properties and applicability of the proposed algorithm is analyzed.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122289146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.1109/ISIC.1995.525120
A.V. Kovalyov
This paper presents an O.
本文提出了一种O。
{"title":"An O","authors":"A.V. Kovalyov","doi":"10.1109/ISIC.1995.525120","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525120","url":null,"abstract":"This paper presents an O.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122621865","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.1109/ISIC.1995.525036
A. Nerode, J. Remmel, A. Yakhnis
Considers the problem of constructing a "controller" for a hybrid system which will solve the viability problem that all points of plant trajectories stay inside a given "viability set". Here, a "controller" is a network of three successive devices, a digital to analog converter, a digital program (a computer together with its control software), and an analog to digital converter. The authors model a controller as an input-output automaton, which they call a "control automaton". The authors give a necessary and sufficient condition that must be satisfied in order that a finite state control automaton solves a viability problem. The authors' results apply to plants modelled by vector differential equations with control and disturbance parameters, or to plants modelled by differential inclusions with a control parameter. The authors represent imprecise sensing of plant state. The main restrictions on the range of applicability of the authors' results are that the set of admissible control laws is finite, and that they can neglect delays when control laws are reset. The latter restriction seems to be inessential.
{"title":"Controllers as fixed points of set-valued operators","authors":"A. Nerode, J. Remmel, A. Yakhnis","doi":"10.1109/ISIC.1995.525036","DOIUrl":"https://doi.org/10.1109/ISIC.1995.525036","url":null,"abstract":"Considers the problem of constructing a \"controller\" for a hybrid system which will solve the viability problem that all points of plant trajectories stay inside a given \"viability set\". Here, a \"controller\" is a network of three successive devices, a digital to analog converter, a digital program (a computer together with its control software), and an analog to digital converter. The authors model a controller as an input-output automaton, which they call a \"control automaton\". The authors give a necessary and sufficient condition that must be satisfied in order that a finite state control automaton solves a viability problem. The authors' results apply to plants modelled by vector differential equations with control and disturbance parameters, or to plants modelled by differential inclusions with a control parameter. The authors represent imprecise sensing of plant state. The main restrictions on the range of applicability of the authors' results are that the set of admissible control laws is finite, and that they can neglect delays when control laws are reset. The latter restriction seems to be inessential.","PeriodicalId":219623,"journal":{"name":"Proceedings of Tenth International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127269666","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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