Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496403
Weili Yan, C. Pang, C. Du
Periodic disturbances existing beyond the Nyquist frequency will cause intersample oscillations and degrade the control performance. In this paper, we propose a disturbance observer-based multirate control scheme for rejecting such periodic disturbances. When the disturbance is a single sinusoid, the solution for system output including the intersample information is derived in the steady state. Based on the steady-state output response, a sufficient condition is given for rejecting periodic disturbance beyond the Nyquist frequency. As a matter of fact, solving the sufficient condition is a problem of quadratic programming with some constraints. To remove the constraints, a periodic time-varying filter is also suggested to enhance the disturbance rejection performance. A numerical example is presented to demonstrate the effectiveness of the proposed method.
{"title":"Disturbance observer-based multirate control for rejecting periodic disturbances beyond the Nyquist frequency","authors":"Weili Yan, C. Pang, C. Du","doi":"10.1109/AMC.2016.7496403","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496403","url":null,"abstract":"Periodic disturbances existing beyond the Nyquist frequency will cause intersample oscillations and degrade the control performance. In this paper, we propose a disturbance observer-based multirate control scheme for rejecting such periodic disturbances. When the disturbance is a single sinusoid, the solution for system output including the intersample information is derived in the steady state. Based on the steady-state output response, a sufficient condition is given for rejecting periodic disturbance beyond the Nyquist frequency. As a matter of fact, solving the sufficient condition is a problem of quadratic programming with some constraints. To remove the constraints, a periodic time-varying filter is also suggested to enhance the disturbance rejection performance. A numerical example is presented to demonstrate the effectiveness of the proposed method.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"158 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123441413","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496397
D. Chugo, S. Muramatsu, S. Yokota, H. Hashimoto
In this paper, we propose a standing assistance scheme that uses a patient's own physical strength. In the previous researches, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows a patient to maximally use their remaining physical strength is desired. For realizing this objective, we propose a standing assistance scheme that realizes two functions, one is a motion assistance function using a patient's own physical strength, and the other is postural adjustment function. In general, a human movement consists of a voluntary movement which mainly generates the body motion and a postural adjustment which keeps the body stability during the motion. Our proposed scheme assists with the minimum force that enables the voluntary movement with their remaining physical strength and keeps the body stability according to their postural adjustment. For realizing two different approaches in same time, we propose a body movement vector for dividing a human motion into a voluntary movement and a postural adjustment. Using the proposed idea, our prototype assistive robot can help elderly patients to stand using their remaining physical strength maximally by two assistive functions.
{"title":"Standing assistance considering a voluntary movement and a postural adjustment","authors":"D. Chugo, S. Muramatsu, S. Yokota, H. Hashimoto","doi":"10.1109/AMC.2016.7496397","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496397","url":null,"abstract":"In this paper, we propose a standing assistance scheme that uses a patient's own physical strength. In the previous researches, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows a patient to maximally use their remaining physical strength is desired. For realizing this objective, we propose a standing assistance scheme that realizes two functions, one is a motion assistance function using a patient's own physical strength, and the other is postural adjustment function. In general, a human movement consists of a voluntary movement which mainly generates the body motion and a postural adjustment which keeps the body stability during the motion. Our proposed scheme assists with the minimum force that enables the voluntary movement with their remaining physical strength and keeps the body stability according to their postural adjustment. For realizing two different approaches in same time, we propose a body movement vector for dividing a human motion into a voluntary movement and a postural adjustment. Using the proposed idea, our prototype assistive robot can help elderly patients to stand using their remaining physical strength maximally by two assistive functions.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123827739","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496411
Steffen Schütz, A. Nejadfard, Christian Kotting, K. Berns
Actuation systems featuring inherent series compliance have over time entered more and more the focus of robotic research. The advantages are good force/torque controllability, an increased robustness against unforeseen shocks and other disturbances, and the possibility to store elastic energy. In order to fully enable Series Elastic Actuators (SEAs), a thorough understanding of the actuators internal dynamics is indispensable. Till today the vast majority of existing models for SEAs merge the moving masses within the actuator into a single mass. The two sides of the actuator are either both fixed or at most one is connected to a free moving mass. Hence this paper proposes a model in which all internal masses are kept separated and moving loads are connected to each end of the actuator. It is generalised to cover SEA implementations with the most common drive trains and arbitrary spring placement.
{"title":"An intuitive and comprehensive two-load model for Series Elastic Actuators","authors":"Steffen Schütz, A. Nejadfard, Christian Kotting, K. Berns","doi":"10.1109/AMC.2016.7496411","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496411","url":null,"abstract":"Actuation systems featuring inherent series compliance have over time entered more and more the focus of robotic research. The advantages are good force/torque controllability, an increased robustness against unforeseen shocks and other disturbances, and the possibility to store elastic energy. In order to fully enable Series Elastic Actuators (SEAs), a thorough understanding of the actuators internal dynamics is indispensable. Till today the vast majority of existing models for SEAs merge the moving masses within the actuator into a single mass. The two sides of the actuator are either both fixed or at most one is connected to a free moving mass. Hence this paper proposes a model in which all internal masses are kept separated and moving loads are connected to each end of the actuator. It is generalised to cover SEA implementations with the most common drive trains and arbitrary spring placement.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127108416","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496377
Zhicong Deng, M. Stommel, Weiliang Xu
This paper presents the design of the pneumatic system and the low-level control strategy of a soft machine table inspired by caterpillar locomotion. The soft table surface is embedded with inflatable chambers and the surface deformation is controlled by a pneumatic system to provide actuation. The pneumatic system is modularized so that each pneumatic module controls one soft actuator in the actuation system. Each pneumatic module includes five solenoid valves and a small rotary pump. A support structure is designed to hold one set of pneumatic components in position. Multiple support structures can be connected together to form the pneumatic system of the soft table. The overall control architecture for the soft table is discussed. A master-slave communication architecture is established to control each soft actuator via a pneumatic module independently. The user can input commands through an user interface on a computer, smart phone or tablet. Low-level actuation is controlled by the embedded program coded into the module microcontrollers. The valves operates in a series of ON/OFF switching corresponding to the movement phases. The air outflow of the rotary pump is controlled to work with the valve operations to provide actuation on the table surface. A software calibration strategy used to adjust the performance of different size soft actuators is presented.
{"title":"Pneumatic system and low-level control of a soft machine table inspired by caterpillar locomotion","authors":"Zhicong Deng, M. Stommel, Weiliang Xu","doi":"10.1109/AMC.2016.7496377","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496377","url":null,"abstract":"This paper presents the design of the pneumatic system and the low-level control strategy of a soft machine table inspired by caterpillar locomotion. The soft table surface is embedded with inflatable chambers and the surface deformation is controlled by a pneumatic system to provide actuation. The pneumatic system is modularized so that each pneumatic module controls one soft actuator in the actuation system. Each pneumatic module includes five solenoid valves and a small rotary pump. A support structure is designed to hold one set of pneumatic components in position. Multiple support structures can be connected together to form the pneumatic system of the soft table. The overall control architecture for the soft table is discussed. A master-slave communication architecture is established to control each soft actuator via a pneumatic module independently. The user can input commands through an user interface on a computer, smart phone or tablet. Low-level actuation is controlled by the embedded program coded into the module microcontrollers. The valves operates in a series of ON/OFF switching corresponding to the movement phases. The air outflow of the rotary pump is controlled to work with the valve operations to provide actuation on the table surface. A software calibration strategy used to adjust the performance of different size soft actuators is presented.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126321705","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496352
Xiaoqian Mao, Robert Swanson, Micheal Grishaber, Wei Li, Genshe Chen
This paper presents a body gesture-based controlled mobile robot system, consisting of a DaNI robot, a Kinect sensor, and a Pan-Tilt camera. The Kinect sensor is used to track skeletons and joints of an operator for controlling the robot, while the pan-tilt camera is used to feed back live videos around surrounding information. The DaNI robot platform is a powerful tool for teaching robotics and mechatronics concepts or for developing a robot prototype with LabVIEW Robotics. The body gesture-based controller telepresence controls the DaNI robot by interpreting movements of the two hands of the operator.
{"title":"Kinect-based control of a DaNI robot via body gesture","authors":"Xiaoqian Mao, Robert Swanson, Micheal Grishaber, Wei Li, Genshe Chen","doi":"10.1109/AMC.2016.7496352","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496352","url":null,"abstract":"This paper presents a body gesture-based controlled mobile robot system, consisting of a DaNI robot, a Kinect sensor, and a Pan-Tilt camera. The Kinect sensor is used to track skeletons and joints of an operator for controlling the robot, while the pan-tilt camera is used to feed back live videos around surrounding information. The DaNI robot platform is a powerful tool for teaching robotics and mechatronics concepts or for developing a robot prototype with LabVIEW Robotics. The body gesture-based controller telepresence controls the DaNI robot by interpreting movements of the two hands of the operator.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117229706","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496344
Tomoya Kitamura, Naoto Mizukami, S. Sakaino, T. Tsuji
This paper describes bilateral control using functional electrical stimulation (FES) with reaction torque observers (RTOB). Bilateral control provides force feedback in teleoperation systems. This technology has many potentials in daily activities. For example, it could allow medical doctors to deliver first aid in remote locations or allow humans to communicate using tactile sensation. However, when controlling bodies, operators generally must wear robot arms. However, wearing robot arm has several disadvantages; for instance operators feel restrained, and it is difficult to create the robot arms with multi degree-of-freedom. To solve these problems, bilateral control using FES has been studied. FES can control human bodies using small pads. However, in conventional studies of bilateral control using FES, the reaction force of the operated subject is not transmitted successfully to the operator. Therefore, we propose a method in which the reaction force of the operated subject is estimated using RTOB. We conducted experiments in which, the elbow joints of five healthy subjects were controlled by a bilateral controller. A force controller controlled the operators, and a position controller controlled the operated humans. The experimental results show that the reaction force of the operated subjects was successfully transmitted to the operators. The operators were able to recognize the position of an obstacle on operated subjects' side. In addition, tracking error was reduced compared to that obtained in past studies using conventional methods.
{"title":"Bilateral control using functional electrical stimulation with reaction torque observer","authors":"Tomoya Kitamura, Naoto Mizukami, S. Sakaino, T. Tsuji","doi":"10.1109/AMC.2016.7496344","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496344","url":null,"abstract":"This paper describes bilateral control using functional electrical stimulation (FES) with reaction torque observers (RTOB). Bilateral control provides force feedback in teleoperation systems. This technology has many potentials in daily activities. For example, it could allow medical doctors to deliver first aid in remote locations or allow humans to communicate using tactile sensation. However, when controlling bodies, operators generally must wear robot arms. However, wearing robot arm has several disadvantages; for instance operators feel restrained, and it is difficult to create the robot arms with multi degree-of-freedom. To solve these problems, bilateral control using FES has been studied. FES can control human bodies using small pads. However, in conventional studies of bilateral control using FES, the reaction force of the operated subject is not transmitted successfully to the operator. Therefore, we propose a method in which the reaction force of the operated subject is estimated using RTOB. We conducted experiments in which, the elbow joints of five healthy subjects were controlled by a bilateral controller. A force controller controlled the operators, and a position controller controlled the operated humans. The experimental results show that the reaction force of the operated subjects was successfully transmitted to the operators. The operators were able to recognize the position of an obstacle on operated subjects' side. In addition, tracking error was reduced compared to that obtained in past studies using conventional methods.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117078826","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496371
Fan Hu, Xihong Wu, D. Luo
Manipulation skill is important for humanoid robots to live and work with humans, and arm motion control is essential for the manipulation accomplishment. In our research, we hope our robot execute a manipulation task by combining basic unit movements (BUMs), thus making the manipulation easier and more robust. So in this paper, we firstly define BUMs which actually can be regarded as basic components of any arm motion. Then we propose a learning approach for the robot to execute BUMs, which means knowing the current state, the robot learns how to move his arm to accomplish the given BUM. Considering the complexity and inaccuracy problems in solving the inverse kinematics, the proposed approach is basically building an internal inverse model and the robot directly learns in the motor space without any inverse kinematics. Taking advantages of the powerful capacity of Deep Neural Networks (DNN) in extracting inherent features, the auto-encoder is employed to formalize our model. Experimental results on MATLAB simulation as well as PKU-HR5II humanoid robot reveal the effectiveness of the proposed approach. The robot can successfully execute almost all the BUMs in the whole workspace of his right arm with the accuracy of 98.49%.
{"title":"Learning basic unit movements for humanoid arm motion control","authors":"Fan Hu, Xihong Wu, D. Luo","doi":"10.1109/AMC.2016.7496371","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496371","url":null,"abstract":"Manipulation skill is important for humanoid robots to live and work with humans, and arm motion control is essential for the manipulation accomplishment. In our research, we hope our robot execute a manipulation task by combining basic unit movements (BUMs), thus making the manipulation easier and more robust. So in this paper, we firstly define BUMs which actually can be regarded as basic components of any arm motion. Then we propose a learning approach for the robot to execute BUMs, which means knowing the current state, the robot learns how to move his arm to accomplish the given BUM. Considering the complexity and inaccuracy problems in solving the inverse kinematics, the proposed approach is basically building an internal inverse model and the robot directly learns in the motor space without any inverse kinematics. Taking advantages of the powerful capacity of Deep Neural Networks (DNN) in extracting inherent features, the auto-encoder is employed to formalize our model. Experimental results on MATLAB simulation as well as PKU-HR5II humanoid robot reveal the effectiveness of the proposed approach. The robot can successfully execute almost all the BUMs in the whole workspace of his right arm with the accuracy of 98.49%.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127496423","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496387
Yongan Li, Xiwei Peng
This paper proposes a double-segment sliding mode control method in accordance with an exponential velocity profile for a high precision three-axis AC servo system used for industrial production. The newly designed sliding mode controller is composed of the velocity segment and the position segment. Global sliding mode control is used in the velocity segment so that the velocity along the sliding surface can exponentially accelerate from 0 to a constant velocity determined by the given position. Integral sliding mode control is adopted in the position segment to improve the position accuracy. In order to reduce the chattering and enhance the robustness of the system, the fuzzy inference is introduced to obtain the switching control laws. Several simulation results are provided to demonstrate the validity of the proposed method.
{"title":"Double-segment sliding mode control for permanent magnet synchronous motor servo drives","authors":"Yongan Li, Xiwei Peng","doi":"10.1109/AMC.2016.7496387","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496387","url":null,"abstract":"This paper proposes a double-segment sliding mode control method in accordance with an exponential velocity profile for a high precision three-axis AC servo system used for industrial production. The newly designed sliding mode controller is composed of the velocity segment and the position segment. Global sliding mode control is used in the velocity segment so that the velocity along the sliding surface can exponentially accelerate from 0 to a constant velocity determined by the given position. Integral sliding mode control is adopted in the position segment to improve the position accuracy. In order to reduce the chattering and enhance the robustness of the system, the fuzzy inference is introduced to obtain the switching control laws. Several simulation results are provided to demonstrate the validity of the proposed method.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114126664","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496336
M. Hatano, Yuki Kitahara
This paper presents a rescue robot climbing up stairs based on the estimation of angles with LRF. In disaster area, rescue robots are needed to help injured people under broken buildings instead of rescue workers. Then, the robots require high skills to be controlled, because the robots are operated by remote controls with wireless cameras. Especially, in case of running over steps to go to upstairs to find victims, it is hard to recognize a depth between robots and steps for operators with wireless cameras. In this paper, we propose a method to estimate slope angles of stairs using LRF and an angle control method for sub-crawlers of rescue robots. First, we present a method in order to estimate a slope angle of stairs with LRF. Second, we construct an ideal slope with wooden plates and show a validity of our proposed method. Third, a selection method of measured points for an accurate calculation of estimation for the slope angle is considered. Finally, it is shown that our constructed rescue robot recognizes the angle of the slope and climbs up the stairs with controlling postures of the robot with sub-crawlers.
{"title":"Research on rescue robots climbing up stairs based on the estimation of slope angles with LRF","authors":"M. Hatano, Yuki Kitahara","doi":"10.1109/AMC.2016.7496336","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496336","url":null,"abstract":"This paper presents a rescue robot climbing up stairs based on the estimation of angles with LRF. In disaster area, rescue robots are needed to help injured people under broken buildings instead of rescue workers. Then, the robots require high skills to be controlled, because the robots are operated by remote controls with wireless cameras. Especially, in case of running over steps to go to upstairs to find victims, it is hard to recognize a depth between robots and steps for operators with wireless cameras. In this paper, we propose a method to estimate slope angles of stairs using LRF and an angle control method for sub-crawlers of rescue robots. First, we present a method in order to estimate a slope angle of stairs with LRF. Second, we construct an ideal slope with wooden plates and show a validity of our proposed method. Third, a selection method of measured points for an accurate calculation of estimation for the slope angle is considered. Finally, it is shown that our constructed rescue robot recognizes the angle of the slope and climbs up the stairs with controlling postures of the robot with sub-crawlers.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115931151","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496360
M. Beckerleg, R. Hogg
This paper describes a novel motion controller, based on evolved lookup tables that have been developed to move a ball to a set-point on the classic ball-plate control system. A fault tolerant controller that could adapt to fault conditions was evolved using a genetic algorithm and evaluated. The three dimensional lookup tables related the current ball position, ball velocity and plate angle to the plate angular velocity required to control the ball. Three sizes of lookup table with different quantization levels of inputs and outputs were evaluated to determine the optimum lookup table size for ball control versus the evolution time. It was found that successful solutions could be evolved within 100 minutes. Fault tolerance was investigated where two position sensor faults were introduced to an evolved solution, and the evolution was restarted with seeded one position sensor fault solutions. It was found that the evolving controller's performance was significantly improved within 1 second, and fully recovered within 10 to 30 seconds.
{"title":"Evolving a lookup table based motion controller for a ball-plate system with fault tolerant capabilites","authors":"M. Beckerleg, R. Hogg","doi":"10.1109/AMC.2016.7496360","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496360","url":null,"abstract":"This paper describes a novel motion controller, based on evolved lookup tables that have been developed to move a ball to a set-point on the classic ball-plate control system. A fault tolerant controller that could adapt to fault conditions was evolved using a genetic algorithm and evaluated. The three dimensional lookup tables related the current ball position, ball velocity and plate angle to the plate angular velocity required to control the ball. Three sizes of lookup table with different quantization levels of inputs and outputs were evaluated to determine the optimum lookup table size for ball control versus the evolution time. It was found that successful solutions could be evolved within 100 minutes. Fault tolerance was investigated where two position sensor faults were introduced to an evolved solution, and the evolution was restarted with seeded one position sensor fault solutions. It was found that the evolving controller's performance was significantly improved within 1 second, and fully recovered within 10 to 30 seconds.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123373879","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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