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Author: Wankun Sirichotiyakul
Publisher:
ISBN:
Category : Nonlinear control theory
Languages : en
Pages : 0
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Book Description
"Classical control strategies for robotic systems are based on the idea that feedback control can be used to override the natural dynamics of the machines. Passivity-based control (Pbc) is a branch of nonlinear control theory that follows a similar approach, where the natural dynamics is modified based on the overall energy of the system. This method involves transforming a nonlinear control system, through a suitable control input, into another fictitious system that has desirable stability characteristics. The majority of Pbc techniques require the discovery of a reasonable storage function, which acts as a Lyapunov function candidate that can be used to certify stability. There are several challenges in the design of a suitable storage function, including: 1) what a reasonable choice for the function is for a given control system, and 2) the control synthesis requires a closed-form solution to a set of nonlinear partial differential equations. The latter is in general difficult to overcome, especially for systems with high degrees of freedom, limiting the applicability of Pbc techniques. A machine learning framework that automatically determines the storage function for underactuated robotic systems is introduced in this dissertation. This framework combines the expressive power of neural networks with the systematic methods of the Pbc paradigm, bridging the gap between controllers derived from learning algorithms and nonlinear control theory. A series of experiments demonstrates the efficacy and applicability of this framework for a family of underactuated robots."--Boise State University ScholarWorks.
Author: Wankun Sirichotiyakul
Publisher:
ISBN:
Category : Nonlinear control theory
Languages : en
Pages : 0
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Book Description
"Classical control strategies for robotic systems are based on the idea that feedback control can be used to override the natural dynamics of the machines. Passivity-based control (Pbc) is a branch of nonlinear control theory that follows a similar approach, where the natural dynamics is modified based on the overall energy of the system. This method involves transforming a nonlinear control system, through a suitable control input, into another fictitious system that has desirable stability characteristics. The majority of Pbc techniques require the discovery of a reasonable storage function, which acts as a Lyapunov function candidate that can be used to certify stability. There are several challenges in the design of a suitable storage function, including: 1) what a reasonable choice for the function is for a given control system, and 2) the control synthesis requires a closed-form solution to a set of nonlinear partial differential equations. The latter is in general difficult to overcome, especially for systems with high degrees of freedom, limiting the applicability of Pbc techniques. A machine learning framework that automatically determines the storage function for underactuated robotic systems is introduced in this dissertation. This framework combines the expressive power of neural networks with the systematic methods of the Pbc paradigm, bridging the gap between controllers derived from learning algorithms and nonlinear control theory. A series of experiments demonstrates the efficacy and applicability of this framework for a family of underactuated robots."--Boise State University ScholarWorks.
Author: Aman Behal
Publisher: CRC Press
ISBN: 1420006274
Category : Computers
Languages : en
Pages : 389
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Book Description
Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc
Author: Pierre Sicard
Publisher:
ISBN:
Category :
Languages : en
Pages : 119
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Book Description
Author: Bruno Siciliano
Publisher: Springer Nature
ISBN: 303071151X
Category : Technology & Engineering
Languages : en
Pages : 630
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Book Description
This book is the volume of the proceedings for the 17th Edition of ISER. The goal of ISER (International Symposium on Experimental Robotics) symposia is to provide a single-track forum on the current developments and new directions of experimental robotics. The series has traditionally attracted a wide readership of researchers and practitioners interested to the advances and innovations of robotics technology. The 54 contributions cover a wide range of topics in robotics and are organized in 9 chapters: aerial robots, design and prototyping, field robotics, human‒robot interaction, machine learning, mapping and localization, multi-robots, perception, planning and control. Experimental validation of algorithms, concepts, or techniques is the common thread running through this large research collection. Chapter “A New Conversion Method to Evaluate the Hazard Potential of Collaborative Robots in Free Collisions” is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Author: Gagandeep Singh Bhatia
Publisher:
ISBN:
Category :
Languages : en
Pages : 188
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Author: Cong Wang
Publisher:
ISBN:
Category :
Languages : en
Pages : 89
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Book Description
In a sensing rich system, a large amount of data can be obtained over time and utilized to improve the performance and functionality of a robotic system. Data-driven approaches emphasize on the utilization of auxiliary sensors, sensor fusion, and data learning. Real-time control systems of robotic systems often run at kilo-Hertz sampling frequencies. New data is obtained from a variety of feedback sources every one or a few milliseconds. Auxiliary sensors provide additional feedbacks and enable sensor fusion. This dissertation presents a series of data-driven approaches to improve the sensing and control of robot manipulators from several aspects, including sensor fusion for motion sensing, statistical learning for feedback compensation, nonparametric learning control, and intelligent modeling and identification. In regard to the limited sensing capability of conventional indirect drive-trains of industrial robots, a sensor fusion approach based on auxiliary optical and inertial sensors is introduced for direct motion sensing of robot end-effectors. The approach is especially useful to applications where high accuracy is required for end-effector performance in real-time. Meanwhile, for the scenarios where auxiliary sensor are not allowed, a statistical learning algorithms is developed for sensing compensation so that control of systems with limited feedback capability can be significantly improved. A major application of the approach is vision guidance of industrial robots. The proposed learning approach can significantly increase the visual tracking bandwidth without requiring high-speed cameras. Besides improving the sensing capability of robots, nonparametric learning control is developed to control systems with complex dynamics. A major motivation of the approach is robotic laser and plasma cutting. Furthermore, to obtain high-fidelity models more efficiently, planning and learning algorithms are discussed for intelligent system modeling and identification. The applications of the proposed approaches range from vision guided robotic material handling to precision robotic machining. Various tests are designed to validate the proposed approaches.
Author: Ribin Balachandran
Publisher: Springer Nature
ISBN: 3031479343
Category : Technology & Engineering
Languages : en
Pages : 198
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Book Description
Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
Author: Kangsik Lee
Publisher:
ISBN:
Category :
Languages : en
Pages : 294
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Book Description
Author: Mark Elliott Dohring
Publisher:
ISBN:
Category :
Languages : en
Pages : 262
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Book Description
Author: Jian Huang
Publisher: Springer Nature
ISBN: 9811971579
Category : Technology & Engineering
Languages : en
Pages : 123
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Book Description
This book presents the achievements of the author's team in the research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) developed over recent years. It focuses on a combination of theory and practice, and almost all algorithms are verified on the real MWIP system. Taking the dynamic modeling, control, and simulation as the mainline, this book first introduces the particularity, control challenges, and applications of the MWIP system. Then, Lagrange function is adopted to model the dynamics of two-dimensional and three-dimensional MWIP systems. Then, based on the special characteristics of the MWIP’s dynamics, a new high-order disturbance observer is designed, and a control strategy is proposed by combining the high-order disturbance observer with a novel design of sliding mode manifold. Furthermore, several methods to overcome the chattering problem of the traditional sliding mode control are presented in detail. Besides, some intelligent algorithms related to the interval type-2 fuzzy logic control are applied to the MWIP system. Finally, the future development of underactuated robot has been prospected.This book is intended for researchers and engineers in robotics and control. It can also be used as supplementary reading for nonlinear systems theory at the graduate level. The in-depth theory and detailed platform construction provide an excellent convenience for readers to build their platforms and learn the knowledge they need.
