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Author: Luke B. Johnson Publisher: ISBN: Category : Languages : en Pages : 22
Book Description
The field of underactuated robotics has become the core of agile mobile robotics research. Significant past effort has been put into understanding the swing-up control of the acrobot system. This thesis implements an online, adaptive swing-up and balancing controller with no previous knowledge of the system's mass or geometric parameters. A least squares method is used to identify the 5 parameters necessary to completely characterize acrobot dynamics. Swing up is accomplished using partial feedback linearization and a pump up strategy to add energy to the system. The controller then catches the swung up system in the basin of attraction of an LQR controller computed using the estimated parameter values generated from online system identification. These results are then simulated using a MATLAB simulation environment.
Author: Luke B. Johnson Publisher: ISBN: Category : Languages : en Pages : 22
Book Description
The field of underactuated robotics has become the core of agile mobile robotics research. Significant past effort has been put into understanding the swing-up control of the acrobot system. This thesis implements an online, adaptive swing-up and balancing controller with no previous knowledge of the system's mass or geometric parameters. A least squares method is used to identify the 5 parameters necessary to completely characterize acrobot dynamics. Swing up is accomplished using partial feedback linearization and a pump up strategy to add energy to the system. The controller then catches the swung up system in the basin of attraction of an LQR controller computed using the estimated parameter values generated from online system identification. These results are then simulated using a MATLAB simulation environment.
Author: Been-Chian Chien Publisher: Springer Science & Business Media ISBN: 3642025676 Category : Computers Languages : en Pages : 857
Book Description
The International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE), always sponsored by the International So- ety of Applied Intelligence (ISAI), emphasizes applications of applied intelligent systems to solve real-life problems in all areas. It is held every year and has become one of the biggest and most important academic activities concerning the theory and applications of intelligent systems in the world. The IEA/AIE 2009 conference was hosted by the National University of Tainan and National University of Kaohsiung in Taiwan. This was the first time that the IEA/AIE conference was held in Taiwan. We received 286 papers from all parts of the world. Only 84 papers were selected for publication in this volume of LNAI proceedings. Each paper was reviewed by at least two anonymous referees to assure the high quality. We would like to express our sincere thanks to the Program Committee members and all the reviewers for their hard work, which helped us to select the highest quality papers for the conference. These papers highlight opportunities and challenges for the next generation of applied int- ligence and reveal technological innovations in real applications.
Author: S.G. Tzafestas Publisher: Springer Science & Business Media ISBN: 9401154988 Category : Technology & Engineering Languages : en Pages : 573
Book Description
This book is concerned with Intelligent Control methods and applications. The field of intelligent control has been expanded very much during the recent years and a solid body of theoretical and practical results are now available. These results have been obtained through the synergetic fusion of concepts and techniques from a variety of fields such as automatic control, systems science, computer science, neurophysiology and operational research. Intelligent control systems have to perform anthropomorphic tasks fully autonomously or interactively with the human under known or unknown and uncertain environmental conditions. Therefore the basic components of any intelligent control system include cognition, perception, learning, sensing, planning, numeric and symbolic processing, fault detection/repair, reaction, and control action. These components must be linked in a systematic, synergetic and efficient way. Predecessors of intelligent control are adaptive control, self-organizing control, and learning control which are well documented in the literature. Typical application examples of intelligent controls are intelligent robotic systems, intelligent manufacturing systems, intelligent medical systems, and intelligent space teleoperators. Intelligent controllers must employ both quantitative and qualitative information and must be able to cope with severe temporal and spatial variations, in addition to the fundamental task of achieving the desired transient and steady-state performance. Of course the level of intelligence required in each particular application is a matter of discussion between the designers and users. The current literature on intelligent control is increasing, but the information is still available in a sparse and disorganized way.
Author: Jun Wang Publisher: Springer Science & Business Media ISBN: 3540344373 Category : Computers Languages : en Pages : 1470
Book Description
This is Volume II of a three volume set constituting the refereed proceedings of the Third International Symposium on Neural Networks, ISNN 2006. 616 revised papers are organized in topical sections on neurobiological analysis, theoretical analysis, neurodynamic optimization, learning algorithms, model design, kernel methods, data preprocessing, pattern classification, computer vision, image and signal processing, system modeling, robotic systems, transportation systems, communication networks, information security, fault detection, financial analysis, bioinformatics, biomedical and industrial applications, and more.
Author: William S. Levine Publisher: CRC Press ISBN: 1420073656 Category : Technology & Engineering Languages : en Pages : 1800
Book Description
At publication, The Control Handbook immediately became the definitive resource that engineers working with modern control systems required. Among its many accolades, that first edition was cited by the AAP as the Best Engineering Handbook of 1996. Now, 15 years later, William Levine has once again compiled the most comprehensive and authoritative resource on control engineering. He has fully reorganized the text to reflect the technical advances achieved since the last edition and has expanded its contents to include the multidisciplinary perspective that is making control engineering a critical component in so many fields. Now expanded from one to three volumes, The Control Handbook, Second Edition organizes cutting-edge contributions from more than 200 leading experts. The third volume, Control System Advanced Methods, includes design and analysis methods for MIMO linear and LTI systems, Kalman filters and observers, hybrid systems, and nonlinear systems. It also covers advanced considerations regarding — Stability Adaptive controls System identification Stochastic control Control of distributed parameter systems Networks and networked controls As with the first edition, the new edition not only stands as a record of accomplishment in control engineering but provides researchers with the means to make further advances. Progressively organized, the first two volumes in the set include: Control System Fundamentals Control System Applications
Author: Jundong Wu Publisher: Springer Nature ISBN: 9819908906 Category : Technology & Engineering Languages : en Pages : 304
Book Description
This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
Author: Ajith Abraham Publisher: Springer ISBN: 3030166570 Category : Technology & Engineering Languages : en Pages : 1158
Book Description
This book highlights recent research on Intelligent Systems and Nature Inspired Computing. It presents 212 selected papers from the 18th International Conference on Intelligent Systems Design and Applications (ISDA 2018) and the 10th World Congress on Nature and Biologically Inspired Computing (NaBIC), which was held at VIT University, India. ISDA-NaBIC 2018 was a premier conference in the field of Computational Intelligence and brought together researchers, engineers and practitioners whose work involved intelligent systems and their applications in industry and the “real world.” Including contributions by authors from over 40 countries, the book offers a valuable reference guide for all researchers, students and practitioners in the fields of Computer Science and Engineering.
Author: Min Wu Publisher: Springer Nature ISBN: 3030621472 Category : Technology & Engineering Languages : en Pages : 409
Book Description
This book discusses the developments in the advanced control and intelligent automation for complex systems completed over the last two decades, including the progress in advanced control theory and method, intelligent control and decision-making of complex metallurgical processes, intelligent systems and machine learning, intelligent robot systems design and control, and prediction and control technology for renewable energy. With the depth and breadth of coverage of this book, it serves as a useful reference for engineers in the field of automation and complex process control and graduate students interested in advanced control theory and computational intelligence as well as their applications to the complex industrial processes. This book offers an up-to-date overview of this active research area. It provides readers with the state-of-the-art methods for advanced control and intelligent automation for complex systems
Author: Luke B. Johnson
Author: Luke B. Johnson
Author: Been-Chian Chien
Author: S.G. Tzafestas
Author: Kangsik Lee
Author: Jun Wang
Author: William S. Levine
Author: Jundong Wu
Author: 
Author: Ajith Abraham
Author: Min Wu