Filters








1,145 Hits in 26.4 sec

Physics-informed Neural Networks-based Model Predictive Control for Multi-link Manipulators [article]

Jonas Nicodemus, Jonas Kneifl, Jörg Fehr, Benjamin Unger
2021 arXiv   pre-print
We discuss nonlinear model predictive control (NMPC) for multi-body dynamics via physics-informed machine learning methods.  ...  This strategy enables the controller design based on a PINN as an approximation of the underlying system dynamics.  ...  control (NMPC) for a multi-link robot manipulator.  ... 
arXiv:2109.10793v1 fatcat:w6ekur2hubdxdmhta3xijaku4u

2020 Index IEEE Transactions on Systems, Man, and Cybernetics: Systems Vol. 50

2020 IEEE Transactions on Systems, Man & Cybernetics. Systems  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TSMC Dec. 2020 5233-5243 Continuous and Discrete Zeroing Neural Network for Different-Level Dynamic Linear System With Robot Manipulator Control.  ... 
doi:10.1109/tsmc.2021.3054492 fatcat:zartzom6xvdpbbnkcw7xnsbeqy

Zeroing neural networks: A survey

Long Jin, Shuai Li, Bolin Liao, Zhijun Zhang
2017 Neurocomputing  
motion planning and control of redundant manipulators, tracking control of chaotic systems, or even populations control in mathematical biosciences.  ...  For the case of discrete-time problems solving, the procedures on how to discretize a continuous-time ZNN model and the techniques on how to obtain an accuracy solution are summarized.  ...  For example, an adaptive fuzzy controller based on neural network is constructed for a class of nonlinear discrete-time systems with discrete-time dead zone in [1] .  ... 
doi:10.1016/j.neucom.2017.06.030 fatcat:a7z7ixmionbj3ifvqcd5bkyrhe

Review on Modeling and Control of Flexible Link Manipulators

Dipendra Subedi, Ilya Tyapin, Geir Hovland
2020 Modeling, Identification and Control  
A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs.  ...  This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature.  ...  control, poles placement, optimal trajectory planning, optimal control, robust control, mechanical wave approach, input shaping, boundary control, and exact linearization via dynamical state feedback.  ... 
doi:10.4173/mic.2020.3.2 fatcat:jscokhufqjbo7f5gaclkbykgra

Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations [article]

Weiqiao Han, Russ Tedrake
2020 arXiv   pre-print
We propose a model-based approach to design feedback policies for dexterous robotic manipulation.  ...  We prove that the feedback controller at the vicinity of the linearization is guaranteed to drive the nonlinear system to the target region.  ...  Explicit solutions of optimal control for PWA systems can be computed offline by multi-parametric programming [35] - [42] .  ... 
arXiv:1909.08045v2 fatcat:h2kwwdvzgzbgfncifpw4zd5hpq

2013 Index IEEE Transactions on Automatic Control Vol. 58

2013 IEEE Transactions on Automatic Control  
., +, TAC Jan. 2013 230-235 Manipulator dynamics Dynamics Modeling and Tracking Control of Robot Manipulators in Random Vibration Environment. Cui, M.  ...  ., +, TAC May 2013 1317-1322 Dynamics Modeling and Tracking Control of Robot Manipulators in Random Vibration Environment. Cui, M.  ... 
doi:10.1109/tac.2013.2295962 fatcat:3zpqog4r4nhoxgo4vodx4sj3l4

Robust Adaptive Tracking Control of Manipulator Arms with Fuzzy Neural Networks

M. Fouzia, N. Khenfer, N. E. Boukezzoula
2020 Zenodo  
The learning space for executing general motions of a flexible joint manipulator is quite large and the dynamics are, in general, nonlinear, time-varying, and complex.  ...  The objective of this paper is to design a nonlinear system based on the fuzzy neural network control using supervised training, into executing reference trajectories by a flexible joint manipulator.  ...  The dynamics of a robot manipulator are, in general, nonlinear time-varying and complex [22] .  ... 
doi:10.5281/zenodo.4016285 fatcat:frwikl4skfcmjgncdl436vwuwm

Table of contents

2009 2009 17th Mediterranean Conference on Control and Automation  
The identification method is based on recurrent neural network nonlinear AutoRegressive with eXternal input (NNARX) model derived from dynamic feedforward neural network by adding feedback connection between  ...  This paper deals with sufficient conditions of asymptotic stability for non linear discrete-time 2D systems represented by a Takagi-Sugenofuzzy model of Roesser type with state feedback control.  ...  ThA2 Room 2 In this paper, a new multi-layer neural network (MNN) based system identification scheme in discrete-time is proposed for a general class of nonlinear discrete-time systems with guaranteed  ... 
doi:10.1109/med.2009.5164498 fatcat:bi37lbkbhfaihj7lbc64vvplo4

2019-2020 Index IEEE Transactions on Industrial Electronics Vol. 67

2020 IEEE transactions on industrial electronics (1982. Print)  
on Optimized Sparse Partial Least Squares; TIE May 2020 4098-4107 Jiang, S., Li, L., Xu, H., Xu, J., Gu, G., and Shull, P.B., Stretchable e-Skin Patch for Gesture Recognition on the Back of the Hand;  ...  , Implementation, and Evaluation of a Neural-Network-Based Quadcopter UAV System; TIE March 2020 2076-2085 Jiang, J., Mohagheghi, A., and Moallem, M., Energy-Efficient Supplemental LED Lighting Control  ...  ., +, TIE March 2020 2076-2085 Discrete-Time Extended State Observer-Based Model-Free Adaptive Control Via Local Dynamic Linearization.  ... 
doi:10.1109/tie.2020.3045338 fatcat:gljm7ngg3fakvmnfswcbb5vwiu

A neural-network-based controller for a single-link flexible manipulator using the inverse dynamics approach

Zhihong Su, K. Khorasani
2001 IEEE transactions on industrial electronics (1982. Print)  
Motivated by the well-known inverse dynamics control approach for rigid-link manipulators, two multi-layer feedforward neural networks are developed to learn the nonlinearities of the system dynamics.  ...  This thesis presents an intelligent strategy for controlling the tip position of a flexible-link manipulator.  ...  The research was based on a discrete-time nonlinear model of the system denved by using the fomard difference method.  ... 
doi:10.1109/41.969386 fatcat:75kgnwvo6bhgzbblhnlmmappna

Evolution of adaptive learning for nonlinear dynamic systems: a systematic survey

Mouhcine Harib, Hicham Chaoui, Suruz Miah
2022 Intelligence & Robotics  
The extreme nonlinearity of robotic systems renders the control design step harder. The consideration of adaptive control in robotic manipulation started in the 1970s.  ...  In the 1990s, the field of Artificial Neural Networks was hugely investigated in general, and for control of dynamical systems in particular.  ...  problem for discrete-time systems with control constraints NNs: Neural Networks.  ... 
doi:10.20517/ir.2021.19 fatcat:xwp7dc3j6rdrraumuc5xigzici

Multiresolution GPC-Structured Control of a Single-Loop Cold-Flow Chemical Looping Testbed

Shu Zhang, Joseph Bentsman, Xinsheng Lou, Carl Neuschaefer, Yongseok Lee, Hamza El-Kebir
2020 Energies  
It is based on a multi-phase gas-solid flow and has extremely challenging nonlinear, multi-scale dynamics with jumps, producing large dynamic model uncertainty, which renders traditional robust control  ...  Chemical looping is a near-zero emission process for generating power from coal.  ...  Generalized predictive control based on self-recurrent wavelet neural network for stable path tracking of mobile robots: Adaptive learning rates approach. IEEE Trans.  ... 
doi:10.3390/en13071759 pmid:32582408 pmcid:PMC7314368 fatcat:fvolzxak4bfrpfct5jdw23amyu

Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes [article]

Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
2021 arXiv   pre-print
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy.  ...  The end result is a robust and a fast feedback control law for bipedal walking on terrains with varying slopes. Towards the end, we also provide preliminary results of hardware transfer to Digit.  ...  Other methods include the centroidal models, the Zero-Moment Point (ZMP) [4] , the linear inverted pendulum [5] , and Hybrid Zero Dynamics (HZD) [6] .  ... 
arXiv:2104.01662v2 fatcat:aozuaiza3vht7mhiifqoicnkf4

IEEE Robotics & Automation Society

2012 IEEE robotics & automation magazine  
This paper presents a kinematic control scheme for robot manipulators based on an algorithm that dynamically estimates an inverse of the Jacobian matrix.  ...  In this paper we consider the design of a nonlinear predictive controller based on a nonlinear dynamic model of the system so as to achieve tracking control for systems with input-induced nonlinearities  ... 
doi:10.1109/mra.2012.2230568 fatcat:33actbknxrel3jnag2kx7cncem

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
This paper presents a kinematic control scheme for robot manipulators based on an algorithm that dynamically estimates an inverse of the Jacobian matrix.  ...  In this paper we consider the design of a nonlinear predictive controller based on a nonlinear dynamic model of the system so as to achieve tracking control for systems with input-induced nonlinearities  ... 
doi:10.1109/mra.2011.941112 fatcat:owvu2behc5hulpcae2dp5myigm
« Previous Showing results 1 — 15 out of 1,145 results