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Hybrid robust controller based on interval type 2 fuzzy neural network and higher order sliding mode for robotic manipulators

S. Mohammadrezaei Nodeh, M. H. Ghasemi, H.R. Mohammadi Daniali
<span title="2019-12-31">2019</span> <i title="Latin America Journals Online"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/mt36xowfhvfn3mhsnexbtredtu" style="color: black;">Nexo</a> </i> &nbsp;
In addition, self-regulation feature of the controller, which is based on the existence of the neural network in the central type-2 fuzzy controller block, increases the robustness of the method even more  ...  Type-2 fuzzy logic is an appropriate choice in the face of uncertain environments, for various reasons, including utilizing fuzzy membership functions.  ...  The proposed controller is intended to be worked on a robotic arm with parametric uncertainties in presence of external perturbations.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5377/nexo.v32i02.9262">doi:10.5377/nexo.v32i02.9262</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/awwhkpwffrd53a7jkhp3s7emam">fatcat:awwhkpwffrd53a7jkhp3s7emam</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200208151105/https://www.camjol.info/index.php/NEXO/article/download/9262/10536" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/3c/6e/3c6eca26ed264e4ad23cf4ce7a71f4babaf80f09.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5377/nexo.v32i02.9262"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

TDE-Based Adaptive Integral Sliding Mode Control of Space Manipulator for Space-Debris Active Removal

Zhibin Zhang, Xinhong Li, Xun Wang, Xin Zhou, Jiping An, Yanyan Li
<span title="2022-02-16">2022</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/bnqw7sgwrve3dace7vnhziq654" style="color: black;">Aerospace (Basel)</a> </i> &nbsp;
The Lyapunov criterion is used to prove the global stability of the controller. Simulation results show that the controller has high tracking accuracy and strong robustness.  ...  (AISMC) scheme with time-delay estimation (TDE).  ...  The combination of trigonometric functions is used to simulate external disturbances in the simulation [38, 39] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/aerospace9020105">doi:10.3390/aerospace9020105</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mbkq63f4fvc6pjdnwyqfraf4ta">fatcat:mbkq63f4fvc6pjdnwyqfraf4ta</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220501143348/https://mdpi-res.com/d_attachment/aerospace/aerospace-09-00105/article_deploy/aerospace-09-00105.pdf?version=1644991933" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/86/56/86568d12b841d1b7d769e9e42fcb65c4a99ebcd2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/aerospace9020105"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique

Francisco G. Rossomando, Emanuel Serrano, Carlos M. Soria, Gustavo Scaglia
<span title="2020-05-21">2020</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wpareqynwbgqdfodcyhh36aqaq" style="color: black;">Mathematical Problems in Engineering</a> </i> &nbsp;
This work presents a novel controller for the dynamics of robots using a dynamic variations observer. The proposed controller uses a saturated control law based on sintg−1. function instead of tanh..  ...  Besides, this function is an alternative to the use of tanh. in saturation control, since it reaches its maximum value more gradually than the hyperbolic tangent function.  ...  Acknowledgments is work was partially funded by the following Argentine institutions: the National Council of Scientific and Technological Research (CONICET) and Universidad Nacional de San Juan (UNSJ)  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/3240210">doi:10.1155/2020/3240210</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/iynqppuvbjcolbrzsj6dmakapq">fatcat:iynqppuvbjcolbrzsj6dmakapq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200522062148/http://downloads.hindawi.com/journals/mpe/2020/3240210.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/41/cd/41cd11d60ba199cd3e64f58280cbd982b49f7db4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/3240210"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> hindawi.com </button> </a>

Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty

Vishnu Desaraju, Alexander Spitzer, Nathan Michael
<span title="2017-07-12">2017</span> <i title="Robotics: Science and Systems Foundation"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gjhqqq6dgnaupkvp2ckhefvv6i" style="color: black;">Robotics: Science and Systems XIII</a> </i> &nbsp;
The parameterized form of the controllers produced by EPC coupled with online uncertainty estimates ensures this robust constraint satisfaction property persists even as the system switches controllers  ...  We present an extension to Experience-driven Predictive Control (EPC) that leverages a Gaussian belief propagation strategy to compute an uncertainty set bounding the evolution of the system state in the  ...  ACKNOWLEDGMENTS We gratefully acknowledge the support of ARL Grant W911NF-08-2-0004.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.15607/rss.2017.xiii.067">doi:10.15607/rss.2017.xiii.067</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/rss/DesarajuSM17.html">dblp:conf/rss/DesarajuSM17</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5deqjp6ffbczlgndokhr4r6mjq">fatcat:5deqjp6ffbczlgndokhr4r6mjq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190221234552/http://pdfs.semanticscholar.org/2eff/c8208fa687a39ccbf05f0cf6011c8df2c9f7.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/2e/ff/2effc8208fa687a39ccbf05f0cf6011c8df2c9f7.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.15607/rss.2017.xiii.067"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Model-based contextual policy search for data-efficient generalization of robot skills

Andras Kupcsik, Marc Peter Deisenroth, Jan Peters, Ai Poh Loh, Prahlad Vadakkepat, Gerhard Neumann
<span title="">2017</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/weoplee4x5anpi62cco5v4higa" style="color: black;">Artificial Intelligence</a> </i> &nbsp;
In robotics, lower-level controllers are typically used to make the robot solve a specific task in a fixed context.  ...  For example, the lower-level controller can encode a hitting movement while the context defines the target coordinates to hit.  ...  Acknowledgement The research leading to these results has received funding from the European Communitys Seventh Framework Programme (FP7/20072013) under grant agreement #270327 (CompLACS).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.artint.2014.11.005">doi:10.1016/j.artint.2014.11.005</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/faefrs36vbgurknztnotyajlhi">fatcat:faefrs36vbgurknztnotyajlhi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20150910214419/http://www.ausy.informatik.tu-darmstadt.de/uploads/Publications/Kupcsik_AIJ_2015.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/68/06/68061754df2928009fe48983b46eaad4511a4a5c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.artint.2014.11.005"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Jyotindra Narayan, Santosha K. Dwivedy, Fahd Abd Algalil
<span title="2021-06-11">2021</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/sgcj6txpjbc7djdaoaokofbzzy" style="color: black;">Applied Bionics and Biomechanics</a> </i> &nbsp;
Furthermore, to investigate the robustness of the proposed control over LQR control, a comparative performance analysis is presented for two cases of parametric uncertainties and external disturbances.  ...  While varying mass parameters up to 20%, three robust neural-fuzzy datasets are formulated offline with the joint error vector and LQR control input.  ...  The authors are also grateful for the amiable support of Mechatronics and Robotics Laboratory, IIT Guwahati, in performing the experiments.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2021/5573041">doi:10.1155/2021/5573041</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3sd7w456rfb63owfhq5gksddm4">fatcat:3sd7w456rfb63owfhq5gksddm4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210614055544/https://downloads.hindawi.com/journals/abb/2021/5573041.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/76/72/7672ba396ac283dbabb09a522d6b110be02690bf.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2021/5573041"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> hindawi.com </button> </a>

Modelling and control of actuators with built-in position controller

Zilong SHAO, Gang Zheng, Denis Efimov, Wilfrid Perruquetti
<span title="">2015</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/4oklsgzkjvbihhegxblzc6b7re" style="color: black;">IFAC-PapersOnLine</a> </i> &nbsp;
Implementation of the proposed controller and control strategy shows the ability of error elimination and the robustness under different operational conditions, with comparison to classic integral controller  ...  This paper addresses the set-point control of actuators integrated with built-in controller, which presents steady-state error (SSE) under certain load.  ...  is generally a trigonometric function of x.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.ifacol.2015.09.294">doi:10.1016/j.ifacol.2015.09.294</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gtetnawolrfl5e4dk2jwectzu4">fatcat:gtetnawolrfl5e4dk2jwectzu4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20150919164241/https://hal.inria.fr/hal-01162683/file/MICNON15_0077_FI_zilong.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b7/68/b76856db3ed885847238e4801e7a71819939b354.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.ifacol.2015.09.294"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Stable Adaptive Control of Robot Manipulators Using "Neural" Networks

Robert M. Sanner, Jean-Jacques E. Slotine
<span title="">1995</span> <i title="MIT Press - Journals"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/rckx6fqoszfvva5c53bqivu5am" style="color: black;">Neural Computation</a> </i> &nbsp;
These relatively unstructured sources of uncertainty in the dynam- ics 2.1 can be just as significant as the parameterized uncertainty exam- ined above.  ...  Since the specific functions in M are by assumption not known a priori, these torques Adaptive Control of Robot Manipulators 767 are instead implemented using estimates, p, of the network parameters which  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1162/neco.1995.7.4.753">doi:10.1162/neco.1995.7.4.753</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gplrotlf5rg2fhonlpcjd7vsly">fatcat:gplrotlf5rg2fhonlpcjd7vsly</a> </span>
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Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

Hung Nguyen, Thanh Phuong Nguyen, Ha Quang Thinh Ngo, M Syed Ali
<span title="2021-06-21">2021</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wpareqynwbgqdfodcyhh36aqaq" style="color: black;">Mathematical Problems in Engineering</a> </i> &nbsp;
In the high-accuracy control of an AC machine, the knowledge of pure system parameters, with no deviation in drive coefficients and no disturbance or other nonlinear components, is a difficult issue for  ...  Owing to the robustness of the SMC technique, the reduced sensitivity to uncertainties, and the enhanced resistance to disturbances from the pseudo fuzzy mechanism, this control algorithm can guarantee  ...  For a large number of industrial applications, exponential trajectory planning [44] and trigonometric-function-based generators [45] are options to drive the servo system to track its desired path.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2021/9950098">doi:10.1155/2021/9950098</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/otbdt5nyojedfcmffdhx5gsiti">fatcat:otbdt5nyojedfcmffdhx5gsiti</a> </span>
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Multi-Kernel Neural Network Sliding Mode Control for Permanent Magnet Linear Synchronous Motors

Pan Wang, Yunlang Xu, Runze Ding, Weike Liu, Steve Shu, Xiaofeng Yang
<span title="">2021</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
In the latter, disturbances are introduced into the design of kernel functions to further approximate and compensate for the internal and external disturbances, such as parameter variations, positioning  ...  tracking performance, disturbance suppression capability, and robustness of the PMLSM system compared with an existing method.  ...  A radial basis function (RBF) neural network was used to estimate the upper bound of PMLSM uncertainties.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3072958">doi:10.1109/access.2021.3072958</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nci3fne4ovhsrl55y3fvhkhyva">fatcat:nci3fne4ovhsrl55y3fvhkhyva</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210715013134/https://ieeexplore.ieee.org/ielx7/6287639/6514899/09402842.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/58/42/5842eb7281254193791b676f32bac18ace5683c5.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3072958"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

Guaranteed cost control of uncertain nonlinear systems via polynomial lyapunov functions

D. Coutinho, A. Trofino, Minyue Fu
<span title="">2002</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/tiaci7xy45hczhz755zlpu5h7q" style="color: black;">IEEE Transactions on Automatic Control</a> </i> &nbsp;
We derive linear matrix inequality conditions for the regional robust stability and performance problems based on Lyapunov functions which are polynomial functions of the state and uncertain parameters  ...  In this note, we consider the problem of guaranteed cost control for a class of uncertain nonlinear systems.  ...  Table I shows estimated upper bounds on kzk 2 obtained with Theorem 1 and (10) for three types of Lyapunov functions.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tac.2002.802737">doi:10.1109/tac.2002.802737</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ihsywet54ba2tp7jcp7277t5fm">fatcat:ihsywet54ba2tp7jcp7277t5fm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20150317143744/http://www.eng.newcastle.edu.au/%7emf140/home/Papers/h2-tac-2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e0/59/e059645e0e7c76b90ec257869a24077a05615ede.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tac.2002.802737"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Robustness of PID-controlled Manipulators vis-à-vis Actuator Dynamics and External Disturbances

Antoine Chaillet, Antonio Loría, Rafael Kelly
<span title="">2007</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/mgvedi22fvcvbf2sn6s7wpfn7y" style="color: black;">European Journal of Control</a> </i> &nbsp;
To this respect, we stress that our contribution is not to propose a new robust controller (probably difficult to implement) for robot manipulators but to analyze the robustness of the classical linear  ...  controller of PID type, meaning that control design for the user of an industrial robot boils down to gain-tuning for the built-in PID.  ...  Also, based on (18) and (35) , it can easily be seen that Hence, under the condition that A.2 Proof of Claim 2 Direct computations show that: and then, based on this choice, to design the control  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3166/ejc.13.563-576">doi:10.3166/ejc.13.563-576</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gy42l6ukknbzbm5u7qhtu6raoy">fatcat:gy42l6ukknbzbm5u7qhtu6raoy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20090904135021/http://www.eeci-institute.eu/chaillet/pdf/071010%20-%20Robot%20PID%20final%20sub.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/94/95/949584cb0cf69909bb9153ebfc01a19e0f69c7d3.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3166/ejc.13.563-576"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Gaussian Processes for Data-Efficient Learning in Robotics and Control

Marc Peter Deisenroth, Dieter Fox, Carl Edward Rasmussen
<span title="">2015</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/3px634ph3vhrtmtuip6xznraqi" style="color: black;">IEEE Transactions on Pattern Analysis and Machine Intelligence</a> </i> &nbsp;
Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required  ...  However, autonomous reinforcement learning (RL) approaches typically require many interactions with the system to learn controllers, which is a practical limitation in real systems, such as robots, where  ...  ACKNOWLEDGMENTS The research leading to these results has received funding from the EC's Seventh Framework Programme (FP7/2007-2013) under grant agreement #270327, ONR MURI grant N00014-09-1-1052, and  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tpami.2013.218">doi:10.1109/tpami.2013.218</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/26353251">pmid:26353251</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bm5darrhufbzliqslm6hhp6ari">fatcat:bm5darrhufbzliqslm6hhp6ari</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808050835/https://rse-lab.cs.washington.edu/papers/gprl-pami-2014.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/eb/bc/ebbcbcc1645b52e5e481008bb4daeffd2892d25f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tpami.2013.218"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Robust Control of the Sit-to-Stand Movement for a Powered Lower Limb Orthosis [article]

Octavio Narvaez-Aroche, Pierre-Jean Meyer, Stephen Tu, Andrew Packard, Murat Arcak
<span title="2018-11-16">2018</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Next we conduct reachability analysis to define a performance metric measuring the robustness of each controller against parameter uncertainty, and choose the best controller from the pool with respect  ...  In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally actuated powered lower limb orthosis at the hips.  ...  Their simulations run approximately parallel to the reference, with the lower bounds for l c i in p L causing its trajectory to be below it, and the upper bounds for l c i in p U putting its trajectory  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1811.07011v1">arXiv:1811.07011v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ybmhocaourdvlcnrtzm4mtf444">fatcat:ybmhocaourdvlcnrtzm4mtf444</a> </span>
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Distributed formation control for manipulator end-effectors [article]

Haiwen Wu, Bayu Jayawardhana, Hector Garcia de Marina, Dabo Xu
<span title="2021-07-08">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of  ...  Simulation results with planar manipulators and with seven degree-of-freedom humanoid manipulator arms are presented to illustrate the effectiveness of the proposed approach.  ...  ROBUST CONTROL REDESIGN WITH RESPECT TO PARAMETERS UNCERTAINTIES The control law (19) proposed in the previous section requires complete knowledge on system parameters.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2107.04141v1">arXiv:2107.04141v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/cr4muc6t2rcwjncjnalmuingam">fatcat:cr4muc6t2rcwjncjnalmuingam</a> </span>
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