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Precise control of Automatic Guided Vehicles (AGVs) navigating between the aisles of manufacturing systems by the use of local markers is an important task. On the basis of the geometric model of the workspace and the vehicles and that of the sensor uncertainties precise trajectories were recently generated along which the vehicle safely can move. In order to achieve precise trajectory tracking the...
In this paper a brief survey is provided on a novel approach to adaptive nonlinear control developed at Budapest Te c h in the past few years. The most popular branches of the classical and novel adaptive approaches are analyzed in comparison with methods needing complete, accurate, and permanent models or applying only partial, incomplete, temporal, and situation-dependent ones that require continuous...
Special Automatic Guided Vehicles (AGVs) equipped with at least three omnidirectional wheels may be very useful tools in industrial applications because -in contrast to the Ackerman engines- their position and orientation with respect to the plane of operation can simultaneously be prescribed. So they have the ability for smart and precise navigation in a crowded environment. In the present constructions...
The task of solving the adaptive control of a partially and imprecisely modeled electrical vehicle driven by three omnidirectional wheels together with the torque and/or power limits of their electric driving motors is considered. The vehicle is very roughly modeled as a rigid body while the a part of the burden carried by it through elastic connection is completely neglected in the controller's model...
The paper deals with the application of two Iterative Learning Control (ILC) structures to the position control of the inverted pendulum system in crane mode. The two control system structures are based on serial and parallel ILC in combination with the conventional feedback control system structures with PI controllers. Recommendations to set the parameters of the ILC algorithms are given on the...
The most popular classical adaptive robot control methods as the Adaptive Inverse Dynamics Control or the Slotine-Li Adaptive Robot Controller are constructed on the basis of exact knowledge on the form of the equations of motion, and on the application of Lyapunov's 2nd Method. This generic technique makes it possible to guarantee the stability of the controlled system using only simple estimations...
This paper proposes two new optimization algorithms for the optimal design of PI controllers dedicated to a class of second-order plants with integral component and variable parameters. The sensitivity analysis with respect to the parametric variations of the controlled plant is supported by the derivation of sensitivity models. Several objective functions are defined based on the augmentation of...
The great advantage of the Variable Structure - Sliding Mode controllers is their simplicity, and that they can efficiently work in the possession of a very rough model of the system to be controlled. Instead investing any effort into identifying the precise analytical model of this system they apply well timed bang-bang type control signals in order to drive the “error metrics” near zero during finite...
The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the iterative feedback tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system's behavior with respect to...
In this paper a discrete time approximation of Caputo's fractional order derivatives is used for modeling the dynamic behavior of hypothetical fractional order systems the appropriate responses of which that can directly be manipulated by some physical agents are some fractional order time-derivatives of their state variables. A possible generalization of the concept of ldquoinitial conditionsrdquo...
This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.
In this paper a further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. Its main advantage in comparison with the complicated Lyapunov function based techniques is that its fundament is some simple geometric consideration allowing to formulate the control task as a Fixed Point Problem for the solution of which various Contractive...
Climbing robots are being developed for applications ranging from cleaning to inspection of difficult to reach constructions. These machines should be capable of travelling on different types of surfaces (such as floors, walls, ceilings) and to walk between such surfaces. Furthermore, these machines should adapt and reconfigure for various environment conditions and should be self-contained. Regarding...
The paper suggests PI controllers for longitudinal slip control in the framework of a laboratory anti-lock braking system (ABS). The new design methods make use of gain-scheduling and iterative feedback tuning. They prove to be relatively simple and transparent thus ensuring low-cost automation solutions. The digital implementation of the controllers is done for the laboratory ABS. Real-time experimental...
Most of the wheeled vehicles are anholonom systems the position and the rotational pose of which cannot arbitrarily be determined. This problem typically is solved by iterative, small, ldquoback and forthrdquo type movements while leaving a place/occupying a vacancy in a crowded parking place and also needs simple solution in the tracking control of a smooth path of considerable velocity. For this...
The paper discusses a delta domain approach to the design of Mamdani PI-fuzzy controllers using iterative learning control algorithms. A speed control system for a DC drive servo-drive is implemented and experimental results are used to validate the proposed design method.
In this paper a further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. Its main advantage in comparison with the complicated Lyapunov function based techniques is that it is based on simple geometric considerations on the basis of which the control task can be formulated as a fixed point problem for the solution of which a...
Three slip controllers are designed and implemented on an anti-lock braking system (ABS), a PI controller, one SISO fuzzy controller without dynamics and a PI-fuzzy one. The system is highly nonlinear. The design approaches are based on system modeling and identification and knowledge from experiments. The controllers are based on the local linearization of the controlled plant and the use of fuzzy...
The paper presents a new approach to the design of Takagi-Sugeno PI-fuzzy controllers employing Iterative Feedback Tuning (IFT). A Lyapunov-based original stability analysis algorithm guarantees convergent IFT algorithms. One case study focused on servo systems with second-order integral type controlled plants exemplifies the stable design accompanied by real-time experiments.
The paper investigates several possibilities to combine tensor product (TP) and fuzzy models aiming the development of control systems. Applications of TP are analyzed including the one class of benchmarks consisting of first-order plus dead time plants. The development and experimentation of control systems for these benchmarks is exemplified for a case study focused on air stream and temperature...
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