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This paper addresses sound source separation and speech recognition for moving sound sources. Real-world applications such as robots should cope with both moving and stationary sound sources. However, most studies assume only stationary sound sources. We introduce three key techniques to cope with moving sources, that is, Adaptive Step-size control (AS), Optima Controlled Recursive Average (OCRA),...
This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
Among numerous control schemes for flexible joint robots, the main problem is that the full state variable of acceleration and jerk must be known, which are difficult to measure, and the noise may be merged in the main signal. To solve this problem, a self adaptive composite control scheme is developed to control the flexible joint robots with modeling errors and subject to uncertain disturbances,...
Extended Kalman Filter (EKF) has been a popular approach in localization of a mobile robot. However, the performance of the EKF and the quality of the estimation depends on the correct a priori knowledge of process and measurement noise covariance matrices (Qk and RK, respectively). Imprecise knowledge of these statistics can cause significant degradation in performance. In this paper, the Adaptive...
This paper illustrates the practical application of non-iterative correlation-based tuning with guaranteed stability. In this method, a sufficient condition for closed-loop stability is defined as the H∞-norm of a particular error function. This norm is then estimated using data from one closed-loop experiment. The method is applied to a pick-and-place robot. It is shown that the proposed constraints...
This paper presents the framework, modeling, controller design, simulation and experiment results of a bi-brachiate inspection robot, which is designed to inspect the high voltage power transmission lines. A bionic structure is adopted for the mechanical design of the inspection robot. It has two multi-joint arms with a claw and a wheel on the top of each arm. A counterweight box is designed to adjust...
In this paper, a robust neural network based controller is proposed to steer the joint angles of rigid-link robot manipulators to track the desired trajectories asymptotically. The developed control scheme makes use of a two-layer neural network to learn the behaviors of unknown dynamics of robot. Both the estimation error and external disturbances can be effectively counteracted by employing smooth...
Two manipulators handling a flexible payload are studied based on adaptive backstepping control theory. Considering the complexity of the dynamic model, the obtained model is divided into a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by singular perturbation theory. A cooperative controller is designed based on adaptive backstepping control...
The behavior of nonlinearity and time-varying cause the pneumatic actuator systems are difficult to be controlled. This paper proposes a Fourier series-based adaptive sliding-mode controller for nonlinear pneumatic servo systems. The Fourier series-based functional approximation technique can approximate an unknown function, thus bypassing the model-based prerequisite. The learning laws for the coefficients...
In this paper, an observer-based indirect adaptive fuzzy output feedback control scheme is proposed for a biped robotic system. Fuzzy logic systems are employed to approximate the biped unknown nonlinear functions. Based on the fuzzy system, a state observer is designed for estimating the states of the controlled system. In addition, we use a regularized inverse function to overcome the control singularity...
Adaptive nonlinear output feedback control of GD-FNN(generalized dynamic fuzzy neural network) for underwater robot motion control using forming filter for wave disturbance is presented. This method completely construct nonlinear and uncertain parts of underwater robot by online adaptive learning algorithm without knowing fuzzy neural structure and training phase in advance. Output feedback control...
In this paper, an adaptive fuzzy sliding-mode formation controller (AFSFC) is designed to accomplish the formation tracking control of multi-robot systems. The multi-agent system with the proposed AFSFC can reach the desired formation asymptotically. Based on an adaptive tuning scheme, the external disturbances are dealt with and the analysis of the control stability is given. The simulation results...
In this paper, a dynamic identification method for a robot manipulator is investigated. A robust adaptive differentiator based on higher order sliding modes is used to estimate the state of the system. A theoretical proof of the convergence of this robust differentiator is given. A frequency analysis in term of filtering is provided and a comparison with a filter based on a classical differentiator...
This paper presents an adaptive PD control scheme for multiple autonomous underwater vehicles (AUVs). The proposed adaptive PD controller with uncertain gravitational and buoyancy forces requires only model of gravity and buoyancy regressor matrix and does not need any knowledge of inertia matrix, Coriolis and centripetal force, hydrodynamic damping and the parameters of the gravity and buoyancy forces...
As the human society steps into the aging society, robots play more and more important roles in our daily life, especially in nursing activities. As we all know, the human body has numerous joints and each joint has at least one degree of freedom. Hence, changing the attitude of human body is very complex. In this paper, we consider the human body as a redundant system and only interested parts of...
This paper presents a design for bilateral haptic control of a surgical robot. The control architecture consists of a force-force two-channel configuration. Neural networks model both slave and environment dynamics. An adaptive Lyapunov backstepping method utilizing tuning functions provides robustness to unmodeled tissue properties and smooths the applied control force. Simulation results for a one-degree-of-freedom...
A method of global PID adaptive fuzzy sliding-mode control for tracking control of multi-link robot manipulators is introduced. The method adjusts switching gain of sliding mode control by fuzzy control, uses fuzzy rules to adjust parameters on line and estimates supper boundary of the mode errors and disturb by integral automatically. So it reduces chattering and enhances precision. Simulation results...
Adaptive fuzzy control scheme is given and applied to position control of a single finger joint for a dual-thumbed hand. The dynamic model of the hand is established. The fuzzy control rules based on the characteristics of human being grasping is determined. The effectiveness of the presented control scheme is proved through simulation experiment for a dual-thumbed hand. The experiment results show...
In this paper, the main results are focused on the design of a robust tracking controller for a class of nonlinear Multi Input Multi Output (MIMO) systems involving uncertainties and external disturbances. A hybrid adaptive robust tracking control scheme which is based upon a combination of sliding mode technique, Proportional Integral (PI) controller and fuzzy control design is developed. Based on...
This paper describes an experimental approach to the positioning of a MEMS production system with a nano - scale resolution. Presented production system works on the basis of friction based piezo electric motors, which are being very hard for modeling. It is even being hard to describe this motors using classical mathematical functions, or to define them using other well known control procedures....
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