Case Study on Robotic Systems Using Intelligent Approach

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Presentation transcript:

Case Study on Robotic Systems Using Intelligent Approach M.Yamakita Dept. of Mechanical and Control Systems Eng. Tokyo Inst. Of Tech. 2018/12/9

B A . is z then y and x If : 2 Rule 1 = C n If part specifies a degree of matching of the observation to each rule. If Ci is defuzzy value, control input is a weighted sum of the value according to the degree. Smooth interpolation of control input 2018/12/9

Function Approximation with Radial Basis Function Controlled System Operator Command Response Radial Basis Function (Approximated characteristic function) u y (Memory less) y Inverse Map Approximation 2018/12/9

Stone-Weiestrass Theorem Generalization of Weiestrass Theorem 2018/12/9

2018/12/9

Function Approximation and Generalization Given Data Set Criterion Function Criterion Function with Penalty term 2018/12/9

Approximation by Green Function Optimality Condition Weighted Sum of Green Function G 2018/12/9

Definition of Radial Basis Function Pseudo Partial Derivative Corresponding Basis Function (Function value is just depend on distance) Radial Basis Function 2018/12/9

RBF Neural Network 2018/12/9

Adaptive Control PLANT PLANT Estimation of Unknown Parameters Based on the Model Model Based　Adaptive　Control CONTROLLER (adjustable) PLANT PARAMETER ESTIMATOR Adaptive Control with ANN Estimation of Unknown Functions Based on an Universal Model UNIVESAL FUNCTION PLANT WEIGHT ESTIMATOR 2018/12/9

Model and Parameter (Example) y F K D Y(t) ,u(t)is known function a is unknown parameter vector 2018/12/9

Structure of Simple Adaptive Control System S.P.R. 2018/12/9

2018/12/9

Estimate Y(t) as well as a Y(t) of industrial systems are very complex Estimate Y(t) as well as a 2018/12/9

Trajectory Tracking Control of Golf Robot 2018/12/9

Conventional Model Based Adaptive Controller For Robotic Systems 2018/12/9

2018/12/9

Black Box Structure 2018/12/9

Structural Information + Fixed Allocation of ANN Elements 2018/12/9

Structural Information + Free Allocation of ANN Elements 2018/12/9

Experimental Results 2018/12/9

References Gupta,N.k.Sinha：Intelligent Control Systems, IEEE Press. (1996) K.Furuta et.：Intelligent Control, Corona Pub. (1988) （in Japanese) B.Widrow, E.Walach: Adaptive Inverse Control,Prentice Hall (1996) M. Yamakia, T.Satoh : Adaptive ANN Control of Robot Arm using Structure of Lagrange Equation, Proc. ACC'99, pp. 2834/2836, (1999) 2018/12/9