Adaptive Robust Control for Planar Snake Robots

Adaptive Robust Control for Planar Snake Robots
Author: Joyjit Mukherjee
Publisher: Springer Nature
Total Pages: 179
Release: 2021-05-11
Genre: Technology & Engineering
ISBN: 3030714608

This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.

Adaptive-Robust Control with Limited Knowledge on Systems Dynamics

Adaptive-Robust Control with Limited Knowledge on Systems Dynamics
Author: Spandan Roy
Publisher: Springer Nature
Total Pages: 157
Release: 2019-10-08
Genre: Technology & Engineering
ISBN: 981150640X

The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data. The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.

Robust Design and Assessment of Product and Production by Means of Probabilistic Multi-objective Optimization

Robust Design and Assessment of Product and Production by Means of Probabilistic Multi-objective Optimization
Author: Maosheng Zheng
Publisher: Springer Nature
Total Pages: 129
Release: 2024
Genre: Engineering design
ISBN: 9819726611

Zusammenfassung: This book develops robust design and assessment of product and production from viewpoint of system theory, which is quantized with the introduction of brand new concept of preferable probability and its assessment. It aims to provide a new idea and novel way to robust design and assessment of product and production and relevant problems. Robust design and assessment of product and production is attractive to both customer and producer since the stability and insensitivity of a product's quality to uncontrollable factors reflect its value. Taguchi method has been used to conduct robust design and assessment of product and production for half a century, but its rationality is criticized by statisticians due to its casting of both mean value of a response and its dispersion into one index, which doesn't characterize the issue of simultaneous robust design of above two independent responses sufficiently, so an appropriate approach is needed. The preference or role of a response in the evaluation is indicated by using preferable probability as the unique index. Thus, the rational approach for robust design and assessment of product and production is formulated by means of probabilistic multi-objective optimization, which reveals the simultaneous robust designs of both mean value of a response and its dispersion in manner of joint probability. Besides, defuzzification and fuzzification measurements are involved as preliminary approaches for robust assessment, the latter provides miraculous treatment for the 'target the best' case flexibly

Adaptive Control of Robot Manipulators

Adaptive Control of Robot Manipulators
Author: An-Chyau Huang
Publisher: World Scientific
Total Pages: 274
Release: 2010
Genre: Technology & Engineering
ISBN: 9814307416

This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.

Adaptive Control for Robotic Manipulators

Adaptive Control for Robotic Manipulators
Author: Dan Zhang
Publisher: CRC Press, Taylor & Francis Group, CRC Press is
Total Pages: 0
Release: 2017
Genre: Adaptive control systems
ISBN: 9781498764872

Cover -- Half title -- Title Page -- Copyright page -- Table of Contents -- Preface -- 1: From MRAC to Learning-Based MPC: The Emerging Importance of Machine Learning for Control of Robot Manipulators -- 2: Discussion on Model Reference Adaptive Control of Robotic Manipulators -- 3: Data-Based Learning for Uncertain Robotic Systems -- 4: Reinforcement Learning of Robotic Manipulators -- 5: Adaptive Control for Multi-Fingered Robot Hands -- 6: Output Feedback Adaptive Control of Uncertain Dynamical Systems with Event-Triggering -- 7: Event Sampled Adaptive Control of Robot Manipulators and Mobile Robot Formations -- 8: Design, Integration and Analysis of a Hybrid Controller for Multi Degrees of Freedom Serial Mechanisms -- 9: Adaptive Control of Modular Ankle Exoskeletons in Neurologically Disabled Populations -- 10: Open Architecture High Value Added Robot Manufacturing Cells -- 11: The Adaptive Control Algorithm for Manipulators with Joint Flexibility -- 12: Unification of Bipedal Robotic Walking using Quadratic Program-based Control Lyapunov Function: Applications to Regulation of ZMP and Angular Momentum -- 13: Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints -- 14: Adaptive Switching Iterative Learning Control of Robot Manipulator -- 15: Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties -- 16: Evaluation of Microgenetic and Microimmune Algorithms for Solving Inverse Kinematics of Hyper-redundant Robotic Manipulators On-line -- Index