Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive Control
Robotic systems equipped with a task-multiplexer unit are considered as a class of unknown non-linear discrete-time systems, where the input is a command voltage of the driver unit and the output is the feedback signal obtained by the multiplexer unit. With only the input and output data available,...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-04-01
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| Series: | Applied System Innovation |
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| Online Access: | https://www.mdpi.com/2571-5577/2/2/12 |
| _version_ | 1811270124328452096 |
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| author | Chidentree Treesatayapun |
| author_facet | Chidentree Treesatayapun |
| author_sort | Chidentree Treesatayapun |
| collection | DOAJ |
| description | Robotic systems equipped with a task-multiplexer unit are considered as a class of unknown non-linear discrete-time systems, where the input is a command voltage of the driver unit and the output is the feedback signal obtained by the multiplexer unit. With only the input and output data available, an equivalent identification is formulated by a multi-input fuzzy rule emulated network. An online-learning algorithm is proposed to tune all adjustable parameters by using convergence analysis. Using the equivalent model, a controller is developed when the convergence of the tracking error and internal signals can be guaranteed. An experimental system validates the performance of the proposed scheme. Furthermore, the comparative results are also included, to demonstrate the advantage of the proposed controller. |
| first_indexed | 2024-04-12T21:55:06Z |
| format | Article |
| id | doaj.art-8ad1cdca349b49b793e64049059967d6 |
| institution | Directory Open Access Journal |
| issn | 2571-5577 |
| language | English |
| last_indexed | 2024-04-12T21:55:06Z |
| publishDate | 2019-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied System Innovation |
| spelling | doaj.art-8ad1cdca349b49b793e64049059967d62022-12-22T03:15:21ZengMDPI AGApplied System Innovation2571-55772019-04-01221210.3390/asi2020012asi2020012Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive ControlChidentree Treesatayapun0Department of Robotic and Advanced Manufacturing, CINVESTAV-IPN, No. 1062, Parque Industrial Ramos Arizpe, Ramos Arizpe 25903, Coahuila, MexicoRobotic systems equipped with a task-multiplexer unit are considered as a class of unknown non-linear discrete-time systems, where the input is a command voltage of the driver unit and the output is the feedback signal obtained by the multiplexer unit. With only the input and output data available, an equivalent identification is formulated by a multi-input fuzzy rule emulated network. An online-learning algorithm is proposed to tune all adjustable parameters by using convergence analysis. Using the equivalent model, a controller is developed when the convergence of the tracking error and internal signals can be guaranteed. An experimental system validates the performance of the proposed scheme. Furthermore, the comparative results are also included, to demonstrate the advantage of the proposed controller.https://www.mdpi.com/2571-5577/2/2/12robotic systemsdiscrete-time adaptive controlfuzzy neural networksdata-driven identification |
| spellingShingle | Chidentree Treesatayapun Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive Control Applied System Innovation robotic systems discrete-time adaptive control fuzzy neural networks data-driven identification |
| title | Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive Control |
| title_full | Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive Control |
| title_fullStr | Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive Control |
| title_full_unstemmed | Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive Control |
| title_short | Model-Free Robotic Architecture with Task-Multiplexer and Discrete-Time Adaptive Control |
| title_sort | model free robotic architecture with task multiplexer and discrete time adaptive control |
| topic | robotic systems discrete-time adaptive control fuzzy neural networks data-driven identification |
| url | https://www.mdpi.com/2571-5577/2/2/12 |
| work_keys_str_mv | AT chidentreetreesatayapun modelfreeroboticarchitecturewithtaskmultiplexeranddiscretetimeadaptivecontrol |