Discovery of Linear Acyclic Models Using Independent Component AnalysisShiga University, RIKEN
This document discusses the discovery of linear acyclic models from non-experimental data using independent component analysis (ICA). It describes how existing methods assume Gaussian disturbances, producing equivalent models, whereas the proposed LiNGAM approach assumes non-Gaussian disturbances. This allows identifying the connection strengths and structure without equivalent models. The LiNGAM algorithm estimates the matrix B using ICA and post-processing, finds a causal order, and prunes non-significant edges. Examples show LiNGAM can correctly estimate networks and the document concludes it is an important topic with code available online.
Discovery of Linear Acyclic Models Using Independent Component AnalysisShiga University, RIKEN
This document discusses the discovery of linear acyclic models from non-experimental data using independent component analysis (ICA). It describes how existing methods assume Gaussian disturbances, producing equivalent models, whereas the proposed LiNGAM approach assumes non-Gaussian disturbances. This allows identifying the connection strengths and structure without equivalent models. The LiNGAM algorithm estimates the matrix B using ICA and post-processing, finds a causal order, and prunes non-significant edges. Examples show LiNGAM can correctly estimate networks and the document concludes it is an important topic with code available online.
Global Stability of A Regulator For Robot ManipulatorsWaqas Tariq
In this work a regulator for robot manipulators is proposed, it has been developed considering that the equilibrium point of the closed-loop system is globally asymptotically stable in agreement with Lyapunov’s direct method. The global asymptotic stability of the controlled system is analyzed. We present real-time experimental results to show the performance of the proposed regulator on a robot manipulator of direct drive with three degrees of freedom. The performance of the new control scheme is compared with respect to the popular PD Algorithm in terms of positioning error
Dynamics and control of a robotic arm having four linksAmin A. Mohammed
This document presents the dynamics modeling and control of a 4 degree-of-freedom robotic arm. It first derives the dynamic model of the robotic arm using the Euler-Lagrange approach. It then describes implementing two control approaches for position control of the arm joints: PID control and feedback linearization control. Simulation results show that PID control coupled with a differential evolution algorithm and feedback linearization control improve the robotic arm's performance. Increasing the arm link masses is found to not affect PID position control performance but require higher control torques.
Global Stability of A Regulator For Robot ManipulatorsWaqas Tariq
In this work a regulator for robot manipulators is proposed, it has been developed considering that the equilibrium point of the closed-loop system is globally asymptotically stable in agreement with Lyapunov’s direct method. The global asymptotic stability of the controlled system is analyzed. We present real-time experimental results to show the performance of the proposed regulator on a robot manipulator of direct drive with three degrees of freedom. The performance of the new control scheme is compared with respect to the popular PD Algorithm in terms of positioning error
Dynamics and control of a robotic arm having four linksAmin A. Mohammed
This document presents the dynamics modeling and control of a 4 degree-of-freedom robotic arm. It first derives the dynamic model of the robotic arm using the Euler-Lagrange approach. It then describes implementing two control approaches for position control of the arm joints: PID control and feedback linearization control. Simulation results show that PID control coupled with a differential evolution algorithm and feedback linearization control improve the robotic arm's performance. Increasing the arm link masses is found to not affect PID position control performance but require higher control torques.
Vibration and tip deflection control of a single link flexible manipulatorijics
In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible
manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub
angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic
controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control
using the resonant frequencies at different resonant modes of the system which were determined from
experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking
control and to achieve zero steady state error. The performance of the proposed control scheme is
investigated via simulations and the results show the effectiveness of the control scheme, in addition the
controller is tested to show it robustness using different values of payload.
Simulation and stability analysis of neural network based control scheme for ...ISA Interchange
This paper proposes a new adaptive neural network based control scheme for switched linear systems with parametric uncertainty and external disturbance. A key feature of this scheme is that the prior information of the possible upper bound of the uncertainty is not required. A feedforward neural network is employed to learn this upper bound. The adaptive learning algorithm is derived from Lyapunov stability analysis so that the system response under arbitrary switching laws is guaranteed uniformly ultimately bounded. A comparative simulation study with robust controller given in [Zhang L, Lu Y, Chen Y, Mastorakis NE. Robust uniformly ultimate boundedness control for uncertain switched linear systems. Computers and Mathematics with Applications 2008; 56: 1709–14] is presented.
In this research, a model free sliding mode fuzzy adaptive inverse dynamic fuzzy controller (SMFIDFC) is designed for a robot manipulator to rich the best performance. Inverse dynamic controller is considered because of its high performance in certain system. Fuzzy methodology has been included in inverse dynamic to keep away from design nonlinear controller based on dynamic model. Sliding mode fuzzy adaptive methodology is applied to model free controller to have better result in presence of structure and unstructured uncertainties. Besides, this control method can be applied to non-linear systems easily. Today, strong mathematical tools are used in new control methodologies to design adaptive nonlinear controller with satisfactory output results (e.g., minimum error, good trajectory, disturbance rejection).
Recurrent fuzzy neural network backstepping control for the prescribed output...ISA Interchange
This paper proposes a backstepping control system that uses a tracking error constraint and recurrent fuzzy neural networks (RFNNs) to achieve a prescribed tracking performance for a strict-feedback nonlinear dynamic system. A new constraint variable was defined to generate the virtual control that forces the tracking error to fall within prescribed boundaries. An adaptive RFNN was also used to obtain the required improvement on the approximation performances in order to avoid calculating the explosive number of terms generated by the recursive steps of traditional backstepping control. The boundedness and convergence of the closed-loop system was confirmed based on the Lyapunov stability theory. The prescribed performance of the proposed control scheme was validated by using it to control the prescribed error of a nonlinear system and a robot manipulator.
Modified Projective Synchronization of Chaotic Systems with Noise Disturbance,...IJECEIAES
The synchronization problem of chaotic systems using active modified projective non- linear control method is rarely addressed. Thus the concentration of this study is to derive a modified projective controller to synchronize the two chaotic systems. Since, the parameter of the master and follower systems are considered known, so active methods are employed instead of adaptive methods. The validity of the proposed controller is studied by means of the Lyapunov stability theorem. Furthermore, some numerical simulations are shown to verify the validity of the theoretical discussions. The results demonstrate the effectiveness of the proposed method in both speed and accuracy points of views.
Iaetsd modelling and controller design of cart inverted pendulum system using...Iaetsd Iaetsd
This document presents a model reference adaptive control (MRAC) scheme for stabilizing a cart-inverted pendulum system. The cart-inverted pendulum is a highly nonlinear and unstable system that is challenging to control. The proposed controller uses Lyapunov stability theory to design an MRAC controller. Simulation results show the controller is able to balance the inverted pendulum in the unstable upright position and regulate the cart position, demonstrating the effectiveness of the proposed MRAC control approach.
1) The document discusses inverse and forward kinematics problems for the motion of manipulators in PUMA robotics systems. It focuses on modeling the kinematics using homogeneous transformation matrices and the Denavit-Hartenberg parameterization.
2) Neural network control methods are explored for the PUMA robot, including using an Elman recurrent neural network with feedback to solve the inverse kinematics problem. Simulation results are shown to evaluate the network's performance.
3) The conclusion states that an accurate kinematic model of the PUMA manipulator has been developed and some modifications have been made to the inverse kinematics solutions to avoid contradictory joint configurations.
As the robot manipulators are highly nonlinear, time varying and Multiple Input Multiple Output (MIMO)
systems, one of the most important challenges in the field of robotics is robot manipulators control with
acceptable performance. In this research paper, a simple and computationally efficient Fuzzy Logic
Controller is designed based on the Fuzzy Lyapunov Synthesis (FLS) for the position control of PUMA-560
robot manipulator. The proposed methodology enables the designer to systematically derive the rule base
thereby guarantees the stability of the controller. The methodology is model free and does not require any
information about the system nonlinearities, uncertainties, time varying parameters, etc. The performance
of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. The closed-loop control
performance and stability are enhanced if more rules are added to the rule base of the FLC. However, a
large set of rules requires more on-line computational time and more parameters need to be adjusted.
Here, a Fuzzy Logic Controller is first designed and then the controller based on FLS is designed and
simulated with a minimum rule base. Finally the simulation results of the proposed controller are
compared with that of the normal Fuzzy Logic Controller and PD controlled Computed Torque Controller
(PD-CTC). Results show that the proposed controller outperformed the other controllers.
Design and Implementation of Model Reference Adaptive Controller using Coeffi...IOSR Journals
This document describes the design and implementation of a model reference adaptive controller (MRAC) using the coefficient diagram method (CDM) for a nonlinear process. It begins by introducing MRAC for single-input single-output plants, developing the MRAC design and control law. It then provides basics of the CDM design approach. The document applies the CDM-MRAC to a spherical tank level process in simulation, comparing its performance to a linear PI controller. Simulation results show the CDM-MRAC has faster rise time and settling time than the PI controller.
1) The document discusses using a sliding mode controller for speed control of a two phase induction motor.
2) Sliding mode control is an efficient technique for speed control due to its robustness and insensitivity to parameter variations.
3) A sliding mode controller is designed for the speed control of a two phase induction motor. The controller design involves choosing a sliding surface, establishing convergence conditions, and determining the control law. Chattering reduction is also addressed.
This document discusses synchronization, anti-synchronization, and hybrid-synchronization of a double pendulum under the effect of external forces using active control techniques based on Lyapunov stability theory and Routh-Hurwitz criteria. It presents the equations of motion for a double pendulum with two point masses connected by massless rods under an external force. It then describes how to achieve synchronization by defining error functions between the states of the double pendulum systems and designing control inputs to eliminate non-linear terms in the error dynamics, making the closed-loop error system linear. Numerical simulations are used to illustrate the effectiveness of the proposed control techniques.
Design Novel Nonlinear Controller Applied to Robot Manipulator: Design New Fe...Waqas Tariq
This document describes a novel adaptive feedback linearization fuzzy controller for robot manipulators. It begins by discussing limitations of traditional feedback linearization controllers, such as sensitivity to parameter uncertainty. It then proposes designing a feedback linearization fuzzy controller to address this issue. The key steps are: 1) designing the fuzzy controller, including fuzzifying inputs/outputs and developing a rule base, 2) developing an adaptive feedback linearization fuzzy controller by adding an adaptive law to tune fuzzy rule parameters online and improve disturbance rejection. The goal is to develop a robust position controller for robot manipulators that maintains acceptable performance despite nonlinearities and uncertainty.
This document presents a novel adaptive PID control scheme for flexible joint robot manipulators with known upper bounds on external disturbances. The control law combines PID feedback control with robust adaptive compensation of disturbances and unknown parameters. Lyapunov stability theory and Barbalat's lemma are used to prove global asymptotic stability of the closed-loop system. Simulation results on a two-degree-of-freedom flexible joint robot illustrate the effectiveness of the proposed controller in improving trajectory tracking accuracy and dynamic performance compared to existing adaptive PD control methods.
An optimal control for complete synchronization of 4D Rabinovich hyperchaotic...TELKOMNIKA JOURNAL
This paper derives new results for the complete synchronization of 4D
identical Rabinovich hyperchaotic systems by using two strategies: active
and nonlinear control. Nonlinear control strategy is considered as one
of the powerful tool for controlling the dynamical systems. The stabilization
results of error dynamics systems are established based on Lyapunov second
method. Control is designed via the relevant variables of drive and response
systems. In comparison with previous strategies, the current controller
(nonlinear control) focuses on convergence speed and the minimum limits
of relevant variables. Better performance is to achieve full synchronization
by designing the control with fewer terms. The proposed control has
certain significance for reducing the time and complexity for strategy
implementation.
Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuz...ijsc
Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable
error.
this slide is introduce the postulates of quantum mechanics in which has all important definable objects is defined. so that presentation is helpful for the undergraduate students
Trajectory Control With MPC For A Robot Manipülatör Using ANN ModelIJMER
In this study, in a computer the dynamic motion modelling of manipulator and control of
trajectory with an algorithm this has been tested. First after dynamic motion simulation of manipulator
has been made MPC Control. The result in this study we can observe that computed torque method gives
better results than MPC methods. So in trajectory control it is approved of using computed torque
method. In last part of this study the results are estimated forward development are exemined and
suggested. The model predictive control (MPC) technique for an articulated robot with n joints is
introduced in this paper. The proposed MPC control action is conceptually different with the trajectory
robot control methods in that the control action is determined by optimising a performance index over
the time horizon. A neural network (NN) is used in this paper as the predictive model.
This document describes simulation of non-linear computed torque control for a two link SCARA type manipulator in Simulink. It begins with an introduction to SCARA manipulators and computed torque control. It then provides the inverse kinematics equations to transform between Cartesian and joint space for the manipulator. It derives the equations of motion using Lagrange's equations. It describes a pick and place task and generates trajectories between points using a third order polynomial. Finally, it introduces computed torque control which uses feedback linearization to calculate the required joint torques to control the nonlinear manipulator.
Similar to A Mathematical Introduction to Robotic Manipulation 第4章 (20)
Digital Twins Computer Networking Paper Presentation.pptxaryanpankaj78
A Digital Twin in computer networking is a virtual representation of a physical network, used to simulate, analyze, and optimize network performance and reliability. It leverages real-time data to enhance network management, predict issues, and improve decision-making processes.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...shadow0702a
This document serves as a comprehensive step-by-step guide on how to effectively use PyCharm for remote debugging of the Windows Subsystem for Linux (WSL) on a local Windows machine. It meticulously outlines several critical steps in the process, starting with the crucial task of enabling permissions, followed by the installation and configuration of WSL.
The guide then proceeds to explain how to set up the SSH service within the WSL environment, an integral part of the process. Alongside this, it also provides detailed instructions on how to modify the inbound rules of the Windows firewall to facilitate the process, ensuring that there are no connectivity issues that could potentially hinder the debugging process.
The document further emphasizes on the importance of checking the connection between the Windows and WSL environments, providing instructions on how to ensure that the connection is optimal and ready for remote debugging.
It also offers an in-depth guide on how to configure the WSL interpreter and files within the PyCharm environment. This is essential for ensuring that the debugging process is set up correctly and that the program can be run effectively within the WSL terminal.
Additionally, the document provides guidance on how to set up breakpoints for debugging, a fundamental aspect of the debugging process which allows the developer to stop the execution of their code at certain points and inspect their program at those stages.
Finally, the document concludes by providing a link to a reference blog. This blog offers additional information and guidance on configuring the remote Python interpreter in PyCharm, providing the reader with a well-rounded understanding of the process.
AI for Legal Research with applications, toolsmahaffeycheryld
AI applications in legal research include rapid document analysis, case law review, and statute interpretation. AI-powered tools can sift through vast legal databases to find relevant precedents and citations, enhancing research accuracy and speed. They assist in legal writing by drafting and proofreading documents. Predictive analytics help foresee case outcomes based on historical data, aiding in strategic decision-making. AI also automates routine tasks like contract review and due diligence, freeing up lawyers to focus on complex legal issues. These applications make legal research more efficient, cost-effective, and accessible.
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
Gas agency management system project report.pdfKamal Acharya
The project entitled "Gas Agency" is done to make the manual process easier by making it a computerized system for billing and maintaining stock. The Gas Agencies get the order request through phone calls or by personal from their customers and deliver the gas cylinders to their address based on their demand and previous delivery date. This process is made computerized and the customer's name, address and stock details are stored in a database. Based on this the billing for a customer is made simple and easier, since a customer order for gas can be accepted only after completing a certain period from the previous delivery. This can be calculated and billed easily through this. There are two types of delivery like domestic purpose use delivery and commercial purpose use delivery. The bill rate and capacity differs for both. This can be easily maintained and charged accordingly.
3. 目次
1. ラグランジュ方程式 Lagrange’s Equations
2. マニピュレータのダイナミクス Dynamics of Open-Chain Manipulator
3. リアプノフの安定性理論 Lyapunov Stability Theory
4. 位置制御と軌道追跡 Position Control and Trajectory Tracking
5. 制約付きマニピュレータの制御 Control of Constrained Manipulators
3
4. 目次
1. ラグランジュ方程式 Lagrange’s Equations
2. マニピュレータのダイナミクス Dynamics of Open-Chain
Manipulator
3. リアプノフの安定性理論 Lyapunov Stability
Theory
4. 位置制御と軌道追跡 Position Control and
Trajectory Tracking
5. 制約付きマニピュレータの制御 Control of Constrained 4
23. 目次
1. ラグランジュ方程式 Lagrange’s Equations
2. マニピュレータのダイナミクス Dynamics of Open-Chain
Manipulator
3. リアプノフの安定性理論 Lyapunov Stability
Theory
4. 位置制御と軌道追跡 Position Control and
Trajectory Tracking
5. 制約付きマニピュレータの制御 Control of Constrained 23
43. 1. ラグランジュ方程式 Lagrange’s Equations
2. マニピュレータのダイナミクス Dynamics of Open-Chain Manipulator
3. リアプノフの安定性理論 Lyapunov Stability Theory
4. 位置制御と軌道追跡 Position Control and Trajectory Tracking
5. 制約付きマニピュレータの制御 Control of Constrained Manipulators
目次
43
55. 1. ラグランジュ方程式 Lagrange’s Equations
2. マニピュレータのダイナミクス Dynamics of Open-Chain Manipulator
3. リアプノフの安定性理論 Lyapunov Stability Theory
4. 位置制御と軌道追跡 Position Control and Trajectory Tracking
5. 制約付きマニピュレータの制御 Control of Constrained Manipulators
目次
55
62. Joint space vs Workspace (計算トルク法)
62
Joint space Workspace
■ 各空間での軌跡は異なる傾向
■ 時間に対する収束傾向は同程度
63. 1. ラグランジュ方程式 Lagrange’s Equations
2. マニピュレータのダイナミクス Dynamics of Open-Chain Manipulator
3. リアプノフの安定性理論 Lyapunov Stability Theory
4. 位置制御と軌道追跡 Position Control and Trajectory Tracking
5. 制約付きマニピュレータの制御 Control of Constrained Manipulators
目次
63