Stable antiswing PD control for overhead crane systems with velocity estimation and uncertainties compensation

IF 1.3 Q4 AUTOMATION & CONTROL SYSTEMS

International Journal of Automation and Control Pub Date : 2007-11-26 DOI:10.1504/IJAAC.2007.015846

S. Parasuraman, V. Ganapathy, B. Shirinzadeh

引用次数: 2

Abstract

A common problem in robot navigation is behaviour rule selection when more than one action of the same type is available. Here action selection or decision-making procedure incorporating α-level fuzzy logic is discussed and used for selecting an appropriate action during mobile robot navigation. In the present approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of optimising behaviour rules without decreasing the input space and resolved the conflicts similar to human thinking. This paper presents the mathematical aspects of resolving conflicts when more than one context rule of the same kind is in action. Simulation results are presented based on the real life situation. The techniques presented in this paper are validated by conducting real world experiments using Khepera miniature Robot.

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基于速度估计和不确定性补偿的桥式起重机系统稳定抗摆PD控制

机器人导航中的一个常见问题是，当有多个相同类型的动作可用时，如何选择行为规则。本文讨论了结合α级模糊逻辑的行动选择或决策过程，并将其用于移动机器人导航过程中适当行动的选择。该方法在不减少输入空间的情况下，通过模糊逻辑将人类专家驾驶员的操作策略以优化行为规则的形式传递给机器人导航，并解决类似人类思维的冲突。本文介绍了当多个相同类型的上下文规则在工作时解决冲突的数学方面。给出了基于实际情况的仿真结果。在Khepera微型机器人上进行了真实世界的实验，验证了本文所提出的技术。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Automation and Control AUTOMATION & CONTROL SYSTEMS-

自引率

41.70%

发文量

期刊介绍： IJAAC addresses the evolution and realisation of the theory, algorithms, techniques, schemes and tools for any kind of automation and control platforms including macro, micro and nano scale machineries and systems, with emphasis on implications that state-of-the-art technology choices have on both the feasibility and practicability of the intended applications. This perspective acknowledges the complexity of the automation, instrumentation and process control methods and delineates itself as an interface between the theory and practice existing in parallel over diverse spheres. Topics covered include: -Control theory and practice- Identification and modelling- Mechatronics- Application of soft computing- Real-time issues- Distributed control and remote monitoring- System integration- Fault detection and isolation (FDI)- Virtual instrumentation and control- Fieldbus technology and interfaces- Agriculture, environment, health applications- Industry, military, space applications

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