Computationally efficient predictive adaptive control for robotic operation in dynamic environments and task domains
| Autor: | M. Modarreszadeh, Ravi Vaidyanathan, Lalit Gupta, F.J. Lisy, T.S. Prince |
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| Rok vydání: | 2008 |
| Předmět: | |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture. 222:1695-1713 |
| ISSN: | 2041-2975 0954-4054 |
| DOI: | 10.1243/09544054jem1183 |
| Popis: | This paper presents a new adaptive predictive control algorithm and its refinement for robotic utility. The controller addresses the need for practical, computationally efficient, robust real-time adaptive control for multivariable robotic systems working in challenging industrial environments. It exploits a special matrix representation to obtain substantial reductions in the computational expense relative to standard methods. Controller performance is established for a simple robotic manipulator directing motion through sharply changing loading conditions and on an industrial robot loading heavy shells within the weapons magazine of a naval vessel. The new controller demonstrates the ability to adapt to varying actuator performance and rapidly changing sea states for which a classic proportional—integral—derivative controller cannot adjust. Control commands and parameter adjustments are executed in time frames suitable for real-time use, even on platforms and in environments with limited computational resources. Future work involves the implementation and testing of the controller on a prototype robot during facsimile naval operations. This work may serve as a foundation to address control issues for robots working in uncertain dynamic environments with varying task domains through the implementation of computationally efficient predictive adaptive control. |
| Databáze: | OpenAIRE |
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