Adaptive Algorithms for Performance Improvement of a Class of Continuum Manipulators
| Autor: | Othman Lakhal, Rochdi Merzouki, Achille Melingui, Joseph Jean-Baptiste Mvogo Ahanda, Jean Bosco Mbede |
|---|---|
| Přispěvatelé: | Electrical and Telecommunications Engineering Department of Ecole Nationale Supérieure Polytechnique, the University of Yaoundé, Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189 (CRIStAL), Centre National de la Recherche Scientifique (CNRS)-Université de Lille-Ecole Centrale de Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille-Ecole Centrale de Lille, Centre National de la Recherche Scientifique (CNRS)-Université de Lille-Ecole Centrale de Lille |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Adaptive control Computer science 02 engineering and technology Kinematics [SPI.AUTO]Engineering Sciences [physics]/Automatic [SPI]Engineering Sciences [physics] 020901 industrial engineering & automation Control theory Position (vector) [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering 0202 electrical engineering electronic engineering information engineering [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Electrical and Electronic Engineering ComputingMilieux_MISCELLANEOUS Rigid body [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation Computer Science Applications Human-Computer Interaction Support vector machine Control and Systems Engineering Robot 020201 artificial intelligence & image processing [INFO.INFO-ES]Computer Science [cs]/Embedded Systems Performance improvement Software |
| Zdroj: | IEEE Transactions on Systems, Man, and Cybernetics: Systems IEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE, 2018, 48 (9), pp.1531-1541. ⟨10.1109/TSMC.2017.2678605⟩ IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2018, 48 (9), pp.1531-1541. ⟨10.1109/TSMC.2017.2678605⟩ |
| ISSN: | 2168-2216 |
| DOI: | 10.1109/TSMC.2017.2678605⟩ |
| Popis: | This paper addresses the position control of continuum manipulators. Their performances in terms of speed limitation and position accuracy are often mediocre compared with rigid body based robots. In regards to continuum manipulators control, nonadaptive kinematic schemes were shown poor performance in terms of tracking position accuracy, and existing adaptive schemes were time-consuming. This paper presents a novel adaptive control scheme, namely the adaptive support vector regressor controller. The proposed approach exploits the optimization learning methods which yield global solutions of the training problem while keeping small size regressors. These characteristics make it possible to accelerate the convergence of the closed-loop system, thus reducing the execution time. The experimental results obtained using the compact bionic handling assistant robot demonstrate that nonadaptive kinematic architectures even in the presence of accurate learning models are not robust enough to deal with these challenging platforms and that adaptive control schemes can significantly improve the performance. |
| Databáze: | OpenAIRE |
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