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Hybrid Control And Motion Planning Of Dynamical Legged Locomotion
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Book Synopsis Hybrid Control and Motion Planning of Dynamical Legged Locomotion by : Nasser Sadati
Download or read book Hybrid Control and Motion Planning of Dynamical Legged Locomotion written by Nasser Sadati and published by John Wiley & Sons. This book was released on 2012-09-11 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, this book is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.
Book Synopsis Towards Application on Optimization-Based Methods for Motion Planning of Legged Robots by : Jingwen Zhang
Download or read book Towards Application on Optimization-Based Methods for Motion Planning of Legged Robots written by Jingwen Zhang and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: As legged robots have demonstrated versatility, they are more and more favorable for many applications, such as logistics, surveillance, disaster relief, and even home service. Legged robots have the potential to explore and interact with the environment around humans but cannot be handled by robots of other types. A key difficulty in legged locomotion control is that the movement of the floating base cannot be commanded directly, but instead results from the contact forces between the robot and the environment. The contact forces introduce some physical constraints, such as friction cones and unilateral features. Additionally, the hybrid and highly nonlinear dynamics further complex the motion generation and also the motion execution. For tackling legged locomotion, the control framework is often designed hierarchically, in which the high level is in charge of planning reference motion trajectories, and the low level is responsible for tracking this reference trajectory under disturbances. The ideal case is that the reference motion from the high-level planner can be executed by the low-level controller perfectly. However, the discrepancy is always presented given model simplifications and task assumptions. The main objective of this dissertation is to make contributions to mitigate this discrepancy by focusing on high-level motion planning. In motion planning for legged robots, the motion can be categorized into two main types, quasi-static and dynamic motions. Quasi-static motions are defined with a series of discrete contact sequences while the acceleration is kept zero in every time instance. Although energy inefficient, it is often considered a high-risk task. In this dissertation, two motion planners are presented for a six-legged wall-climbing robot given a unique combination of constraints on contact points, contact forces, and body posture. For the first on-wall planner that decouples contact and force planning, on-wall contact points are generated using a mixed-integer convex programming (MICP) with a pre-specified contact sequence while contact forces are optimized subsequently with convex programming. For the second planner, the unscheduled contact sequence is optimized by solving nonlinear programming (NLP). We consider various motions on different environment setups via modeling contact constraints and limb switchability as complementarity conditions. With presented planners, the robot is able to overcome the transition phase between the ground and walls, and also climb vertically between two walls with irregular profiles using pure friction. As for dynamic motions which are seen more commonly in legged animals, trajectory optimization can be utilized to generate a more continuous motion while acceleration resulting from the model dynamics plays a key role. In this dissertation, a jumping planner is presented for a miniature bipedal robot with proprioceptive actuation. The algorithm adopts centroidal dynamics to consider whole-body mass and inertia distribution and generates various motions, directional jumps, twisting jumps, step jumps, and somersaults. The optimized motion can not only mimic human jumping behaviors but also compensate for undesired angular momentum. To prepare a more accurate model for the planner, optimization-based system identification is applied here. Additionally, a heuristic landing location planner based on real-time momentum feedback in the air phase is presented to improve landing stability when executing the jumping reference trajectory.
Book Synopsis Bioinspired Legged Locomotion by : Maziar Ahmad Sharbafi
Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 638 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. Presents state-of-the-art control approaches with biological relevance Provides a thorough understanding of the principles of organization of biological locomotion Teaches the organization of complex systems based on low-dimensional motion concepts/control Acts as a guideline reference for future robots/assistive devices with legged architecture Includes a selective bibliography on the most relevant published articles
Book Synopsis Robust Adaptive Dynamic Programming by : Yu Jiang
Download or read book Robust Adaptive Dynamic Programming written by Yu Jiang and published by John Wiley & Sons. This book was released on 2017-04-25 with total page 237 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive look at state-of-the-art ADP theory and real-world applications This book fills a gap in the literature by providing a theoretical framework for integrating techniques from adaptive dynamic programming (ADP) and modern nonlinear control to address data-driven optimal control design challenges arising from both parametric and dynamic uncertainties. Traditional model-based approaches leave much to be desired when addressing the challenges posed by the ever-increasing complexity of real-world engineering systems. An alternative which has received much interest in recent years are biologically-inspired approaches, primarily RADP. Despite their growing popularity worldwide, until now books on ADP have focused nearly exclusively on analysis and design, with scant consideration given to how it can be applied to address robustness issues, a new challenge arising from dynamic uncertainties encountered in common engineering problems. Robust Adaptive Dynamic Programming zeros in on the practical concerns of engineers. The authors develop RADP theory from linear systems to partially-linear, large-scale, and completely nonlinear systems. They provide in-depth coverage of state-of-the-art applications in power systems, supplemented with numerous real-world examples implemented in MATLAB. They also explore fascinating reverse engineering topics, such how ADP theory can be applied to the study of the human brain and cognition. In addition, the book: Covers the latest developments in RADP theory and applications for solving a range of systems’ complexity problems Explores multiple real-world implementations in power systems with illustrative examples backed up by reusable MATLAB code and Simulink block sets Provides an overview of nonlinear control, machine learning, and dynamic control Features discussions of novel applications for RADP theory, including an entire chapter on how it can be used as a computational mechanism of human movement control Robust Adaptive Dynamic Programming is both a valuable working resource and an intriguing exploration of contemporary ADP theory and applications for practicing engineers and advanced students in systems theory, control engineering, computer science, and applied mathematics.
Book Synopsis Path Planning of Cooperative Mobile Robots Using Discrete Event Models by : Cristian Mahulea
Download or read book Path Planning of Cooperative Mobile Robots Using Discrete Event Models written by Cristian Mahulea and published by John Wiley & Sons. This book was released on 2020-01-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.
Book Synopsis Introduction to Linear Control Systems by : Yazdan Bavafa-Toosi
Download or read book Introduction to Linear Control Systems written by Yazdan Bavafa-Toosi and published by Academic Press. This book was released on 2017-09-19 with total page 1135 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Linear Control Systems is designed as a standard introduction to linear control systems for all those who one way or another deal with control systems. It can be used as a comprehensive up-to-date textbook for a one-semester 3-credit undergraduate course on linear control systems as the first course on this topic at university. This includes the faculties of electrical engineering, mechanical engineering, aerospace engineering, chemical and petroleum engineering, industrial engineering, civil engineering, bio-engineering, economics, mathematics, physics, management and social sciences, etc. The book covers foundations of linear control systems, their raison detre, different types, modelling, representations, computations, stability concepts, tools for time-domain and frequency-domain analysis and synthesis, and fundamental limitations, with an emphasis on frequency-domain methods. Every chapter includes a part on further readings where more advanced topics and pertinent references are introduced for further studies. The presentation is theoretically firm, contemporary, and self-contained. Appendices cover Laplace transform and differential equations, dynamics, MATLAB and SIMULINK, treatise on stability concepts and tools, treatise on Routh-Hurwitz method, random optimization techniques as well as convex and non-convex problems, and sample midterm and endterm exams. The book is divided to the sequel 3 parts plus appendices. PART I: In this part of the book, chapters 1-5, we present foundations of linear control systems. This includes: the introduction to control systems, their raison detre, their different types, modelling of control systems, different methods for their representation and fundamental computations, basic stability concepts and tools for both analysis and design, basic time domain analysis and design details, and the root locus as a stability analysis and synthesis tool. PART II: In this part of the book, Chapters 6-9, we present what is generally referred to as the frequency domain methods. This refers to the experiment of applying a sinusoidal input to the system and studying its output. There are basically three different methods for representation and studying of the data of the aforementioned frequency response experiment: these are the Nyquist plot, the Bode diagram, and the Krohn-Manger-Nichols chart. We study these methods in details. We learn that the output is also a sinusoid with the same frequency but generally with different phase and magnitude. By dividing the output by the input we obtain the so-called sinusoidal or frequency transfer function of the system which is the same as the transfer function when the Laplace variable s is substituted with . Finally we use the Bode diagram for the design process. PART III: In this part, Chapter 10, we introduce some miscellaneous advanced topics under the theme fundamental limitations which should be included in this undergraduate course at least in an introductory level. We make bridges between some seemingly disparate aspects of a control system and theoretically complement the previously studied subjects. Appendices: The book contains seven appendices. Appendix A is on the Laplace transform and differential equations. Appendix B is an introduction to dynamics. Appendix C is an introduction to MATLAB, including SIMULINK. Appendix D is a survey on stability concepts and tools. A glossary and road map of the available stability concepts and tests is provided which is missing even in the research literature. Appendix E is a survey on the Routh-Hurwitz method, also missing in the literature. Appendix F is an introduction to random optimization techniques and convex and non-convex problems. Finally, appendix G presents sample midterm and endterm exams, which are class-tested several times.
Book Synopsis E-CARGO and Role-Based Collaboration by : Haibin Zhu
Download or read book E-CARGO and Role-Based Collaboration written by Haibin Zhu and published by John Wiley & Sons. This book was released on 2021-11-16 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: E-CARGO and Role-Based Collaboration A model for collaboratively solving complex problems E-CARGO and Role-Based Collaboration offers a unique guide that explains the nature of collaboration, explores an easy-to-follow process of collaboration, and defines a model to solve complex problems in collaboration and complex systems. Written by a noted expert on the topic, the book initiates the study of an effective collaborative system from a novel perspective. The role-based collaboration (RBC) methodology investigates the most important aspects of a variety of collaborative systems including societal-technical systems. The models and algorithms can also be applied across system engineering, production, and management. The RBC methodology provides insights into complex systems through the use of its core model E-CARGO. The E-CARGO model provides the fundamental components, principles, relationships, and structures for specifying the state, process, and evolution of complex systems. This important book: Contains a set of concepts, models, and algorithms for the analysis, design, implementation, maintenance, and assessment of a complex system Presents computational methods that use roles as a primary underlying mechanism to facilitate collaborative activities including role assignment Explores the RBC methodology that concentrates on the aspects that can be handled by individuals to establish a well-formed team Offers an authoritative book written by a noted expert on the topic Written for researchers and practitioners dealing with complex problems in collaboration systems and technologies, E-CARGO and Role-Based Collaboration contains a model to solve real world problems with the help of computer-based systems.
Book Synopsis Sustainable Manufacturing Systems: An Energy Perspective by : Lin Li
Download or read book Sustainable Manufacturing Systems: An Energy Perspective written by Lin Li and published by John Wiley & Sons. This book was released on 2022-12-01 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sustainable Manufacturing Systems Learn more about energy efficiency in traditional and advanced manufacturing settings with this leading and authoritative resource Sustainable Manufacturing Systems: An Energy Perspective delivers a comprehensive analysis of energy efficiency in sustainable manufacturing. The book presents manufacturing modeling methods and energy efficiency evaluation and improvement methods for different manufacturing systems. It allows industry professionals to understand the methodologies and techniques being embraced around the world that lead to advanced energy management. The book offers readers a comprehensive and systematic theoretical foundation for novel manufacturing system modeling, analysis, and control. It concludes with a summary of the insights and applications contained within and a discussion of future research issues that have yet to be grappled with. Sustainable Manufacturing Systems answers the questions that energy customers, managers, decision makers, and researchers have been asking about sustainable manufacturing. The book’s release coincides with recent and profound advances in smart grid applications and will serve as a practical tool to assist industrial engineers in furthering the green revolution. Readers will also benefit from: A thorough introduction to energy efficiency in manufacturing systems, including the current state of research and research methodologies An exploration of the development of manufacturing methodologies, including mathematical modeling for manufacturing systems and energy efficiency characterization in manufacturing systems An analysis of the applications of various methodologies, including electricity demand response for manufacturing systems and energy control and optimization for manufacturing systems utilizing combined heat and power systems A discussion of energy efficiency in advanced manufacturing systems, like stereolithography additive manufacturing and cellulosic biofuel manufacturing systems Perfect for researchers, undergraduate students, and graduate students in engineering disciplines, especially for those majoring in industrial, mechanical, electrical, and environmental engineering, Sustainable Manufacturing Systems will also earn a place in the libraries of management and business students interested in manufacturing system cost performance and energy management.
Book Synopsis Intelligent Robotics and Applications by : Haibin Yu
Download or read book Intelligent Robotics and Applications written by Haibin Yu and published by Springer. This book was released on 2019-08-01 with total page 754 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume set LNAI 11740 until LNAI 11745 constitutes the proceedings of the 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, held in Shenyang, China, in August 2019. The total of 378 full and 25 short papers presented in these proceedings was carefully reviewed and selected from 522 submissions. The papers are organized in topical sections as follows: Part I: collective and social robots; human biomechanics and human-centered robotics; robotics for cell manipulation and characterization; field robots; compliant mechanisms; robotic grasping and manipulation with incomplete information and strong disturbance; human-centered robotics; development of high-performance joint drive for robots; modular robots and other mechatronic systems; compliant manipulation learning and control for lightweight robot. Part II: power-assisted system and control; bio-inspired wall climbing robot; underwater acoustic and optical signal processing for environmental cognition; piezoelectric actuators and micro-nano manipulations; robot vision and scene understanding; visual and motional learning in robotics; signal processing and underwater bionic robots; soft locomotion robot; teleoperation robot; autonomous control of unmanned aircraft systems. Part III: marine bio-inspired robotics and soft robotics: materials, mechanisms, modelling, and control; robot intelligence technologies and system integration; continuum mechanisms and robots; unmanned underwater vehicles; intelligent robots for environment detection or fine manipulation; parallel robotics; human-robot collaboration; swarm intelligence and multi-robot cooperation; adaptive and learning control system; wearable and assistive devices and robots for healthcare; nonlinear systems and control. Part IV: swarm intelligence unmanned system; computational intelligence inspired robot navigation and SLAM; fuzzy modelling for automation, control, and robotics; development of ultra-thin-film, flexible sensors, and tactile sensation; robotic technology for deep space exploration; wearable sensing based limb motor function rehabilitation; pattern recognition and machine learning; navigation/localization. Part V: robot legged locomotion; advanced measurement and machine vision system; man-machine interactions; fault detection, testing and diagnosis; estimation and identification; mobile robots and intelligent autonomous systems; robotic vision, recognition and reconstruction; robot mechanism and design. Part VI: robot motion analysis and planning; robot design, development and control; medical robot; robot intelligence, learning and linguistics; motion control; computer integrated manufacturing; robot cooperation; virtual and augmented reality; education in mechatronics engineering; robotic drilling and sampling technology; automotive systems; mechatronics in energy systems; human-robot interaction.
Book Synopsis Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks by : Andrey V. Savkin
Download or read book Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks written by Andrey V. Savkin and published by John Wiley & Sons. This book was released on 2015-07-20 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are able to achieve improved performance and efficient monitoring together with reduction in power consumption and production cost.
Book Synopsis Fusion of Hard and Soft Control Strategies for the Robotic Hand by : Cheng-Hung Chen
Download or read book Fusion of Hard and Soft Control Strategies for the Robotic Hand written by Cheng-Hung Chen and published by John Wiley & Sons. This book was released on 2017-10-09 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world’s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage’s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world’s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
Book Synopsis Modeling and Control of Uncertain Nonlinear Systems with Fuzzy Equations and Z-Number by : Wen Yu
Download or read book Modeling and Control of Uncertain Nonlinear Systems with Fuzzy Equations and Z-Number written by Wen Yu and published by John Wiley & Sons. This book was released on 2019-07-10 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: An original, systematic-solution approach to uncertain nonlinear systems control and modeling using fuzzy equations and fuzzy differential equations There are various numerical and analytical approaches to the modeling and control of uncertain nonlinear systems. Fuzzy logic theory is an increasingly popular method used to solve inconvenience problems in nonlinear modeling. Modeling and Control of Uncertain Nonlinear Systems with Fuzzy Equations and Z-Number presents a structured approach to the control and modeling of uncertain nonlinear systems in industry using fuzzy equations and fuzzy differential equations. The first major work to explore methods based on neural networks and Bernstein neural networks, this innovative volume provides a framework for control and modeling of uncertain nonlinear systems with applications to industry. Readers learn how to use fuzzy techniques to solve scientific and engineering problems and understand intelligent control design and applications. The text assembles the results of four years of research on control of uncertain nonlinear systems with dual fuzzy equations, fuzzy modeling for uncertain nonlinear systems with fuzzy equations, the numerical solution of fuzzy equations with Z-numbers, and the numerical solution of fuzzy differential equations with Z-numbers. Using clear and accessible language to explain concepts and principles applicable to real-world scenarios, this book: Presents the modeling and control of uncertain nonlinear systems with fuzzy equations and fuzzy differential equations Includes an overview of uncertain nonlinear systems for non-specialists Teaches readers to use simulation, modeling and verification skills valuable for scientific research and engineering systems development Reinforces comprehension with illustrations, tables, examples, and simulations Modeling and Control of Uncertain Nonlinear Systems with Fuzzy Equations and Z-Number is suitable as a textbook for advanced students, academic and industrial researchers, and practitioners in fields of systems engineering, learning control systems, neural networks, computational intelligence, and fuzzy logic control.
Book Synopsis Human-Robot Interaction Control Using Reinforcement Learning by : Wen Yu
Download or read book Human-Robot Interaction Control Using Reinforcement Learning written by Wen Yu and published by John Wiley & Sons. This book was released on 2021-10-06 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive exploration of the control schemes of human-robot interactions In Human-Robot Interaction Control Using Reinforcement Learning, an expert team of authors delivers a concise overview of human-robot interaction control schemes and insightful presentations of novel, model-free and reinforcement learning controllers. The book begins with a brief introduction to state-of-the-art human-robot interaction control and reinforcement learning before moving on to describe the typical environment model. The authors also describe some of the most famous identification techniques for parameter estimation. Human-Robot Interaction Control Using Reinforcement Learning offers rigorous mathematical treatments and demonstrations that facilitate the understanding of control schemes and algorithms. It also describes stability and convergence analysis of human-robot interaction control and reinforcement learning based control. The authors also discuss advanced and cutting-edge topics, like inverse and velocity kinematics solutions, H2 neural control, and likely upcoming developments in the field of robotics. Readers will also enjoy: A thorough introduction to model-based human-robot interaction control Comprehensive explorations of model-free human-robot interaction control and human-in-the-loop control using Euler angles Practical discussions of reinforcement learning for robot position and force control, as well as continuous time reinforcement learning for robot force control In-depth examinations of robot control in worst-case uncertainty using reinforcement learning and the control of redundant robots using multi-agent reinforcement learning Perfect for senior undergraduate and graduate students, academic researchers, and industrial practitioners studying and working in the fields of robotics, learning control systems, neural networks, and computational intelligence, Human-Robot Interaction Control Using Reinforcement Learning is also an indispensable resource for students and professionals studying reinforcement learning.
Book Synopsis Supervisory Control and Scheduling of Resource Allocation Systems by : Bo Huang
Download or read book Supervisory Control and Scheduling of Resource Allocation Systems written by Bo Huang and published by John Wiley & Sons. This book was released on 2020-06-29 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents strategies with reachability graph analysis for optimizing resource allocation systems Supervisory Control and Scheduling of Resource Allocation Systems offers an important guide to Petri net (PN) models and methods for supervisory control and system scheduling of resource allocation systems (RASs). Resource allocation systems are common in automated manufacturing systems, project management systems, cloud data centers, and software engineering systems. The authors—two experts on the topic—present a definition, techniques, models, and state-of-the art applications of supervisory control and scheduling problems. The book introduces the basic concepts and research background on resource allocation systems and Petri nets. The authors then focus on the deadlock-free supervisor synthesis for RASs using Petri nets. The book also investigates the heuristic scheduling of RASs based on timed Petri nets. Conclusions and open problems are provided in the last section of the book. This important book: Includes multiple methods for supervisory control and scheduling with reachability graphs, and provides illustrative examples Reveals how to accelerate the supervisory controller design and system scheduling of RASs based on PN reachability graphs, with optimal or near-optimal results Highlights both solution quality and computational speed in RAS deadlock handling and system scheduling Written for researchers, engineers, scientists, and professionals in system planning and control, engineering, operation, and management, Supervisory Control and Scheduling of Resource Allocation Systems provides an essential guide to the supervisory control and scheduling of resource allocation systems (RASs) using Petri net reachability graphs, which allow for multiple resource acquisitions and flexible routings.
Book Synopsis System Design and Control Integration for Advanced Manufacturing by : Han-Xiong Li
Download or read book System Design and Control Integration for Advanced Manufacturing written by Han-Xiong Li and published by John Wiley & Sons. This book was released on 2014-10-27 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most existing robust design books address design for static systems, or achieve robust design from experimental data via the Taguchi method. Little work considers model information for robust design particularly for the dynamic system. This book covers robust design for both static and dynamic systems using the nominal model information or the hybrid model/data information, and also integrates design with control under a large operating region. This design can handle strong nonlinearity and more uncertainties from model and parameters.
Book Synopsis Operator-Based Nonlinear Control Systems by : Mingcong Deng
Download or read book Operator-Based Nonlinear Control Systems written by Mingcong Deng and published by John Wiley & Sons. This book was released on 2014-01-15 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: Enables readers to master and apply the operator-theoretic approach Control of nonlinear systems is a multidisciplinary field involving electrical engineering, computer science, and control engineering. Specifically, this book addresses uncertain nonlinearity. Beginning with how real plants are modeled as operator-based plants, the author develops a systematic methodology that enables readers to understand a quantitative stability result, a critical factor in any nonlinear control system's stability and performance. Operator-Based Nonlinear Control Systems: Design and Applications focuses on the operator-theoretic approach, offering detailed examples on how to apply it to network controlled systems. In addition to current research results, the author explores future research directions and applications of the operator-theoretic approach. The book begins with an introduction that defines nonlinear systems. Next, it covers: Robust right coprime factorization for nonlinear plants with uncertainties Robust stability of operator-based nonlinear control systems Tracking issues and fault detection issues in nonlinear control systems Operator-based nonlinear control systems with smart actuators Nonlinear feedback control for large-scale systems using a distributed control system device Throughout the book, discussions of actual applications help readers understand how the operator-theoretic approach works in practice. Operator-Based Nonlinear Control Systems is recommended for students and professionals in control theory engineering and applied mathematics. Working with this expertly written and organized book, they will learn how to obtain robust right coprime factorization for modeled plants. Moreover, they will discover state-of-the-technology research results on robust stability conditions as well as the latest system output tracking and fault detection issues that are challenging today's researchers.
Book Synopsis Advances in Battery Manufacturing, Service, and Management Systems by : Jingshan Li
Download or read book Advances in Battery Manufacturing, Service, and Management Systems written by Jingshan Li and published by John Wiley & Sons. This book was released on 2016-09-20 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Addresses the methodology and theoretical foundation of battery manufacturing, service and management systems (BM2S2), and discusses the issues and challenges in these areas This book brings together experts in the field to highlight the cutting edge research advances in BM2S2 and to promote an innovative integrated research framework responding to the challenges. There are three major parts included in this book: manufacturing, service, and management. The first part focuses on battery manufacturing systems, including modeling, analysis, design and control, as well as economic and risk analyses. The second part focuses on information technology’s impact on service systems, such as data-driven reliability modeling, failure prognosis, and service decision making methodologies for battery services. The third part addresses battery management systems (BMS) for control and optimization of battery cells, operations, and hybrid storage systems to ensure overall performance and safety, as well as EV management. The contributors consist of experts from universities, industry research centers, and government agency. In addition, this book: Provides comprehensive overviews of lithium-ion battery and battery electrical vehicle manufacturing, as well as economic returns and government support Introduces integrated models for quality propagation and productivity improvement, as well as indicators for bottleneck identification and mitigation in battery manufacturing Covers models and diagnosis algorithms for battery SOC and SOH estimation, data-driven prognosis algorithms for predicting the remaining useful life (RUL) of battery SOC and SOH Presents mathematical models and novel structure of battery equalizers in battery management systems (BMS) Reviews the state of the art of battery, supercapacitor, and battery-supercapacitor hybrid energy storage systems (HESSs) for advanced electric vehicle applications Advances in Battery Manufacturing, Services, and Management Systems is written for researchers and engineers working on battery manufacturing, service, operations, logistics, and management. It can also serve as a reference for senior undergraduate and graduate students interested in BM2S2.
