### Abstract

A new branch of Computational Cybernetics based on principles akin to that of the traditional Soft Computing (SC) was recently developed for the control of inaccurately modeled dynamic systems under external disturbances. In the present paper the operation of this controller is studied in the case of an incompletely modeled dynamic system, that is when the system to be controlled contains internal degree of freedom not modeled by the controller. As starting point the method uses a simple, incomplete dynamic model to predict the propagation of the state of the modeled degrees of freedom also influenced by that of the unmodeled internal ones by nonlinear coupling. The controller is restricted to the observation of the behavior of the generalized coordinates the models of which are available for it. By the use of a priori known, uniform, lucid structure of reduced size, simple and short explicit algebraic procedures especially fit to real-time applications the controller is able to learn the behavior of the observed system. Simulation examples are presented for the control of a double pendulum-can system in which the first pendulum and the linear degree of freedom of the cart has drives only. The second pendulum can move freely and serves as the unmodeled component. Rotation of the second pendulum influences the inertia matrix of the whole system. It can obtain potential energy via the inertial and gravitational forces. It is found that the adaptive controller can successfully cope with the problem of imperfect modeling.

Original language | English |
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Title of host publication | Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04 |

Editors | K. Kozlowski |

Pages | 41-46 |

Number of pages | 6 |

Publication status | Published - 2004 |

Event | Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04 - Puszczykowo, Poland Duration: Jun 17 2004 → Jun 20 2004 |

### Other

Other | Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04 |
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Country | Poland |

City | Puszczykowo |

Period | 6/17/04 → 6/20/04 |

### Fingerprint

### ASJC Scopus subject areas

- Engineering(all)

### Cite this

*Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04*(pp. 41-46)

**Adaptive control of a dynamic system having unmodeled and unconstrained internal degree of freedom.** / Tar, J.; Rudas, I.; Szeghegyi, Á; Kozłowski, K.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04.*pp. 41-46, Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04, Puszczykowo, Poland, 6/17/04.

}

TY - GEN

T1 - Adaptive control of a dynamic system having unmodeled and unconstrained internal degree of freedom

AU - Tar, J.

AU - Rudas, I.

AU - Szeghegyi, Á

AU - Kozłowski, K.

PY - 2004

Y1 - 2004

N2 - A new branch of Computational Cybernetics based on principles akin to that of the traditional Soft Computing (SC) was recently developed for the control of inaccurately modeled dynamic systems under external disturbances. In the present paper the operation of this controller is studied in the case of an incompletely modeled dynamic system, that is when the system to be controlled contains internal degree of freedom not modeled by the controller. As starting point the method uses a simple, incomplete dynamic model to predict the propagation of the state of the modeled degrees of freedom also influenced by that of the unmodeled internal ones by nonlinear coupling. The controller is restricted to the observation of the behavior of the generalized coordinates the models of which are available for it. By the use of a priori known, uniform, lucid structure of reduced size, simple and short explicit algebraic procedures especially fit to real-time applications the controller is able to learn the behavior of the observed system. Simulation examples are presented for the control of a double pendulum-can system in which the first pendulum and the linear degree of freedom of the cart has drives only. The second pendulum can move freely and serves as the unmodeled component. Rotation of the second pendulum influences the inertia matrix of the whole system. It can obtain potential energy via the inertial and gravitational forces. It is found that the adaptive controller can successfully cope with the problem of imperfect modeling.

AB - A new branch of Computational Cybernetics based on principles akin to that of the traditional Soft Computing (SC) was recently developed for the control of inaccurately modeled dynamic systems under external disturbances. In the present paper the operation of this controller is studied in the case of an incompletely modeled dynamic system, that is when the system to be controlled contains internal degree of freedom not modeled by the controller. As starting point the method uses a simple, incomplete dynamic model to predict the propagation of the state of the modeled degrees of freedom also influenced by that of the unmodeled internal ones by nonlinear coupling. The controller is restricted to the observation of the behavior of the generalized coordinates the models of which are available for it. By the use of a priori known, uniform, lucid structure of reduced size, simple and short explicit algebraic procedures especially fit to real-time applications the controller is able to learn the behavior of the observed system. Simulation examples are presented for the control of a double pendulum-can system in which the first pendulum and the linear degree of freedom of the cart has drives only. The second pendulum can move freely and serves as the unmodeled component. Rotation of the second pendulum influences the inertia matrix of the whole system. It can obtain potential energy via the inertial and gravitational forces. It is found that the adaptive controller can successfully cope with the problem of imperfect modeling.

UR - http://www.scopus.com/inward/record.url?scp=14544290048&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=14544290048&partnerID=8YFLogxK

M3 - Conference contribution

SN - 8371432720

SP - 41

EP - 46

BT - Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04

A2 - Kozlowski, K.

ER -