Adaptive control of underactuated mechanical systems using improved "sigmoid Generated Fixed Point Transformation" and scheduling strategy

Adrienn Dineva, J. Tar, A. Várkonyi-Kóczy, Vincenzo Piuri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

With the aim of evading the difficulties of the Lyapunov function-based techniques in the control of nonlinear systems recently the Sigmoid Generated Fixed Point Transformation (SGFPT) has been introduced. This systematic method has been presented for the generation of whole families of Fixed Point Transformations that can be used in nonlinear adaptive control of Single Input Single Output (SISO) as well as Multiple Input Multiple Output (MIMO) systems. This paper proposes a new control strategy based on the combination of the adaptive and optimal control by applying time-sharing in the SGFPT method. The scheduling strategy supports error containment by cyclic control of the different variables. Further, this paper introduces new improvements on SGFPT technique by introducing Stretched Sigmoid Functions. The efficiency of the presented control solution has been applied in the adaptive control of an underactuated mechanical system. Simulation results validate that the proposed scheme is far promising.

Original languageEnglish
Title of host publicationSAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages193-197
Number of pages5
ISBN (Print)9781467387408
DOIs
Publication statusPublished - Mar 1 2016
EventIEEE 14th International Symposium on Applied Machine Intelligence and Informatics, SAMI 2016 - Herl'any, Slovakia
Duration: Jan 21 2016Jan 23 2016

Other

OtherIEEE 14th International Symposium on Applied Machine Intelligence and Informatics, SAMI 2016
CountrySlovakia
CityHerl'any
Period1/21/161/23/16

Fingerprint

Scheduling
Lyapunov functions
Nonlinear systems

Keywords

  • Adaptive Control
  • Banach's Fixed Point Theorem
  • Fixed Point Transformation
  • Iterative Learning Control
  • Robust Fixed Point Transformation (RFPT)
  • Sigmoid Generated Fixed Point Transformation (SGFPT)
  • Time-sharing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems

Cite this

Dineva, A., Tar, J., Várkonyi-Kóczy, A., & Piuri, V. (2016). Adaptive control of underactuated mechanical systems using improved "sigmoid Generated Fixed Point Transformation" and scheduling strategy. In SAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings (pp. 193-197). [7423006] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SAMI.2016.7423006

Adaptive control of underactuated mechanical systems using improved "sigmoid Generated Fixed Point Transformation" and scheduling strategy. / Dineva, Adrienn; Tar, J.; Várkonyi-Kóczy, A.; Piuri, Vincenzo.

SAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. p. 193-197 7423006.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Dineva, A, Tar, J, Várkonyi-Kóczy, A & Piuri, V 2016, Adaptive control of underactuated mechanical systems using improved "sigmoid Generated Fixed Point Transformation" and scheduling strategy. in SAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings., 7423006, Institute of Electrical and Electronics Engineers Inc., pp. 193-197, IEEE 14th International Symposium on Applied Machine Intelligence and Informatics, SAMI 2016, Herl'any, Slovakia, 1/21/16. https://doi.org/10.1109/SAMI.2016.7423006
Dineva A, Tar J, Várkonyi-Kóczy A, Piuri V. Adaptive control of underactuated mechanical systems using improved "sigmoid Generated Fixed Point Transformation" and scheduling strategy. In SAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2016. p. 193-197. 7423006 https://doi.org/10.1109/SAMI.2016.7423006
Dineva, Adrienn ; Tar, J. ; Várkonyi-Kóczy, A. ; Piuri, Vincenzo. / Adaptive control of underactuated mechanical systems using improved "sigmoid Generated Fixed Point Transformation" and scheduling strategy. SAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 193-197
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