Application of fixed point transformation to classical model identification using new tuning rule

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

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

Abstract

Up to now the fundamental tool of adaptive nonlinear control design is Lyapunov's 2nd or "Direct" Method. Recently the Sigmoid Generated Fixed Point Transformation (SGFPT) has been introduced for evading the application of the Lyapunov technique. This systematic method has been presented for the generation of whole families of Fixed Point Transformations and has been extended from Single Input Single Output (SISO) to Multiple Input Multiple Output (MIMO) systems. Few studies have been revealed that the original Robust Fixed Point Transformation (RFPT) can be successfully combined with some modification of the classical methods, such as the Modified Adaptive Inverse Dynamic Robot Controller (MAIDRC) and the Modified Adaptive Slotine-Li Robot Controller (MADSLRC). This paper presents that the SGFPT can also well coexist with the MAIDRC control design. Additionally, a novel, even more simplified tuning technique is proposed that also applies fixed point transformation-based tuning rule for parameter identification. The theoretical considerations are validated by numerical simulations made for a 2 Degree of Freedom (DoF) paradigm, in the adaptive control of two coupled mass-points with simultaneous parameter identification.

Original languageEnglish
Title of host publicationSAMI 2017 - IEEE 15th International Symposium on Applied Machine Intelligence and Informatics, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages265-270
Number of pages6
ISBN (Electronic)9781509056545
DOIs
Publication statusPublished - Mar 16 2017
Event15th IEEE International Symposium on Applied Machine Intelligence and Informatics, SAMI 2017 - Herl'any, Slovakia
Duration: Jan 26 2017Jan 28 2017

Other

Other15th IEEE International Symposium on Applied Machine Intelligence and Informatics, SAMI 2017
CountrySlovakia
CityHerl'any
Period1/26/171/28/17

Keywords

  • Adaptive Control
  • Adaptive Inverse Dynamics Robot Controller (AIDRC)
  • Banach's Fixed Point Theorem
  • Classical Model Identification
  • Fixed Point Transformation
  • Robust Fixed Point Transformation (RFPT)
  • Sigmoid Generated Fixed Point Transformation (SGFPT)

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems
  • Artificial Intelligence
  • Hardware and Architecture

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  • Cite this

    Dineva, A., Tar, J., Várkonyi-Kóczy, A., & Piuri, V. (2017). Application of fixed point transformation to classical model identification using new tuning rule. In SAMI 2017 - IEEE 15th International Symposium on Applied Machine Intelligence and Informatics, Proceedings (pp. 265-270). [7880315] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SAMI.2017.7880315