Application of the symplectic group in a novel branch of soft computing for controlling of electro-mechanical devices

J. Tar, K. Kozlowski, I. Rudas, Tamás Ilkei

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

1 Citation (Scopus)

Abstract

An application of a special approach aiming at the development of a new branch of soft computing (SC) for the adaptive control of approximately and partially known electromechanical systems is reported. Like "traditional" SC it uses "uniform structures" for modeling, but these structures are obtained from the symplectic group (SG). This approach can considerably reduce the number of free parameters in the model in comparison e.g. with that of the neural networks or ample sets of fuzzy rules. It also replaces the process of parameter tuning with simple, lucid, and explicit algebraic operations of limited steps. While in the previous approaches SG was utilized as an inner symmetry of classical mechanical systems, in the present one it is used in a formal way not utilizing mechanical symmetries. Furthermore, SG is not the internal symmetry of electrical, that is of electro-mechanical systems. In the present paper the new formal approach is demonstrated in the adaptive control of a 3 mechanical DOF SCARA-type robot arm actuated by DC motors together forming a 6 DOF electromechanical system. It is concluded on the basis of simulations that the control designed for the 3 DOF mechanical degrees of freedom can efficiently compensate for the behavior of the electrical degrees of freedom not modeled by the controller.

Original languageEnglish
Title of host publicationProceedings of the 2nd International Workshop on Robot Motion and Control, RoMoCo 2001
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages71-77
Number of pages7
ISBN (Print)8371435150, 9788371435157
DOIs
Publication statusPublished - 2001
Event2nd International Workshop on Robot Motion and Control, RoMoCo 2001 - Bukowy Dworek, Poland
Duration: Oct 18 2001Oct 20 2001

Other

Other2nd International Workshop on Robot Motion and Control, RoMoCo 2001
CountryPoland
CityBukowy Dworek
Period10/18/0110/20/01

Fingerprint

Electromechanical devices
Soft computing
DC motors
Fuzzy rules
Tuning
Robots
Neural networks
Controllers

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Tar, J., Kozlowski, K., Rudas, I., & Ilkei, T. (2001). Application of the symplectic group in a novel branch of soft computing for controlling of electro-mechanical devices. In Proceedings of the 2nd International Workshop on Robot Motion and Control, RoMoCo 2001 (pp. 71-77). [973434] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMOCO.2001.973434

Application of the symplectic group in a novel branch of soft computing for controlling of electro-mechanical devices. / Tar, J.; Kozlowski, K.; Rudas, I.; Ilkei, Tamás.

Proceedings of the 2nd International Workshop on Robot Motion and Control, RoMoCo 2001. Institute of Electrical and Electronics Engineers Inc., 2001. p. 71-77 973434.

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

Tar, J, Kozlowski, K, Rudas, I & Ilkei, T 2001, Application of the symplectic group in a novel branch of soft computing for controlling of electro-mechanical devices. in Proceedings of the 2nd International Workshop on Robot Motion and Control, RoMoCo 2001., 973434, Institute of Electrical and Electronics Engineers Inc., pp. 71-77, 2nd International Workshop on Robot Motion and Control, RoMoCo 2001, Bukowy Dworek, Poland, 10/18/01. https://doi.org/10.1109/ROMOCO.2001.973434
Tar J, Kozlowski K, Rudas I, Ilkei T. Application of the symplectic group in a novel branch of soft computing for controlling of electro-mechanical devices. In Proceedings of the 2nd International Workshop on Robot Motion and Control, RoMoCo 2001. Institute of Electrical and Electronics Engineers Inc. 2001. p. 71-77. 973434 https://doi.org/10.1109/ROMOCO.2001.973434
Tar, J. ; Kozlowski, K. ; Rudas, I. ; Ilkei, Tamás. / Application of the symplectic group in a novel branch of soft computing for controlling of electro-mechanical devices. Proceedings of the 2nd International Workshop on Robot Motion and Control, RoMoCo 2001. Institute of Electrical and Electronics Engineers Inc., 2001. pp. 71-77
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