Convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods

J. Tar, K. Kozeowski, B. Pátkai, D. Tikk

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

13 Citations (Scopus)

Abstract

A new branch of computational cybernetics seems to emerge on the principles akin to that of the traditional soft computing (SC). In the present paper the essential differences between the conventional and the novel approach are summarized. At the cost of the use of a simple dynamic model, a priori known, uniform, lucid, structure of reduced size, machine learning by a simple and short explicit algebraic procedure especially fit to real time applications considerable computational advantages can be achieved. The key element of the approach is the modified renormalization transformation supported by the application of a simple linear transformation, and the use of a simple prediction technique. It analyzes how the satisfactory conditions of the "complete stability" can be guaranteed, and the convergence properties can be improved by the ancillary methods. Simulation examples are presented for the control of a 3 DOF SCARA arm by the use of partially stretched orthogonal transformations.

Original languageEnglish
Title of host publicationProceedings of the 3rd International Workshop on Robot Motion and Control, RoMoCo 2002
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages51-56
Number of pages6
ISBN (Print)8371434294, 9788371434297
DOIs
Publication statusPublished - 2002
Event3rd International Workshop on Robot Motion and Control, RoMoCo 2002 - Bukowy Dworek, Poland
Duration: Nov 9 2002Nov 11 2002

Other

Other3rd International Workshop on Robot Motion and Control, RoMoCo 2002
CountryPoland
CityBukowy Dworek
Period11/9/0211/11/02

Fingerprint

Cybernetics
Soft computing
Linear transformations
Learning systems
Dynamic models

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Tar, J., Kozeowski, K., Pátkai, B., & Tikk, D. (2002). Convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods. In Proceedings of the 3rd International Workshop on Robot Motion and Control, RoMoCo 2002 (pp. 51-56). [1177083] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMOCO.2002.1177083

Convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods. / Tar, J.; Kozeowski, K.; Pátkai, B.; Tikk, D.

Proceedings of the 3rd International Workshop on Robot Motion and Control, RoMoCo 2002. Institute of Electrical and Electronics Engineers Inc., 2002. p. 51-56 1177083.

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

Tar, J, Kozeowski, K, Pátkai, B & Tikk, D 2002, Convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods. in Proceedings of the 3rd International Workshop on Robot Motion and Control, RoMoCo 2002., 1177083, Institute of Electrical and Electronics Engineers Inc., pp. 51-56, 3rd International Workshop on Robot Motion and Control, RoMoCo 2002, Bukowy Dworek, Poland, 11/9/02. https://doi.org/10.1109/ROMOCO.2002.1177083
Tar J, Kozeowski K, Pátkai B, Tikk D. Convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods. In Proceedings of the 3rd International Workshop on Robot Motion and Control, RoMoCo 2002. Institute of Electrical and Electronics Engineers Inc. 2002. p. 51-56. 1177083 https://doi.org/10.1109/ROMOCO.2002.1177083
Tar, J. ; Kozeowski, K. ; Pátkai, B. ; Tikk, D. / Convergence properties of the modified renormalization algorithm based adaptive control supported by ancillary methods. Proceedings of the 3rd International Workshop on Robot Motion and Control, RoMoCo 2002. Institute of Electrical and Electronics Engineers Inc., 2002. pp. 51-56
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