Selection of different abstract groups for developing uniform structures to be used in adaptive control of robots

J. Tar, A. Szakál, I. Rudas, J. F. Bitó

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

2 Citations (Scopus)

Abstract

This paper is a brief summary on a particular approach aiming at the creation of a new branch of Soft Computing (SC) for the special problem class of mechanical systems' control. To evade the development of intricate system models it is based on the idea of "situation dependent partial system identification" and uses simple uniform structures obtained from various Lie groups used in different fields of Physics. These structures are far more lucid and more concentrated than that of "traditional" SC's based on either Kolmogorov's approximation theorem or typical membership functions in fuzzy controllers. The "obscure" process of learning or parameter tuning seems to be replaceable by simple explicit algebraic procedures. Simulation examples are considered for a 3 DOF robot arm under unmodelled environmental interaction.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
Pages559-564
Number of pages6
Volume2
Publication statusPublished - 2000
Event2000 IEEE International Symposium on Industrial Electronics (ISIE'2000) - Puebla, Mexico
Duration: Dec 4 2000Dec 8 2000

Other

Other2000 IEEE International Symposium on Industrial Electronics (ISIE'2000)
CountryMexico
CityPuebla
Period12/4/0012/8/00

Fingerprint

Lie groups
Soft computing
Membership functions
Identification (control systems)
Physics
Tuning
Robots
Control systems
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Tar, J., Szakál, A., Rudas, I., & Bitó, J. F. (2000). Selection of different abstract groups for developing uniform structures to be used in adaptive control of robots. In IEEE International Symposium on Industrial Electronics (Vol. 2, pp. 559-564)

Selection of different abstract groups for developing uniform structures to be used in adaptive control of robots. / Tar, J.; Szakál, A.; Rudas, I.; Bitó, J. F.

IEEE International Symposium on Industrial Electronics. Vol. 2 2000. p. 559-564.

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

Tar, J, Szakál, A, Rudas, I & Bitó, JF 2000, Selection of different abstract groups for developing uniform structures to be used in adaptive control of robots. in IEEE International Symposium on Industrial Electronics. vol. 2, pp. 559-564, 2000 IEEE International Symposium on Industrial Electronics (ISIE'2000), Puebla, Mexico, 12/4/00.
Tar J, Szakál A, Rudas I, Bitó JF. Selection of different abstract groups for developing uniform structures to be used in adaptive control of robots. In IEEE International Symposium on Industrial Electronics. Vol. 2. 2000. p. 559-564
Tar, J. ; Szakál, A. ; Rudas, I. ; Bitó, J. F. / Selection of different abstract groups for developing uniform structures to be used in adaptive control of robots. IEEE International Symposium on Industrial Electronics. Vol. 2 2000. pp. 559-564
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