Structurally and procedurally simplified soft computing for real time control

J. Tar, I. Rudas, J. F. Bitó, P. H. Andersson, S. J. Torvinen

Research output: Conference contribution

Abstract

The present state of development of a new branch of Soft Computing (SC) developed for the adaptive control of a special class of non-linear coupled MIMO systems is reported. Its uniform structures are obtained from certain Lie groups unlike that of the traditional SC approaches. The adavantages are: a priori known and very reduced size, increase in lucidity; parameter tuning or learning is replaced by simple and short explicit algebraic procedure. The disadvantage is limited circle of applicability. Convergence consideratons are discussed for MIMO and SISO systems, too. Simulation examples are presented for the control of the inverted pendulum by the use of the generalized Lorentzian matrices. It is concluded that the method is promising and probably imposes acceptable convergence requirements in many practical cases.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2002-2007
Number of pages6
Volume2
DOIs
Publication statusPublished - 2001
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: máj. 21 2001máj. 26 2001

Other

Other2001IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

Fingerprint

Soft computing
Real time control
MIMO systems
Lie groups
Pendulums
Tuning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Tar, J., Rudas, I., Bitó, J. F., Andersson, P. H., & Torvinen, S. J. (2001). Structurally and procedurally simplified soft computing for real time control. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 2002-2007) https://doi.org/10.1109/ROBOT.2001.932901

Structurally and procedurally simplified soft computing for real time control. / Tar, J.; Rudas, I.; Bitó, J. F.; Andersson, P. H.; Torvinen, S. J.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2001. p. 2002-2007.

Research output: Conference contribution

Tar, J, Rudas, I, Bitó, JF, Andersson, PH & Torvinen, SJ 2001, Structurally and procedurally simplified soft computing for real time control. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, pp. 2002-2007, 2001IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, Republic of, 5/21/01. https://doi.org/10.1109/ROBOT.2001.932901
Tar J, Rudas I, Bitó JF, Andersson PH, Torvinen SJ. Structurally and procedurally simplified soft computing for real time control. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. 2001. p. 2002-2007 https://doi.org/10.1109/ROBOT.2001.932901
Tar, J. ; Rudas, I. ; Bitó, J. F. ; Andersson, P. H. ; Torvinen, S. J. / Structurally and procedurally simplified soft computing for real time control. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2001. pp. 2002-2007
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