1,720,999 research outputs found
Robot Teleoperation
No full textRobots may allow human beings to physically interact with remote objects and environments. This possibility is known as robot teleoperation and permits to operate in conditions or environments dangerous for human operators. Although teleoperation was among the first developments in robotics back in the 1950's, still nowadays there are important and difficult challenges for researchers and scientists, showing the intrinsic difficulties of this fascinating field of robotics
Reinforcement learning for control using value function approximation
No full textThis entry provides a short introduction to a class of reinforcement learning algorithms, in particular value function approximation, applied to stochastic optimal control problems. The entry demonstrates how core ideas from dynamic programming and Bellman equations are utilized in common data-driven reinforcement learning algorithms, as well as discuss fundamental challenges of the approach
Sampled-data systems
No full textFor digital devices to interact with the physical world, an interface is needed that transforms the signals from analog to digital and vice versa. Ideal samplers and zero-order hold devices are incorporated to derive discrete-time models of continuous-time systems. State variable descriptions and transfer functions are used
Computer-aided control systems design: Introduction and historical overview
No full textComputer-aided control system design (CACSD) encompasses a broad range of methods, tools, and technologies for system modelling, control system synthesis and tuning, dynamic system analysis and simulation, as well as validation and verification. The domain of CACSD enlarged progressively over decades from simple collections of algorithms and programs for control system analysis and synthesis to comprehensive tool sets and user-friendly environments supporting all aspects of developing and deploying advanced control systems in various application fields. This entry gives a brief introduction to CACSD and reviews the evolution of key concepts and technologies underlying the CACSD domain.
Several cornerstone achievements in developing reliable numerical algorithms; implementing robust numerical software;
and developing sophisticated integrated modelling, simulation, and design environments are highlighted
Human Decision-Making in Multi-Agent Systems
Get PDFIn order to avoid suboptimal collective behaviors and resolve social dilemmas, researchers have tried to understand how humans make decisions when interacting with other humans or smart machines and carried out theoretical and experimental studies aimed at influencing decision-making dynamics in large populations. We identify the key challenges and open issues in the related research, list a few popular models with the corresponding results, and point out future research directions
Passivity-Based Control
Get PDFStabilization of physical systems by shaping their energy function is a well-established technique whose roots date back to the work of Lagrange and Legendre. Potential energy shaping for fully actuated mechanical systems was first introduced in Takegaki and Arimoto (Trans ASME J Dyn Syst Meas Control 12:119--125, 1981) more than 30 years ago. In Ortega and Spong (Automatica 25(6):877--888, 1989) it was proved that passivity was the key property underlying the stabilization mechanism of these designs, and the, now widely popular, term of passivity-based control was coined. In this chapter we summarize the basic principles and some of the main developments of this controller design technique
Control for precision mechatronics
No full textMotion systems are a key enabling technology in manufacturing machines and scientific instruments. Indeed, these motion systems perform the positioning with high speed and accuracy, where typical requirements are in the micrometer or even nanometer range. This is achieved through a mechatronic system design, which includes actuators, sensors, mechanics, and control. The aim of this chapter is to outline advanced motion control for precision mechatronics. Both feedback and feedforward control are covered. Their specific designs are heavily influenced by considerations regarding efficient and accurate modeling techniques. Extensions to complex multivariable systems are outlined, as well as challenges induced by envisaged future application requirements
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