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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Self-learning variable structure control for a class of sensor-actuator systems.

Sanfeng Chen¹, Shuai Li, Bo Liu

¹Key Lab of Visual Media Processing and Transmission, Shenzhen Institute of Information Technology, Shenzhen 518029, Guangdong, China. chensanf@sziit.com.cn

Sensors (Basel, Switzerland)

|July 11, 2012

Summary

This summary is machine-generated.

This study introduces a model-free variable structure control for sensor-actuator systems, eliminating the need for system model knowledge. The novel approach analytically derives control laws using optimal control principles for improved system performance.

Keywords:

Bellman equation principle of optimality self-learning sensor-actuator system variable structure control

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Area of Science:

Control Systems Engineering
Robotics
Mechatronics

Background:

Variable structure control (VSC) is prevalent for sensor-actuator systems but typically requires accurate system models.
Model-free control strategies are needed when system dynamics are unknown or difficult to model.
Euler-Lagrange equations are commonly used for modeling these systems.

Purpose of the Study:

To develop a model-free variable structure control (VSC) strategy for sensor-actuator systems.
To address the challenge of unknown system models in control design.
To utilize online input-output data for control law derivation.

Main Methods:

Formulating the control problem from an optimal control perspective.
Applying the principle of optimality to analytically derive the implicit form of the control law.
Iteratively solving for the control law and optimal cost function explicitly.

Main Results:

An effective model-free VSC law was analytically derived without prior system knowledge.
The optimal cost function was explicitly solved iteratively.
Simulations confirmed the proposed method's effectiveness and efficiency.

Conclusions:

The proposed model-free VSC approach offers a viable solution for controlling sensor-actuator systems with unknown dynamics.
This method simplifies control design by removing the dependency on accurate system models.
The iterative solution provides an efficient way to implement the control law in practice.