Designing an AI-Based Adaptive Controller Augmented with a System Identifier for a Micro-Class Robot Equipped with a Vibrating Actuator

04/18/2022
by   AmirReza BabaAhmadi, et al.
0

In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are two tiny shaking motors which have been utilized to run the micro-class robotic system. Dynamic modeling equations are expressed by considering the spring coefficient of the bases. After that, the effect of the spring on the foundations was investigated. In addition to designing neural-based controller, an AI-based system identifier has been developed to help the controller update its parameters and achieve its desired targets. Using this method, several specific paths for the movement of this micro robot are simulated. Based on the simulation results, the proposed controlling strategy guarantees acceptable performance for tracking different paths due to plotted near-zero errors and handles the nonlinear behavior of the micro-robot system.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
12/29/2020

An LQR-assisted Control Algorithm for an Under-actuated In-pipe Robot in Water Distribution Systems

To address the operational challenges of in-pipe robots in large pipes o...
research
06/15/2020

Micro-controllers: Promoting Structurally Flexible Controllers in Self-Adaptive Software Systems

To promote structurally flexible controllers in self-adaptive software s...
research
01/23/2020

Autonomous Control of a Line Follower Robot Using a Q-Learning Controller

In this paper, a MIMO simulated annealing SA based Q learning method is ...
research
07/17/2020

Information Requirements of Collision-Based Micromanipulation

We present a task-centered formal analysis of the relative power of seve...
research
08/01/2022

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

Quadrupedal manipulators require to be compliant when dealing with exter...
research
11/09/2018

PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles

There exists an increasing demand of a flexible and computationally effi...
research
03/27/2018

Neuroevolution for RTS Micro

This paper uses neuroevolution of augmenting topologies to evolve contro...

Please sign up or login with your details

Forgot password? Click here to reset