A Biologically Inspired Framework for the Intelligent Control of Mechatronic Systems and Its Application to a Micro Diving Agent
المؤلفون المشاركون
Bessa, Wallace M.
Brinkmann, Gerrit
Duecker, Daniel A.
Kreuzer, Edwin
Solowjow, Eugen
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-16، 16ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-12-30
دولة النشر
مصر
عدد الصفحات
16
التخصصات الرئيسية
الملخص EN
Mechatronic systems are becoming an intrinsic part of our daily life, and the adopted control approach in turn plays an essential role in the emulation of the intelligent behavior.
In this paper, a framework for the development of intelligent controllers is proposed.
We highlight that robustness, prediction, adaptation, and learning, which may be considered the most fundamental traits of all intelligent biological systems, should be taken into account within the project of the control scheme.
Hence, the proposed framework is based on the fusion of a nonlinear control scheme with computational intelligence and also allows mechatronic systems to be able to make reasonable predictions about its dynamic behavior, adapt itself to changes in the plant, learn by interacting with the environment, and be robust to both structured and unstructured uncertainties.
In order to illustrate the implementation of the control law within the proposed framework, a new intelligent depth controller is designed for a microdiving agent.
On this basis, sliding mode control is combined with an adaptive neural network to provide the basic intelligent features.
Online learning by minimizing a composite error signal, instead of supervised off-line training, is adopted to update the weight vector of the neural network.
The boundedness and convergence properties of all closed-loop signals are proved using a Lyapunov-like stability analysis.
Numerical simulations and experimental results obtained with the microdiving agent demonstrate the efficacy of the proposed approach and its suitableness for both stabilization and trajectory tracking problems.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Bessa, Wallace M.& Brinkmann, Gerrit& Duecker, Daniel A.& Kreuzer, Edwin& Solowjow, Eugen. 2018. A Biologically Inspired Framework for the Intelligent Control of Mechatronic Systems and Its Application to a Micro Diving Agent. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1209753
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Bessa, Wallace M.…[et al.]. A Biologically Inspired Framework for the Intelligent Control of Mechatronic Systems and Its Application to a Micro Diving Agent. Mathematical Problems in Engineering No. 2018 (2018), pp.1-16.
https://search.emarefa.net/detail/BIM-1209753
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Bessa, Wallace M.& Brinkmann, Gerrit& Duecker, Daniel A.& Kreuzer, Edwin& Solowjow, Eugen. A Biologically Inspired Framework for the Intelligent Control of Mechatronic Systems and Its Application to a Micro Diving Agent. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1209753
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1209753
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر