Showing papers by "Ching-Chih Tsai published in 2019"

Adaptive ORFWNN-Based Predictive PID Control

Abstract: This paper proposes a new adaptive proportional–integral–derivative (PID) control method using predictive control and output recurrent fuzzy wavelet neural network (ORFWNN) for a group of nonlinear digital time-delay dynamic systems. The presented controller, called ORFWNN-APPID controller, is rigorously derived and proved by including an ORFWNN identifier with online parameter learning and identification, and an adaptive ORFWNN-based predictive PID controller to achieve precise setpoints tracking and disturbance rejection. The effectiveness and superiority of the constructed ORFWNN-APPID control approach are well demonstrated by performing numerical simulations on step-like disturbance rejection and precise setpoint tracking of two well-known digital nonlinear processes. The practicability of the presented method is illustrated by carrying out two experimental results on a real PET temperature control process.

Cooperative Localization Using Fuzzy DDEIF and Broad Learning System for Uncertain Heterogeneous Omnidirectional Multi-robots

Abstract: This paper presents a novel fuzzy distributed and decentralized extended information filtering (FDDEIF) method using broad learning system (BLS), called BLS-FDDEIF, for indoor cooperative localization of a group of heterogeneous omnidirectional mobile robots (HOMRs) incorporated with their dynamic effects. A new pose initialization algorithm is proposed to estimate the robots’ initial poses. Once all the initial poses of the HOMRs have been roughly determined, a novel BLS-FDDEIF method is presented to fuse multisensory measurements for estimating more accurate poses of all the HOMRs. Comparative simulations and experimental results are conducted to show the effectiveness and superiority of the proposed method in finding accurate pose estimation of three cooperative HOMRs with unknown initial poses.

Sliding-Mode Control Augmented with Broad Learning System for Self-Balancing Inverse-Atlas Ball-Riding Robots with Uncertainties

Abstract: The paper presents a novel sliding-mode control method augmented with broad learning system (BLS), or abbreviated as BLS-SMC, for trajectory tracking and station keeping of an uncertain Inverse-Atlas ball-riding robot (IASBRR) driven by three omnidirectional wheels. After brief description of the dynamic model of the robot with frictions and gravity, a BLS-SMC controller is proposed to accomplish robust self-balancing and trajectory tracking of the IASBRR in the presence of unknown frictions, mass variations and model uncertainties. The proposed BLS-SMC controller is proven asymptotically stable using Lyapunov stability theory and Barbalta’s lemma. Three comparative simulations and two experiments are conducted to show the effectiveness and merits of the proposed control method. The comparative results also indicate that the proposed controller is superior more efficient by comparing to an existing method.

Cooperative SLAM of an Autonomous Indoor Quadrotor Flying Together with an Autonomous Ground Robot

Abstract: This paper presents a three-dimensional (3D) cooperative Simultaneous-Location-and-Mapping (SLAM) method for a quadrotor flying together with a differential driving autonomous ground robot (AGR) in indoor environments. An ORB (Oriented Fast and Rotated BRIEF)-SLAM approach is used to find a 3D map and poses of individual quadrotor simultaneously, and the particle-filter SLAM approach is used to construct 2D map of the global environment for the AGR. A more accurate 3D pose method for the quadrotor is proposed with the assistance of AGR. The two SLAM approaches and quadrotor pose estimation method are operated under the robotic operation system (ROS) environment. One experiment is conducted to show the feasibility and effectiveness of the proposed method. Keywords: Cooperative SLAM, ORB (Oriented Fast and Rotated BRIEF)-SLAM, particle-filter SLAM, ROS, mobile multi-robots.

EtherCAT-based Impedance Control of a 6-DOF Industrial Robotic Manipulator

Abstract: This paper presents an etherCAT-based impedance control method for a 6-degrees-of-freedom (DOF) industrial robotic manipulator. After describing the overall system structure of this impedance controller using EtherCAT communication network, the forward kinematics of the manipulator is then derived using its Denavit-Hartenberg (DH) parameters. Based on the forward kinematics model and geometrical configurations of the robotic arm, an analytically inverse kinematics method is proposed to find the six joint angles of the manipulator moving from one point to another. For impedance control, a PI impedance controller along with a 6-DOF force/torque sensor and six independent PID torque controllers is proposed to achieve impedance control with satisfactory performance. The effectiveness and merit of the proposed inverse kinematics method and impedance controller are well exemplified by conducting two simulations one experiment on a really 6-DOF industrial robotic manipulator from HIWIN.

Cooperative FSEIF SLAM of Omnidirectional Mobile Multirobots

Abstract: The paper presents a cooperative fuzzy sparse extended information filtering (FSEIF) method for simultaneous localization and mapping SLAM) of multiple three-wheeled omnidirectional mobile multirobots in a given indoor environment. After brief description of our previous fuzzy SEIF SLAM (FSEIF SLAM) algorithm for a single mobile robot, a cooperative Fuzzy SEIF SLAM approach is presented for a group of omnidirectional mobile multirobots, where the optimal path searching method is devised by incorporating with K-means and Dijkstra algorithm under the assumption of known map and correspondence conditions. The effectiveness and merits of the proposed cooperative FSEIF SLAM in a large-scale environment are well illustrated by carrying out comparative simulations for multiple mobile robots.

Cooperative FSEIF SLAM of Omnidirectional Mobile Multirobots.

Abstract: The paper presents a cooperative fuzzy sparse extended information filtering (FSEIF) method for simultaneous localization and mapping SLAM) of multiple three-wheeled omnidirectional mobile multirobots in a given indoor environment. After brief description of our previous fuzzy SEIF SLAM (FSEIF SLAM) algorithm for a single mobile robot, a cooperative Fuzzy SEIF SLAM approach is presented for a group of omnidirectional mobile multirobots, where the optimal path searching method is devised by incorporating with K-means and Dijkstra algorithm under the assumption of known map and correspondence conditions. The effectiveness and merits of the proposed cooperative FSEIF SLAM in a large-scale environment are well illustrated by carrying out comparative simulations for multiple mobile robots.