scholarly journals Synthesis of a mobile robot spatial stabilization system based on machine learning control by symbolic regression

2021 ◽  
Vol 22 (2) ◽  
pp. 129-138
Author(s):  
Askhat I. Diveev ◽  
Neder Jair Mendez Florez
Keyword(s):  
Machine Learning ◽  
Mobile Robot ◽  
Initial Conditions ◽  
Symbolic Regression ◽  
Synthesis Problem ◽  
Terminal Point ◽  
Control Synthesis ◽  
Stabilization System ◽  
Nonlinear Feedback ◽  
Regression Methods

The spatial stabilization system synthesis problem of the robot is considered. The historical overview of methods and approaches for solving the problem of control synthesis is given. It is shown that the control synthesis problem is the most important task in the field of control, for which there are no universal numerical methods for solving it. As one of the ways to solve this problem, it is proposed to use the method of machine learning based on the application of modern symbolic regression methods. This allows you to build universal algorithms for solving control synthesis problems. Several most promising symbolic regression methods are considered for application in control tasks. The formal statement of the control synthesis problem for its numerical solution is given. Examples of solving problems of synthesis of system of spatial stabilization of mobile robot by method of network operator and variation Cartesian genetic programming are given. The problem required finding one nonlinear feedback function to move the robot from thirty initial conditions to one terminal point. Mathematical records of the obtained control functions are given. Results of simulation of control systems obtained by symbolic regression methods are given.

scholarly journals Control Synthesis as Machine Learning Control by Symbolic Regression Methods

2021 ◽  
Vol 11 (12) ◽  
pp. 5468
Author(s):  
Elizaveta Shmalko ◽  
Askhat Diveev
Keyword(s):  
Machine Learning ◽  
Genetic Programming ◽  
Mathematical Formulation ◽  
Small Variation ◽  
Learning Control ◽  
Symbolic Regression ◽  
Control Technique ◽  
Control Synthesis ◽  
Basic Solution ◽  
Regression Methods

The problem of control synthesis is considered as machine learning control. The paper proposes a mathematical formulation of machine learning control, discusses approaches of supervised and unsupervised learning by symbolic regression methods. The principle of small variation of the basic solution is presented to set up the neighbourhood of the search and to increase search efficiency of symbolic regression methods. Different symbolic regression methods such as genetic programming, network operator, Cartesian and binary genetic programming are presented in details. It is shown on the computational example the possibilities of symbolic regression methods as unsupervised machine learning control technique to the solution of MLC problem of control synthesis for obtaining the stabilization system for a mobile robot.

Automatic Synthesis of a Continuous Dynamic Stabilization System based on Artificial Neural Networks

2020 ◽  
pp. 66-83
Author(s):  
A.V. Dotsenko
Keyword(s):  
Neural Networks ◽  
Initial Conditions ◽  
Control Object ◽  
Dynamic Stabilization ◽  
Synthesis Problem ◽  
Training Dataset ◽  
Initial Condition ◽  
Stabilization System ◽  
Optimum Control ◽  
Continuous Dynamic

The article considers an automated process of synthesising a continuous dynamic stabilization system based on multilayer neural networks. We propose a two-stage solution to the synthesis problem. The first stage involved generating the training dataset. It meant solving the optimum control problem for the dynamic system under consideration multiple times with various initial conditions. We derived optimum control for every initial condition as a function of object states. The second stage involved approximation of the training dataset we generated, which used a multilayer perceptron neural network. This perceptron represents a control unit that covers the entire initial condition space of the control object. The innovative aspect of our work is as follows: we reduced the synthesis problem to the approximation problem, that is, we sought a closed stabilising system by means of approximating the optimum controls obtained while minimising a functional of the integral type. The paper presents a numerical experiment in synthesising a stabilisation system for a track-laying robot. In order to test the stabilisation system synthesised, we consider initial conditions outside the training dataset and show how the system operates when externally perturbed

scholarly journals Research of Trajectory Optimization Approaches in Synthesized Optimal Control

Symmetry ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 336
Author(s):  
Askhat Diveev ◽  
Elizaveta Shmalko
Keyword(s):  
Optimal Control ◽  
Equilibrium Point ◽  
Trajectory Optimization ◽  
Stable Equilibrium ◽  
Equilibrium Points ◽  
Control Object ◽  
Symbolic Regression ◽  
Optimal Location ◽  
Stable Equilibrium Point ◽  
Stabilization System

This article presents a study devoted to the emerging method of synthesized optimal control. This is a new type of control based on changing the position of a stable equilibrium point. The object stabilization system forces the object to move towards the equilibrium point, and by changing its position over time, it is possible to bring the object to the desired terminal state with the optimal value of the quality criterion. The implementation of such control requires the construction of two control contours. The first contour ensures the stability of the control object relative to some point in the state space. Methods of symbolic regression are applied for numerical synthesis of a stabilization system. The second contour provides optimal control of the stable equilibrium point position. The present paper provides a study of various approaches to find the optimal location of equilibrium points. A new problem statement with the search of function for optimal location of the equilibrium points in the second stage of the synthesized optimal control approach is formulated. Symbolic regression methods of solving the stated problem are discussed. In the presented numerical example, a piece-wise linear function is applied to approximate the location of equilibrium points.

scholarly journals Simulation of rod vibrations process with an independent pendular suspension and vertical stabilization system

2018 ◽  
Vol 56 (4) ◽  
pp. 469-480
Author(s):  
I. S. Kruk ◽  
A. A. Tiunchik ◽  
V. Romanyuk
Keyword(s):  
Technological Process ◽  
Initial Conditions ◽  
Vertical Movement ◽  
Design Stage ◽  
Geometrical Parameters ◽  
Stabilization System ◽  
Special Approach ◽  
Rod Structures ◽  
Design And Testing

Continuous improvement of field sprayer design aimed at performance increase by increasing the working width, requires a special approach to ensure reliability of the supporting rod structure and quality of technological process. The question of rod vibrations, which arise when the driving systems copy field rough surface and abrupt changes in speed of the unit, remains topical. At the design stage of supporting structures of the rods, special attention is paid to the substantiation of its geometrical parameters in the longitudinal and transverse sections; studies of changes in the characteristics of vertical and horizontal vibrations, taking into account the method of the rod hanging and the system used for its stabilization. This allows to ensure the reliability of the rod design and the required quality of the technological process. The article proposes construction of the rod independent pendulum suspension on the sprayer frame and its stabilization system based on the use of damping elements. The analytical studies sequence system was developed for rod vibrations analysis, depending on initial conditions, parameters and characteristics of the used damping elements, under which they are effectively damped. It is shown that at certain numerical values of the geometrical parameters of the rod, the suspension and vibrations damping methods, not only the numerical values of the functions are changed, but also the functions themselves that describe the process of the rod's vertical movement, including cases of resonance. The obtained theoretical results can be used for design and testing of machines with rod working units and allow, at design stages, to simulate the process of movement of various rod structures from external excitatory forces, and to determine patterns of changes in the characteristics of damped vibrations using different damping elements and their installation parameters.

Control synthesis by full state vector in systems with fractional-order derivatives using Caputo-Fabrizio operator

2020 ◽  
Vol 8 (1) ◽  
pp. 106-115
Author(s):  
A. O. Lozynskyy ◽  
◽  
O. Yu. Lozynskyy ◽  
L. V. Kasha ◽  
◽  
...  
Keyword(s):  
Characteristic Polynomial ◽  
Fundamental Matrix ◽  
State Vector ◽  
Fractional Derivatives ◽  
Initial Conditions ◽  
Control Synthesis ◽  
Multiple Roots ◽  
System Operation ◽  
Full State ◽  
Control System Synthesis

In the paper, the control system synthesis by means of the full state vector is considered when using fractional derivatives in the description of this system. To conduct research in the synthesized system with fractional derivatives in the Caputo--Fabrizio representation, a fundamental matrix of the system is formed, which also allows us to analyze the influence of initial conditions on the processes within the system. In particular, the finding of the fundamental matrix of the system in the case of multiple roots of a characteristic polynomial, which are obtained by transforming the synthesized system to the binomial form, is demonstrated. The influence of the fractional derivative index and the location of the roots of the characteristic polynomial transformed to the binomial form on the system operation is analyzed.

Sign in / Sign up

Export Citation Format

Share Document