On decentralized control techniques of interconnected systems-application to a double-parallel inverted pendulum

Amor, Rabeb Ben; Elloumi, Salwa

doi:10.1109/aset.2017.7983671

Cited by 5 publications

(2 citation statements)

References 10 publications

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“…Nevertheless, developing the physics model with superior fidelity would rather be difficult for tasks involving haptic interactions, i.e., grasping a deformable object. In addition, if we have perfect knowledge about a system model, including uncertainties, then it would be better to apply a traditional control-based approach, e.g., a decentralized control method to control a two-interconnected inverted pendulum [28,29].…”

Section: Introductionmentioning

confidence: 99%

Solving a Simple Geduldspiele Cube with a Robotic Gripper via Sim-to-Real Transfer

et al. 2022

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Geduldspiele cubes (also known as patience cubes in English) are interesting problems to solve with robotic systems on the basis of machine learning approaches. Generally, highly dexterous hand and finger movement is required to solve them. In this paper, we propose a reinforcement-learning-based approach to solve simple geduldspiele cubes of a flat plane, a convex plane, and a concave plane. The key idea of the proposed approach is that we adopt a sim-to-real framework in which a robotic agent is virtually trained in simulation environment based on reinforcement learning, then the virtually trained robotic agent is deployed into a physical robotic system and evaluated for tasks in the real world. We developed a test bed which consists of a dual-arm robot with a patience cube in a gripper and the virtual avatar system to be trained in the simulation world. The experimental results showed that the virtually trained robotic agent was able to solve simple patience cubes in the real world as well. Based on the results, we could expect to solve the more complex patience cubes by augmenting the proposed approach with versatile reinforcement learning algorithms.

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Section: Introductionmentioning

confidence: 99%

Solving a Simple Geduldspiele Cube with a Robotic Gripper via Sim-to-Real Transfer

et al. 2022

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“…This paper is an extension of the work originally we presented in the International Conference on Advanced Systems and Electric Technologies, 2017 [1]. This work treats three approaches dealing with the decentralized control of interconnected systems.…”

Section: Introductionmentioning

confidence: 99%

Decentralized Control Approaches of Large-Scale Interconnected Systems

Amor¹,

Elloumi²

2018

Adv. sci. technol. eng. syst. j.

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In this paper, we investigate the decentralized control problem for largescale interconnected systems. The synthesis of the decentralized controller consists in determining gains which ensure the stability of the global system. To calculate these gains, three approaches are presented. Our main contribution is to develop a new decentralized stabilization approach which the decentralized local gains are calculated and formulated via the resolution of linear matrix inequalities (LMIs) problem. A numerical simulation comparison of the three methods is performed on an interconnected double-parallel inverted pendulum.

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Decentralized Control Approach for Multiple Cooperative Robots manipulating a Common Object

Amor

Elloumi

2020

2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)

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On decentralized control techniques of interconnected systems-application to a double-parallel inverted pendulum

Cited by 5 publications

References 10 publications

Solving a Simple Geduldspiele Cube with a Robotic Gripper via Sim-to-Real Transfer

Solving a Simple Geduldspiele Cube with a Robotic Gripper via Sim-to-Real Transfer

Decentralized Control Approaches of Large-Scale Interconnected Systems

Decentralized Control Approach for Multiple Cooperative Robots manipulating a Common Object

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