Balance control of an unmanned bicycle using an improved classifier system

Transcription

1 mme.modares.ac.ir * - - mshariatp@ut.ac.ir *.. ( ) : : : Balancecontrolofanunmannedbicycleusinganimprovedclassifier system SaeedHashemnia,MasoudShariatPanahi DepartmentofMechanicalEngineering,UniversityofTehran,Tehran,Iran. P.O.B Tehran,Iran,mshariatp@ut.ac.irIran,maligoodarz@srttu.edu ARTICLEINFORMATION ABSTRACT OriginalResearchPaper Received9May AcceptedAugust AvailableOnline9September Keywords: Balancecontrol FuzzyMembershipFunction LearningClassifierSystem UnmannedBicycle Inthepresentarticle,animprovedLearningClassifierSystem(LCS)isproposedtocontrolthe balanceofmovingunmannedbicycle.significantcharacteristicoflearningclassifiersystemsis thattheycanlearnthroughsetofsystemactionsintherealworld(similartointelligent creatures)whilenodynamicmodelofthesystemisneeded.contrarytostudiesreportedinthe literature where action domain of the controller is discrete and accordingly such controller cannotbeusedinrealworldapplications,inthepresentstudyefficacyoftheclassifiersystemis enhancedbydefinitionofcontinuousdomainfortheoutputs,andthenisusedtocontrolthe balanceofunmannedbicycle.schemebaseduponfuzzymembershipfunctionsisproposed whichmakesitpossibleforthedomainofactionstobecontinuous.theproposedlcsfeatures dynamic reward assignment mechanism which is invented to cope with the bicycle s delayed response due to its mass inertias. This allows the rapid calculation of the reward and hence enables the controller to be used in such real time applications as the balance control of unmanned vehicles. standard degree of freedom (-DOF)bicyclemodelisemployedto demonstratetheefficiencyoftheenhancedlcs.simulationresultsshowthattheproposed classifiersystemoutperformstraditionalclassifiersystemaswellassomeofthemorecommon balance-controlstrategiesreportedintheliterature. - () -ClassifierSystems -Action -. Pleasecitethisarticleusing: : S.Hashemnia,M.ShariatPanahi,Balancecontrolofanunmannedbicycleusinganimprovedclassifiersystem,ModaresMechanicalEngineeringVol.No.pp.69-78, (InPersian)

2 : []... : [] []. - [3]. PID. [4].. [] [6]. [7]. 6. 6/ / [8] 7 [9].... ) (.... () -Lean 6-Cascaded 7-BacksteppingControlTechnique..[]. [3] [] ( ) 3. [4]... [] [6].. [7] PID PID PD [6] [8]. 4.[9] -Continuous-ActionClassifierSystemwithDynamicRewardAssignment -Real-ValueClassifierSystem(CSR) 3-Under-Actuated 4-OptimalLinearPreviewControlTheory 394 7

3 -) [].[] ( ( ) []. x.. (, ) [6] a [7]. 6 ). ( -. - ) ( 7 : 8.. [8] [9]..[9] Actor-CriticParadigm 6-CodeFragmentAction 7-InternalReasoningProcesses 8-DiscoveryAadMaintenance.. ) (- -) - 3 ) [].. () ) ( []... [] [3] [4] ). ( Fire -Fitness 3-eXtendedClassifierSystem(XCS) 4-eXtendedClassifierSystemforReal-ValuedInputs(XCSR) 7 394

4 . 394 () ).. ). y() :[33] () () = ()() + () () = () + () (4) (3) () = ()() ()() () = () ) () = + + () = (6) = (7) = (8) () (3) (4) ) ). - []. ([4] (, ),, (, ),, (, ):.. AV [4] -. : i. ( ) [33] [33].[3]. ).. )..().. () + ( ) + ( + ) = () = () () () = () () () ) ). K. ). - ) ) ([33] ) -Benchmark 7

5 [M] [A]..[4] : [] -3 n. -i. i/n ) [ / /]..... [A]. - : ) (.. - ( ) (9) :() = () = (). c (9). - []. []. [4] - []... () (, ), (, ):T ST R. - [4] ().. [M] [M]. N [M] -MatchSet -Prediction

6 .. () = () +... : -. - (6-3). () > = () < =. () (() ) i/n i-/n.-i i... t "".... ) [ ] ( > > (3) y z.().. ( ) > :.( )

7 : = (). ) [A] () ( = + [( ) ] ) (. (). :.. () ) ). (. - 4 [33] (). () = = (7) (8) = round( ) +.3 (9) - (round) (9). /.. -Epoch (6) () ) = + () (). ( ) ) ) [4]- [] [A] = + : < :() () = + = + ( ) (3) : (4) = + ( ) = + ( ). ( ) [A] : < = 7 394

8 () ( = 6 degsec = 6deg 7 = 6 degsec 6deg.() - 8 (. = deg = deg ) - deg ( ( = deg - / / / / / / / ) () = 3deg 3deg ( = 3deg = 3deg (. 4 3 degsec = 3deg ) ( 3 degsec 3deg (.( () 6deg ( 6deg = 6deg 6 ( 6deg (deg) (deg) () 6 6deg 6deg ) (sec) ) ( 6deg = 6deg ( (deg) (deg) () = 3deg 3deg ( ) (sec) ) = 3deg = 3deg ( (deg) (deg) ) (deg) (deg) ) = 6deg ( () 7 =6 (sec) ) 6deg 394 ( = () 3 3deg (sec) ) ( 3 = 3deg ( 76

9 (deg) (deg) () ( () [] () = deg deg ( = deg = deg = /77 = = deg = deg [4] % /83 /966 ) (sec) ) - [4]. 9. [] 3 []-. () () = () =.339 () [] 3 = 4/ = = deg = deg [] % / /7 [] 4 = = = deg = deg [] % /7 /38 - [] (deg) (deg) () 8 - () = deg x ) (sec) ) ( () [4] = deg deg ( = deg - ) ( ) (. -. (). ( ) (deg) (deg) () 9 () [] () = deg deg (sec) ) ( ) = deg = deg (

10 [8] R. S. Sharp, Optimal preview speed-tracking control for motorcycles, MultibodySyst.Dyn.Vol.8,pp.397 4,7. [9] R.S.Sharp,OntheStabilityandControloftheBicycle,App.Mech.Rev. Vol.6,pp.-4,8. []K. Iuchi, H. Niki, T. Murakami, Attitude control of bicycle motion by steering angle and variable COG control, Proc. 3st Annu. Conf. IEEE IECONpp.6 7,. []A.L.Schwab,J.D.G.Kooijman,J.P.Meijaard,Somerecentdevelopments in bicycle dynamics and control, Proceedings of the Fourth European ConferenceonStructuralControl(4ECSC)St.Petersburg,Russia,8. []V.Cerone,D.Andreo,M.Larsson,D.Regruto,StabilizationofRiderless Bicycle Linear-Parameter-Varying Approach, IEEE Contr. Syst. Mag., Vol.3,pp.3-3,. [3]C.K.Chen,T.S.Dao,FuzzyControlforEquilibriumandRoleAngle TrackingofanUnmannedBicycle,MultibodySyst.Dyn.Vol.,pp.3-3,6. [4]C. K. Chen, T. K. Dao, Speed-adaptive roll-angle-tracking control of an unmannedbicycleusingfuzzylogic,veh.syst.dyn.,vol.48,pp.33 47,. []T.K.Dao,C.K.Chen,Sliding-modecontrolfortheroll-angletrackingof anunmannedbicycle,veh.sys.dyn.,vol.49,pp.9 93,. [6]C.L.Hwang,H.M.Wu,C.L.Shih,FuzzySliding-ModeUnderactuated ControlforAutonomousDynamicBalanceofanElectricalBicycle,IEEET. Contr.Syst.T.Vol.7,pp.68-67,9. [7]U. Nenner, R. Linker, P.O. Gutman, Robust feedback stabilization of an unmannedmotorcycle,controleng.pract.,vol.8,pp ,. [8]C.S.Ting,Y.N.Chang,RobustFuzzyNeuralControlApproachfor VehicleLateralDynamics,ProcediaEng.,Vol.9,pp ,. [9]S.Hashemnia,M.ShariatPanahi,M.J.Mahjoob,UnmannedBicycle Balancing via Lyapunov Rule-Based Fuzzy Control, Multi-Body System DynamicsVol.3,pp.47-68,4. []S. W. Wilson, Classifier Systems Based on Accuracy, Evolutionary ComputationVol.3,No.,pp.49-7,99. []T. Kovacs, XCS classifier system reliably evolves accurate, complete, and minimalrepresentationsforbooleanfunctionsroy,chawdhry,and Pant (Eds.), Soft Computing in Engineering Design and Manufacturing Springer-Verlag,London,pp.9-68,997. []T. Kovacs, StrengthorAccuracy:CreditAssignmentinLearningClassifier SystemsDistinguishedDissertationsSpringer,4. [3]M.V.Butz,S.W.Wilson,AnalgorithmicdescriptionofXCS,JournalofSoft ComputingVol.6,No.3-4,pp.44-3,. [4]S. W. Wilson, Get Real! XCS with Continuous-Valued Inputs Learning ClassifierSystems,FromFoundationstoApplicationseditedbyPierLuca LanziandWolfgangStolzmannandStewartW.Wilson.Springer-Verlag, Berlin,pp.9 9,. []S. W. Wilson, Three Architectures for Continuous Action, Learning ClassifierSystems,LectureNotesinComputerScienceVol.4399, pp.39-7,7. [6]T.H.Tran,C.Sanza,Y.Duthen,D.T.Nguyen,XCSFwithComputed Continuous Action, Proceedings of the Genetic and Evolutionary ComputationConference,pp ,7. [7]M.Iqbal,W.N.Browne,M.Zhang,XCSRwithComputedContinuous Action, AI : Advances in Artiicial Intelligence, Lecture Notes in ComputerScienceVol.769,pp.3-36,. [8]C. J. C. Watkins, Learning fromdelayedrewards PhD Thesis, King's College,989. [9]C. Carse, Learning anticipatory behaviour using delayed action classifier system, Evolutionary Computing, Lecture Notes in Computer Science,Vol.86,pp.-3,994. [3 A. Schwab, J. Meijaard, J. Papadopoulos, Benchmark results on the linearizedequationsofmotionofanuncontrolledbicycle,int.j.mech.sci. Technol.Vol.9,pp.9 34,. [3]J. Meijaard, J. Papadopoulos, A. Ruina, A. Schwab, Linearized dynamics equations for the balance and steer of bicycle: benchmark and review,proc.r.soc.,vol.463,pp.9 98,7. [3]J.Kooijman,A.Schwab,J.Meijaard,Experimentalvalidationofmodelof anuncontrolledbicycle,multibodysyst.dyn.,vol.9,pp. 3,8. [33]K.J.Astrom,R.E.Klein,A.Lennartsson,Bicyclesdynamicsandcontrol, IEEEControlSyst.Mag.,Vol.,No.4,pp.6 47, "- " [] C.Wang,P.Wiggers,K.Hindriks,C.M.Jonker,LearningClassifierSystem onhumanoidnaorobotindynamicenvironments,thinternational Conference on Control Automation Robotics Vision (ICARCV) Guangzhou.pp.94-99,. [] M. Shariat Panahi, A. Karkhaneh Yousefi, M. Khorshidi, Combining accuracy and success-rate to improve the performance of extended Classifier System (XCS) for data-mining and control applications, EngineeringApplicationsofArtificialIntelligenceVol.6,No.8,pp.93-93,3. [3] J. Hurst, L. Bull, C. Melhuish, TCS Learning Classifier System Controller on Real Robot, LectureNotesinComputerScience Vol. 439, pp ,. [4] M.R.Bidgoli,A.K.Khalaji,S.A.A.Moosavian,Trajectorytrackingcontrol ofwheeledmobilerobotbynon-model-basedcontrolalgorithm usingpd-actionfilterederrors,modaresmechanicalengineering,vol.4, No.,pp.7-78,4.(InPersian) [] R.S.Sharp,Thestabilityandcontrolofmotorcycles,J.Mech.Eng.Sci.Vol. 3,No.,pp.36 39,97. [6] R.S.Sharp,S.Evangelou,D.J.N.Limebeer,Advancesinthemodelingof motorcycledynamics,multibodysyst.dyn.vol.,pp. 83,4. [7] S. Miyagishi, I. Kageyama, K. Takama, M. Baba, H. Uchiyama, Study on constructionofriderrobotfortwo-wheeledvehicle,jsaerev.vol.4, pp.3 36,