Adaptive combination of motor primitives
نویسندگان
چکیده
Recently there has been a growing interest in modeling motor control systems with modular structures. Such control structures have many interesting properties, which have been described in recent studies. We here focus on some properties which are related to the fact that specific set of contexts can themselves be modeled modularly.
منابع مشابه
Tuning of Extended Kalman Filter using Self-adaptive Differential Evolution Algorithm for Sensorless Permanent Magnet Synchronous Motor Drive
In this paper, a novel method based on a combination of Extended Kalman Filter (EKF) with Self-adaptive Differential Evolution (SaDE) algorithm to estimate rotor position, speed and machine states for a Permanent Magnet Synchronous Motor (PMSM) is proposed. In the proposed method, as a first step SaDE algorithm is used to tune the noise covariance matrices of state noise and measurement noise i...
متن کاملRobust Control of Encoderless Synchronous Reluctance Motor Drives Based on Adaptive Backstepping and Input-Output Feedback Linearization Techniques
In this paper, the design and implementation of adaptive speed controller for a sensorless synchronous reluctance motor (SynRM) drive system is proposed. A combination of well-known adaptive input-output feedback linearization (AIOFL) and adaptive backstepping (ABS) techniques are used for speed tracking control of SynRM. The AIOFL controller is capable of estimating motor two-axis inductances ...
متن کاملAdaptive and intelligent control of permanent magnet synchronous motor (PMSM) using a combination of fuzzy logic and gray wolf algorithm under fault condition
Nowadays, permanent magnet synchronous motors have been widely used in industry due to the elimination of excitation losses, longer life and higher efficiency. Errors in engine and drive systems are unavoidable during operation. Therefore, a suitable scenario should be considered for when these systems fail. If the necessary predictions and control algorithms are not considered for the error co...
متن کاملParametric Primitives for Motor Representation and Control
The use of motor primitives for the generation of complex movements is a relatively new and interesting idea for dimensionality reduction in robot control. We propose a framework in which adaptive primitives learn and represent synergetic arm movements. A simple and fixed set of postural and oscillatory primitives form the substrate through which all control is elicited. Higher level adaptive p...
متن کاملA Unifying Framework for the Identification of Motor Primitives
A long-standing hypothesis in neuroscience is that the central nervous system accomplishes complex motor behaviors through the combination of a small number of motor primitives. Many studies in the last couples of decades have identified motor primitives at the kinematic, kinetic, and electromyographic level, thus supporting modularity at different levels of organization in the motor system. Ho...
متن کامل