Management and Intelligent Decision-Making in Complex Systems: An Optimization-Driven Approach

✍ Scribed by Ameer Hamza Khan, Xinwei Cao, Shuai Li

• Publisher: Springer
• Year: 2020
• Tongue: English
• Leaves: 91
• Category: Library

✦ Synopsis

In this book, the authors focus on three aspects related to the development of articulated agents: presenting an overview of high-level control algorithms for intelligent decision-making of articulated agents, experimental study of the properties of soft agents as the end-effector of articulated agents, and accurate management of low-level torque-control loop to accurately control the articulated agents. This book summarizes recent advances related to articulated agents. The motive behind the book is to trigger theoretical and practical research studies related to articulated agents.

✦ Table of Contents

Preface
Contents
Acronyms
1 Obstacle Avoidance Based Decision Making and Management of Articulated Agents
1.1 Introduction
1.2 Formulation of Optimal Management
1.2.1 Kinematic Tracking
1.2.2 Formulation of Obstacle Avoidance Penalty-Term
1.2.3 Constraints on Joint-Angles
1.2.4 Combined Optimization Problem
1.3 Design and Analysis of Management Algorithm
1.3.1 Algorithm Formulation
1.3.2 Theoretical Proofs
1.3.3 GJK-Distance Algorithm
1.3.4 Computational Complexity
1.4 Simulation Methodology, Results and Discussion
1.4.1 Simulations
1.4.2 Obstacle Avoidance Performance
1.4.3 Multiple Obstacle
1.5 Conclusion
References
2 Management of Soft Agents with Structural Uncertainty
2.1 Introduction
2.2 Literature Survey
2.3 PID-Controllers for Soft Agents
2.3.1 Variants of PID Controllers
2.3.2 Selection of Optimal Parameters
2.4 Experimental Platform, Results and Discussion
2.4.1 Experimental Platform
2.4.2 Results and Discussion
2.5 Conclusion
References
3 A Novel Damping Mechanism for Soft Agents with Structural Uncertainty
3.1 Introduction
3.2 Soft Agent Design and Damping Mechanism
3.2.1 Actuator Design
3.2.2 Soft Agent's Model
3.2.3 Actuation and Sensing
3.2.4 Damping Mechanism
3.3 Experimental Platform
3.4 Experimental Results
3.5 Conclusion
References
4 Management of Electrical Machine Using Torque Control Strategy
4.1 Introduction
4.2 DC Motor Model
4.2.1 Dynamic Model
4.2.2 Steady State Response
4.3 Current (Torque) Control
4.3.1 Single Motor System
4.3.2 Dual Motor System
4.4 Controller Formulation and Performance Analysis
4.4.1 Feed Forward Controller
4.5 Conclusion
References