Autonomous control of complex systems: robotic applications

摘要

One of the biggest challenges of any control paradigm is being able to handle large complex systems under unforeseen uncertainties. A system may be called complex here if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is uncertain such that classical techniques cannot easily handle the problem. Soft computing, a collection of fuzzy logic, neuro-computing, genetic algorithms and genetic programming, has proven to be a powerful tool for adding autonomy to many complex systems. For such systems the size soft computing control architecture will be nearly infinite. Examples of complex systems are power networks, national air traffic control system, an integrated manufacturing plant, etc. In this paper a new rule base reduction approach is suggested to manage large inference engines. Notions of rule hierarchy and sensor data fusion are introduced and combined to achieve desirable goals. New paradigms using soft computing approaches are utilized to design autonomous controllers for a number of robotic applications at the ACE Center are also presented briefly.