Specification Guided Automated Synthesis of Feedback Controllers

2021 ◽  
Vol 20 (5s) ◽  
pp. 1-26
Author(s):  
Nikhil Kumar Singh ◽  
Indranil Saha
Keyword(s):  
Closed Loop ◽  
Matrix Decomposition ◽  
Parameter Tuning ◽  
Controller Synthesis ◽  
Formal Specifications ◽  
System Matrix ◽  
Feedback Controllers ◽  
Loop Control ◽  
Automated Technique ◽  
High Level

The growing use of complex Cyber-Physical Systems (CPSs) in safety-critical applications has led to the demand for the automatic synthesis of robust feedback controllers that satisfy a given set of formal specifications. Controller synthesis from the high-level specification is an NP-Hard problem. We propose a heuristic-based automated technique that synthesizes feedback controllers guided by Signal Temporal Logic (STL) specifications. Our technique involves rigorous analysis of the traces generated by the closed-loop system, matrix decomposition, and an incremental multi-parameter tuning procedure. In case a controller cannot be found to satisfy all the specifications, we propose a technique for modifying the unsatisfiable specifications so that the controller synthesized for the satisfiable subset of specifications now also satisfies the modified specifications. We demonstrate our technique on eleven controllers used as standard closed-loop control system benchmarks, including complex controllers having multiple independent or nested control loops. Our experimental results establish that the proposed algorithm can automatically solve complex feedback controller synthesis problems within a few minutes.

H ∞ Closed-Loop Control for Uncertain Discrete Input-Shaped Systems

2010 ◽  
Vol 132 (4) ◽  
Author(s):  
John Stergiopoulos ◽  
Anthony Tzes
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Controller Synthesis ◽  
Linear Quadratic ◽  
Robust Controller ◽  
Loop Control ◽  
System A ◽  
Input Shaper ◽  
Uncertain Input ◽  
Plant Simulation

The article addresses the problem of stabilization for uncertain discrete input-shaped systems. The uncertainty affects the autoregressive portion of the transfer function of the system. A discrete input shaper compensator is designed in order to reduce the oscillations of the plant’s response. The input-shaped system’s dynamics are appropriately reformulated for robust controller synthesis, and a robust H∞-controller is used in an outer-loop, in order to guarantee stability of the uncertain input-shaped plant. Simulation results confirm the efficacy of the proposed combined scheme in comparison with open-loop input shaping and closed-loop linear quadratic control.

CLOSED-LOOP CONTROL OF THE THALAMOCORTICAL RELAY NEURON'S PARKINSONIAN STATE BASED ON SLOW VARIABLE

2013 ◽  
Vol 23 (04) ◽  
pp. 1350017 ◽  
Author(s):  
CHEN LIU ◽  
JIANG WANG ◽  
YING-YUAN CHEN ◽  
BIN DENG ◽  
XI-LE WEI ◽  
...  
Keyword(s):  
Feedback Control ◽  
Control Strategy ◽  
Closed Loop ◽  
Slow Variable ◽  
Closed Loop Control ◽  
Fast Variable ◽  
Qualitative And Quantitative Analysis ◽  
Feedback Controllers ◽  
Loop Control ◽  
Qualitative And Quantitative

A novel closed-loop control strategy is proposed to control Parkinsonian state based on a computational model. By modeling thalamocortical relay neurons under external electric field, a slow variable feedback control is applied to restore its relay functionality. Qualitative and quantitative analysis demonstrates the performance of feedback controller based on slow variable is more efficient compared with traditional feedback control based on fast variable. These findings point to the potential value of model-based design of feedback controllers for Parkinson's disease.

Shaped Time-Optimal Feedback Controllers for Flexible Structures

2004 ◽  
Vol 126 (1) ◽  
pp. 173-186 ◽  
Author(s):  
Lucy Y. Pao ◽  
Chanat La-orpacharapan
Keyword(s):  
Phase Plane ◽  
Closed Loop ◽  
Flexible Structures ◽  
Input Shaping ◽  
Feedback Controllers ◽  
Control Laws ◽  
Loop Control ◽  
Flexible Mode ◽  
Time Optimal ◽  
Acceleration And Deceleration

This paper describes the design of closed-loop control laws for servomechanisms with one dominant flexible mode. An input shaping technique is employed to alter the rigid body phase-plane trajectory that is used in time-optimal servomechanisms. The resulting controllers lead to near time-optimal performance without unwanted residual vibrations. After the basic technique is outlined for a system with one undamped flexible mode, extensions are given considering different acceleration and deceleration capabilities, damping, and slew rate limits.

A novel hybrid closed-loop control approach for dexterous prosthetic hand based on myoelectric control and electrical stimulation

2018 ◽  
Vol 45 (4) ◽  
pp. 526-538 ◽  
Author(s):  
Li Jiang ◽  
Qi Huang ◽  
Dapeng Yang ◽  
Shaowei Fan ◽  
Hong Liu
Keyword(s):  
Motion Control ◽  
Sensory Feedback ◽  
Closed Loop ◽  
Control Method ◽  
Human Motion ◽  
Prosthetic Hand ◽  
Closed Loop Control ◽  
Content Type ◽  
Loop Control ◽  
High Level

Purpose The purpose of this study is to present a novel hybrid closed-loop control method together with its performance validation for the dexterous prosthetic hand. Design/methodology/approach The hybrid closed-loop control is composed of a high-level closed-loop control with the user in the closed loop and a low-level closed-loop control for the direct robot motion control. The authors construct the high-level control loop by using electromyography (EMG)-based human motion intent decoding and electrical stimulation (ES)-based sensory feedback. The human motion intent is decoded by a finite state machine, which can achieve both the patterned motion control and the proportional force control. The sensory feedback is in the form of transcutaneous electrical nerve stimulation (TENS) with spatial-frequency modulation. To suppress the TENS interfering noise, the authors propose biphasic TENS to concentrate the stimulation current and the variable step-size least mean square adaptive filter to cancel the noise. Eight subjects participated in the validation experiments, including pattern selection and egg grasping tasks, to investigate the feasibility of the hybrid closed-loop control in clinical use. Findings The proposed noise cancellation method largely reduces the ES noise artifacts in the EMG electrodes by 18.5 dB on average. Compared with the open-loop control, the proposed hybrid closed-loop control method significantly improves both the pattern selection efficiency and the egg grasping success rate, both in blind operating scenarios (improved by 1.86 s, p < 0.001, and 63.7 per cent, p < 0.001) or in common operating scenarios (improved by 0.49 s, p = 0.008, and 41.3 per cent, p < 0.001). Practical implications The proposed hybrid closed-loop control method can be implemented on a prosthetic hand to improve the operation efficiency and accuracy for fragile objects such as eggs. Originality/value The primary contribution is the proposal of the hybrid closed-loop control, the spatial-frequency modulation method for the sensory feedback and the noise cancellation method for the integrating of the myoelectric control and the ES-based sensory feedback.

Robotic Telepresence

1986 ◽  
Vol 30 (1) ◽  
pp. 43-44 ◽  
Author(s):  
George C. Mohr
Keyword(s):  
Cognitive Functions ◽  
Closed Loop ◽  
Industrial Robot ◽  
Space Station ◽  
Human Operator ◽  
Closed Loop Control ◽  
Loop Control ◽  
Novel Approach ◽  
Operator Tasks ◽  
High Level

The Air Force sees a need for a militarized robot, designed to perform flight line maintenance and repair operations during a chemical/biological/radiological attack, or to assist man in space operations such as constructing a space station or performing such tasks as satellite inspection, diagnosis, repair, modification or deactivation. Obviously, these tasks require more than the pre-programmed behavior of an industrial robot. To obtain the high degree of adaptability required, the robot needs either the closed-loop control of a human operator, or a high level “artificial intelligence” capable of emulating human cognitive functions. Robotic telepresence is a novel approach to closed-loop control. By coupling the human operator's visual, tactile, motor and cognitive functions with a remote robot's “head, eyes, and hands,” the human operator is placed effectively “in-the-scene.” With this approach, the natural synergism between the human visual system and hands is exploited to endow the robotic system with human-like capacities to inspect, evaluate, and manipulate. Through robotic telepresence technology, the essential human operator tasks can then be performed in a lethally hazardous environment without exposing the human operator directly.

The Impact of Visual Feedback Type on the Mastery of Visuo-Motor Transformations

2012 ◽  
Vol 220 (1) ◽  
pp. 3-9 ◽  
Author(s):  
Sandra Sülzenbrück
Keyword(s):  
Empirical Research ◽  
Visual Feedback ◽  
Closed Loop ◽  
Motor Planning ◽  
Visual Input ◽  
Closed Loop Control ◽  
Loop Control ◽  
Feedback Type ◽  
Effective Use ◽  
The Impact

For the effective use of modern tools, the inherent visuo-motor transformation needs to be mastered. The successful adjustment to and learning of these transformations crucially depends on practice conditions, particularly on the type of visual feedback during practice. Here, a review about empirical research exploring the influence of continuous and terminal visual feedback during practice on the mastery of visuo-motor transformations is provided. Two studies investigating the impact of the type of visual feedback on either direction-dependent visuo-motor gains or the complex visuo-motor transformation of a virtual two-sided lever are presented in more detail. The findings of these studies indicate that the continuous availability of visual feedback supports performance when closed-loop control is possible, but impairs performance when visual input is no longer available. Different approaches to explain these performance differences due to the type of visual feedback during practice are considered. For example, these differences could reflect a process of re-optimization of motor planning in a novel environment or represent effects of the specificity of practice. Furthermore, differences in the allocation of attention during movements with terminal and continuous visual feedback could account for the observed differences.

118-LB: Glucose Variability throughout the Menstrual Cycle on Closed-Loop Control in Type 1 DM

Diabetes ◽  
2019 ◽  
Vol 68 (Supplement 1) ◽  
pp. 118-LB
Author(s):  
CAROL J. LEVY ◽  
GRENYE OMALLEY ◽  
SUE A. BROWN ◽  
DAN RAGHINARU ◽  
YOGISH C. KUDVA ◽  
...  
Keyword(s):  
Menstrual Cycle ◽  
Closed Loop ◽  
Glucose Variability ◽  
Closed Loop Control ◽  
Loop Control ◽  
Type 1 Dm
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