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具學習人類技能的智慧型控制系統研製

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Academic year: 2021

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(2)  Building of Intelligent Machine with Principles of Human Skill Acquisition NSC-87-2213-E-009-146 868187731  !"# $% ctlin@fnn.cn.nctu.edu.tw &'()*+,-&.

(3) /012 . experience, and computationally efficient distribution of knowledge and control. The proposed five-year research involves the development of intelligent robotic control systems patterned after the structural, functional, and behavioral aspects of human motor control and skill acquisition. Specifically, we will design and build an anthropomorphic manipulator with one-armed, one-legged human figure for experimental tested, and investigate fuzzy logic integrated technologies for intelligent control. This year, our research focused on the fuzzy control of hydraulic system and its stability analysis..  

(4)   !"#$% &'()*+"#,-./012 345&'6789:(redundant);<= >?@ABCDEFGHIJKLM NJOPQR"# 0S9:TUVW X$%(generalization)YZ["#KL\[" #]" 0^_(`abKDEcde fghijkl3m4nopqrstu vwxyz12DE{|}q~# n€‚zƒ1E„ 12† ‡13ˆ‰Š‹ŒxyzDE{ |3p=Ž‘m9’“”DEK•–{ |—˜`™š[h›3. Key words: anthropomorphic manipulator, intelligent control system, system stability, fuzzy logic, hydraulic.. œžŸ‡1xyzDE{|™š[h ›Š‹Œ’“3. . Abstract. opqrv}q~ n¡¢1* †‡13£¡¢‡1n€ ?.¤¥9¦§¨IJ"# 0 ©ª«¬©­e®¯°Ÿ š‘DE( endpoint positioning)‚±²(balance)‚³ƒD E(posture control)`´µ¶·¸ ( obstacle avoidance)3ª‡1seon¹ºœ» (rotary joints)¼œ»„¥½¾¿À. There are many features of human motor performance that engineers would like to emulate in developing dexterous robotic systems for operation in the 21st century. These features include smooth coordination of redundant degrees of freedom, on-line acquisition of skills through learning and practice, generalization on past 1.

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(32) ω ∈ℜ  − . [% : Kq J2 X Y   ˆæ^ globally stable )\ G(jw)Aèâ\R ùIŠ]^5%KA.

(33) »)muˆ*+ c$%R& ';<s?v,‰-9.N¡ /N#0 $%1a&' m2 3]Rîa 4m23t5ëDm6j7y   3 8 ï 9 û ù s ? Popov Criterion Stability Theorem aê:$%R (m)  39.N; : b`? <!"µ¶èâ .=Zø>cùŠp´±vë!"+, ®¯.w?¡veZ’ Ió F A @‰ Z’M ^ @AejÚq  ‰aoAmqK7NBvÍx š?v ,‰-9.N /N›#0$%1Cm Dj7b}c  39.N (E)$%R&': `? Popov Criterion Stability Theorem » c&&'åGF¦G3 9.NæF[\R]Hãm\R c$%&'ë P?Wã`? Popov Criterion Stability Theorem. ∆.     =    −  −  j q1,q2 A[\RLc Bounded Values.  A.!"¤& (m) Step response: _ Step Response +¾<(<m)óš›`P QR PI !"

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(42) (Smooth Fuzzy Control)» 3.

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(54) ¡TURMS!"

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(58)  . . .   .  . . λ    = -317.4603  -0.000279+ 0.01889i -0.000279- 0.01889i-11.8197 »œT :ãJ2EY žŸ J2Kj”:. >

(59) ω ∈ℜ  − . c r r †›¡š%Kmq Lyapunov function       =    +  ∫ φ σ  σ b. ã ARS   + ω   ω  +. ›7c é5 r rˆ¢oJ2Kb}c r r )\s? Matlab \: LMI Tool Box › 7 %UV P ›# é5 r crIr&OA r=2.182620544241641e-009. €$%&' 邃7MS!"c Control Surface „ùˆ!"f:& V 8x8 ð†b  cð‡»?5r&'9kˆ‰öm’† ð‡c!"f: jãAömˆ‰ð‡XXm ç]Hr(a1,a2,a3)Š‹(Œ(3.10)N)ã šˆ]HrŠ´b}Kq$%J2Ž ^ _ Y 9 YPŠ‹ð‡šA globally stable ‘mqð‡A,?5r & ' k 7 y 7 8 c ] H r (a1,a2,a3)=(17.04,-6.63,1.56) wNŠ´K qJ2óê:$%R’“.                 

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(64) O ›9k7¤IA globally stable. (1)J2mj”: ãAVφ    %K7•–—. .  −   . »¦§ó¨BM6   »!"¤¥BKLfg!"k. ˜™A 4.

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(66) »$%R & ' ¤&  M6 s? Popov Criterion Stability Theorem aê:©® $% R ¬aˆšDm6*+Úq$%R& '  [1] Zadeh, L.A. ”Fuzzy Sets as a Basis for a Theory of Possibility”, Fuzzy Sets and System, vol.1, pp.3-28, 1978. [2] M. Vidyasagar, ” Nonlinear System Analysis”, Prentice Hall, 1993. [3] J.K. Aggarwal and M. Vidyasagar,” Nonlinear Systems Stability Analysis”, Dowden Hutchingon, 1977. [4]¯ °, “! 5f!"3Q?”, ±²³´<, 1989.. <K Ramp Response +¾<. <m Step Response +¾< 5.

(67) <z stRÂi+¾<. <Ò Control surface <µ. 6. µ.

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