A New Utilization of the Hamiltonian Formalism in the Adaptive Control of Mechanical Systems Under External Perturbation

摘要

ABSTRACTA novel approach toward the adaptive control of robots dynamically interacting with an unmodeled environment and having only approximately known dynamic parameters has been developed on the basis of the principles of the Hamiltonian Mechanics. As the different means of modern Soft Computing technology having a more or less uniform architecture independent of the particular details of the problems to be solved by them, the proposed method also has a uniform structure not strictly tailored to the peculiar properties of the mechanical system to be controlled. However, as special kinds of Artificial Neural Networks (ANN) are fit to solve wide but typical classes of tasks, the proposed method is invented for tackling problems related to the control of mechanical devices in which the dominating non-linear coupling originates from the laws of Classical Mechanics. As ANNs have a plenty of free parameters (connection weights and threshold values) the tuning of which means learning, this mechanical model al...