End-to-end soft computing technology application to robotic unicycle intelligent robust control system

End-to-end soft computing technology application to robotic unicycle intelligent robust control system

Sergey V. Ulyanov
Doctor of Physical and Mathematical Sciences, Joint Institute for Nuclear Research, Laboratory of Information Technologies (JINR LIT), Professor, 6, ul. Joliot-Curie, Dubna, Moscow region, 141980, Russia; INESYS LLC (EFKO GROUP), 20, Bld. 1, Ovchinnikovskaya naberezhnaya, Moscow, 115035, Russia; National University of Science and Technology «MISIS» (NUST MISIS), 4, Leninskiy pr., 119049, Moscow, Russia, tel.: +7(49621)6-40-19, This email address is being protected from spambots. You need JavaScript enabled to view it.

Viktor S. Ulyanov
PhD in Technical Sciences, INESYS LLC (EFKO GROUP), 20, Bld. 1, Ovchinnikovskaya naberezhnaya, Moscow, 115035, Russia; NUST MISIS, 4, Leninskiy pr., 119049, Moscow, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 30 December 2019

Abstract
The concept of an intelligent control system for a complex nonlinear biomechanical system of an autonomous robotic unicycle is considered. A thermodynamic approach to study optimal control processes in complex nonlinear dynamic systems is used. The results of stochastic simulation of a fuzzy intelligent control system for various types of external / internal excitations for a dynamic, globally unstable control object - robotic unicycle based on soft computing (Computational Intelligence Toolkit) technology are presented. A new approach to design of an intelligent control system based on the principle of the minimum entropy production (minimum of useful resource losses) determination in the movement of the control object and the control system is developed. This determination as a fitness function in the genetic algorithm is used to achieve robust control of a robotic unicycle. An algorithm for entropy production calculation and representation of their relation with the Lyapunov function (a measure of stochastic robust stability) is described.

Key words
Robotics, intelligent control systems, essentially nonlinear model, globally unstable model, stochastic simulation, soft computing.

DOI
https://doi.org/10.31776/RTCJ.8204

Bibliographic description
Uyanov, S. and Ulyanov, V., 2020. End-to-end soft computing technology application to robotic unicycle intelligent robust control system. Robotics and Technical Cybernetics, 8(2), pp.119-138.

UDC identifier:
004.89:681.511:007.52

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