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An application of lyapunov stability analysis to improve the performance of NARMAX models

Akanyeti, O., Rano, I., Nehmzow, U. and Billings, S.A. (2009) An application of lyapunov stability analysis to improve the performance of NARMAX models. Research Report. ACSE Research Report no. 994 . Automatic Control and Systems Engineering, University of Sheffield

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Abstract

Previously we presented a novel approach to program a robot controller based on system identification and robot training techniques. The proposed method works in two stages: first, the programmer demonstrates the desired behaviour to the robot by driving it manually in the target environment. During this run, the sensory perception and the desired velocity commands of the robot are logged. Having thus obtained training data we model the relationship between sensory readings and the motor commands of the robot using ARMAX/NARMAX models and system identification techniques. These produce linear or non-linear polynomials which can be formally analysed, as well as used in place of “traditional robot” control code. In this paper we focus our attention on how the mathematical analysis of NARMAX models can be used to understand the robot’s control actions, to formulate hypotheses and to improve the robot’s behaviour. One main objective behind this approach is to avoid trial-and-error refinement of robot code. Instead, we seek to obtain a reliable design process, where program design decisions are based on the mathematical analysis of the model describing how the robot interacts with its environment to achieve the desired behaviour. We demonstrate this procedure through the analysis of a particular task in mobile robotics: door traversal.

Item Type: Monograph (Research Report)
Copyright, Publisher and Additional Information: The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports
Depositing User: Miss Anthea Tucker
Date Deposited: 16 Oct 2012 09:44
Last Modified: 05 Jun 2014 05:15
Status: Published
Publisher: Automatic Control and Systems Engineering, University of Sheffield
URI: http://eprints.whiterose.ac.uk/id/eprint/74647

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