NDLI: Wavelet-based Disturbance Classification with Robot Ann Application Example

Content Provider	IEEE Xplore Digital Library
Author	Holtta, V. Varso, J.
Copyright Year	2005
Description	Author affiliation: Control Eng. Lab., Helsinki Univ. of Technol. (Holtta, V.; Varso, J.)
Abstract	In a certain robot control benchmark it is known that certain types of disturbances occur. This paper presents a classifier that gives a fuzzy estimate of the disturbance that is currently affecting the process. The classifier uses the discrete wavelet transform to extract features from the measurement signal. Based on the features, a fuzzy inference system gives an estimate of the proportion of different disturbances that are present in the signal. The output of the classifier is used to select the controller such that a controller that is tuned for a particular disturbance is used for controlling the process during the disturbance
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	175
Ending Page	179
File Size	2871873
Page Count	5
File Format	PDF
ISBN	0780393554
DOI	10.1109/CIRA.2005.1554273
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-27
Publisher Place	Finland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Discrete wavelet transforms Frequency Signal processing algorithms Robot control Fourier transforms Continuous wavelet transforms Process control Classification algorithms Control systems Signal processing PID control disturbance classification discrete wavelet transform fuzzy inference robot control
Content Type	Text
Resource Type	Article

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