In: Proceedings of teh IEEE International Conference on Systems Engineering, 1990, Pittsburgh, PA, USA, pages 5-8. New York, NY, USA: IEEE, 1990.
Abstract: The design problem of an intelligent self-tuning controller, characterized by a two-layer hierarchical structure, is addressed. The control level is implemented as a self-tuning adaptive controller. Integration of a controller-estimator pair is carried out according to the guidelines provided by the coordination level. The organization level, implemented as a Petri network, supervises the control level, serves as an interface between the user and the system, and resolves several issues which arise from the coordination process between the two layers.
Keywords: self-tuning controllers (for) robot manipulator; two-layer hierarchical structure; adaptive controller; precess coordination.