Basic Theoretical Results for Describing Expert Systems. Application to the Supervision of Adaptation Transients in a Planar Robot

This paper deals with the development of an expert system which is valid to optimize the transients arising in adaptive control via the use of a logic formal structure previously described. Its practical experimentation leads to good applicability results in a context of rule-based knowledge. A supervisor to improve the transient performance in the adaptive control of a planar robot is designed based on an expert network organization. Apart form the basic adaptation scheme consisting of an estimation algorithm plus an adaptive controller, two additional coordinated expert systems are used to update an adaptation gain and the sampling period with a master expert system coordinating both above expert systems.