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JRM Vol.28 No.5 pp. 730-738
doi: 10.20965/jrm.2016.p0730
(2016)

Paper:

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Design and Application of a Data-Driven Expert Controller Based on the Operating Data of a Skilled Worker

Hiroki Matsumori*, Shin Wakitani**, and Mingcong Deng*

*Graduate School of Engineering, Tokyo University of Agriculture and Technology
2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan

**Institute of Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan

Received:
March 27, 2016
Accepted:
June 17, 2016
Published:
October 20, 2016
Creative Commons License
Keywords:
human skill, data-driven PID control, control performance assessment, particle swarm optimization (PSO)
Abstract
In recent years, due to the mass retirement of skilled workers, loss of expertise has emerged as a problem in Japan. Meanwhile, the performance of computer hardware has been drastically improving. Skill-based PID controllers utilizing a database have been proposed as a potential solution to this problem. However, these controllers may not respond to multiple demands of control performance from users because the controller was not considered in the evaluation from the users. As a solution to this problem, an expert controller based on a skilled worker’s operating information with control performance assessments has been proposed. According to the method, I/O data, PID parameters that are estimated using the operating data and evaluation values of the skill of the skilled worker are stored in the database. From this, information vectors with high scores are selected, and a local PID controller is designed in response to the user’s requirements. In the conventional research, the least squares method is applied for estimating the PID parameters from the operating data of the skilled worker, and there are no restrictions on their values. This risks a loss of physical meanings of PID parameters in the case that they have negative values. In this research, an expert controller using particle swarm optimization (PSO) is proposed. In this method, data obtained by human control of a control simulator constructed on a computer is used to estimate human’s skill as PID parameters. Moreover, providing restrictions for the estimation of PID parameters enables them to preserve their physical meanings. In this research, the effectiveness of the proposed expert controller is verified using a control simulator.
Schematic of data-driven expert controller

Schematic of data-driven expert controller

Cite this article as:
H. Matsumori, S. Wakitani, and M. Deng, “Design and Application of a Data-Driven Expert Controller Based on the Operating Data of a Skilled Worker,” J. Robot. Mechatron., Vol.28 No.5, pp. 730-738, 2016.
Data files:
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