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Adaptive control for a Class of Uncertain Nonlinear Systems Subject to Saturated Input Quantization

Adaptive Control for a Class of Uncertain Nonlinear Systems ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Lantao Xing Changyun Wen Zhitao Liu Jianping Cai Meng Zhang

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, we study the adaptive tracking control problem for a class of uncertain nonlinear systems with input quantization. Different from the existing results, we propose a new quantizer with saturated quantization levels motivated by the saturation property of practical actuators and sensors. With this new quantizer, we know the exact number and values of the quantization levels in advance, regardless of the magnitude of the designed control signal. thus, we only need to code these quantization levels accordingly such that less network resources are consumed. It is shown that the proposed control scheme guarantees that all the closed-loop signals are globally bounded and the tracking error converges towards a known compact set.

关键词： Quantization (signal) Actuators Nonlinear systems Adaptive control Hysteresis Stability analysis Asymptotic stability

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Interpolating control Based Trajectory Tracking*

Interpolating Control Based Trajectory Tracking*

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Zdeněk Bouček Miroslav Flídr New Technologies for the Information Society (NTIS) Faculty of Applied Sciences University of West Bohemia Czechia

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the paper is dealing with a modification of Interpolating control (IC) for the employment in trajectory tracking problem with inherent constraints. First, the Optimal control Problem (OCP) with reference trajectory tracking is described. the OCP is hard to solve analytically, thus, two feasible approaches will be presented. the standard method for the trajectory tracking called Model Predictive control (MPC), and afterward, a more computationally efficient alternative, the IC will be described. Further, the modification of IC for the tracking of the reference trajectory is presented. Finally, the IC and MPC are compared on a simple example using OCP cost function and computational time.

关键词： Integrated circuits Trajectory Interpolation Trajectory tracking Standards Predictive control Linear systems

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Robot-sensor calibration for a 3D vision assisted drawing robot 9

Robot-sensor calibration for a 3D vision assisted drawing ro...

引用

9th IEEE international conference on Cybernetics and Intelligent Systems (CIS) / IEEE conference on robotics, automation and Mechatronics (RAM)

作者： Kana, Sreekanth Lakshminarayanan, Srinivasan Mohan, Dhanya Menoth Campolo, Domenico Nanyang Technol Univ Rolls Royce NTU Corp Lab 50 Nanyang Ave Singapore 639798 Singapore Nanyang Technol Univ Sch Mech Aerosp Engn 50 Nanyang Ave Singapore 639798 Singapore

ISBN: (纸本)9781728134581

In this paper, we devise a robot-to-sensor calibration technique for a drawing robot working simultaneously with a low-cost 3D sensor. the framework allows the robot to create a calibration object and exploits the geometrical and the texture properties of its 3D mesh representation to identify the transformation between the robot and the sensor coordinates systems. the calibration is followed by experimental analysis validating the approach. the proposed technique is a simple and efficient way to calibrate the robot-vision system in the context of drawing/writing tasks.

关键词： Robot-to-sensor calibration drawing robot 3D sensor triangular mesh mpedance control image processing

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Self-initialized Visual Servoing for Accurate End-effector Positioning

Self-initialized Visual Servoing for Accurate End-effector P...

引用

international conference on control, automation and robotics (ICCAR)

作者： Bernhard Neuberger Timothy Patten Kiru Park Markus Vincze Vision for Robotics Laboratory Automation and Control Institute TU Wien Vienna Austria

ISBN: (数字)9781728161396

ISBN: (纸本)9781728161402

vision-based control of an end-effector is important for industrial and domestic robotic applications. Direct positioning based on object recognition or pose estimation output is challenging due to inaccuracies of the estimations and system calibration. Visual servoing overcomes these inaccuracies, however, present techniques require initialization of a target region in the input image. this work presents an integrated system to servo towards a target with automatic initialization. In our two-step approach, the first phase positions the end-effector relative to an object using the output of a pose estimation network. the initial coarse alignment is then refined in a second phase using image-based visual servoing (IBVS). the target region in the image for IBVS is initialized by the detection of the pose estimator. the system monitors the tracking quality of the IBVS to automatically switch from the first to the second phase. Experiments with a 7 degree of freedom robotic arm show that our approach results in successful end-effector positioning from arbitrary initial positions.

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Optimal control Approach for Rational Expectations Models with Longer Forward-Looking Time

Optimal Control Approach for Rational Expectations Models wi...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Tianfu Ma Juanjuan Xu Huanshui Zhang Tamer Başar School of Control Science and Engineering Shandong University Jinan Shandong China Coordinated Science Laboratory University of Illinois at Urbana-Champaign Urbana IL United States

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper is concerned with the optimal control of rational expectations models in the general case of longer forward-looking time (d ≥ 2). the main contribution is the necessary and sufficient condition for the solvability of the finite-horizon problem. In particular, explicit characterizations of the optimal solution and the optimal cost are given in terms of difference equations. the key technique is to solve the forward and backward stochastic difference equations (FBSDEs) obtained by the stochastic maximum principle.

关键词： Cost function Stochastic processes Optimal control Mathematical model Difference equations Riccati equations White noise

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Modeling and Hovering control of 5-DoF Tilt-Birotor Robot

Modeling and Hovering Control of 5-DoF Tilt-Birotor Robot

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international conference on control, automation, robotics and vision (ICARCV)

作者： Anyuan Hu Xizhen Zhao Dabo Xu School of Automation Nanjing University of Science and Technology Nanjing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper explores design, modeling and hovering control of a new under-actuated 5-DoF (degree of freedom) tilt-birotor robot. Specifically, the robot has an assembled inverted pendulum to be an extra actuating input in addition to a pair of tilt wings. Hence, it has a 5-DoF actuator control input vector: two motor thrusts, two tilt angles, and one tunable pendulum angle. We show the model analysis in terms of the Newton-Euler formulation and establish a key equation between the model control inputs and the actuator inputs. Based on that, we are able to achieve the hovering control task using an inner-outer-loop design. We also illustrate the results by numerical and experimental tests.

关键词： Robots Mathematical model Actuators Force Analytical models Torque Rotors

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Adaptive Affine Formation Maneuver control of Second-Order Multi-Agent Systems with Disturbances

Adaptive Affine Formation Maneuver Control of Second-Order M...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Zhengxin Luo Pengyu Zhang Xiangjun Ding Zezhi Tang Chunyan Wang Jianan Wang School of Aerospace Engineering Beijing Institute of Technology Beijing China Science and Technology on Space Physics Laboratory China Aerospace Science and Technology Corporation P. R. China Guangdong Bozhilin Robotics Foshan China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper studies adaptive affine formation maneuver control problem in the presence of external disturbances. the proposed control algorithm consists of a component for disturbances estimating and a component for formation tracking. To address the disturbances, an adaptive control strategy is designed for each follower to estimate external disturbances. then, a formation control law is adopted to achieve desired formation maneuvers, such as translation, scaling and rotation with the external disturbances compensated. Sufficient conditions for stability of the proposed control algorithm are identified using Lyapunov method. Finally, simulations are presented to demonstrate the effectiveness of the theoretical results.

关键词： Stress Multi-agent systems Adaptive control Shape control Shape Protocols Time-varying systems

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On Reductions Among Observation Properties of Discrete Event Systems

On Reductions Among Observation Properties of Discrete Event...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Chaohui Gong Hanran Zhang Zhong Guo Zihai Yan Weilin Wang University of Shanghai for Science and Technology China Zhejiang Research Center on Smart Rail Transportation PowerChina Huadong Engineering Corporation Limited China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

We present a framework for reduction between different observation properties of discrete event systems modeled by automata under language-based dynamic observations defined in [1]. this framework encapsulates the reduction from coobservability to codiagnosability in [1] and from k-codiagnosability to coobservability in [2]. Under this framework, we show a reduction from observability to diagnosability, but a general reduction in the opposite direction does not exist.

关键词： Observability Supervisory control Automata Robot sensing systems Discrete-event systems Delays Fault diagnosis

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Application of CNN-Based Method for Automatic Detection and Classification of the IC Packages

Application of CNN-Based Method for Automatic Detection and ...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Kamil Marek Maliński Krzysztof Okarma Faculty of Electrical Engineering West Pomeranian University of Technology in Szczecin Szczecin Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Automatic detection and classification of integrated circuits' packages is one of the methods supporting the traditional production of electronic parts based on through-hole technology, typical for Printed Circuit Boards (PCBs), utilizing the advantages of modern machine vision solutions. As a result of the growing availability of cameras and 3D printers, as well as the popularity of IoT systems, prototyping of some electronic circuits with the use of simpler robotic systems may be supported by an automatic analysis of electronic components based on machine vision. Considering recent advances in the applications of Convolutional Neural Networks (CNNs) in computer vision, their applicability for this task has been analyzed and experimentally verified in this paper, also in comparison to previously proposed approach based on handcrafted features.

关键词： Integrated circuits Training Shape Machine vision Convolution Inspection Image recognition

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Customer behavior analytics using an autonomous robotics-based system

Customer behavior analytics using an autonomous robotics-bas...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Alexander Petrovsky Ivan Kalinov Pavel Karpyshev Mikhail Kurenkov Vladimir Ramzhaev Valery Ilin Dzmitry Tsetserukou Skolkovo Institute of Science and Technology Moscow Russia

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper suggests a novel method for customer behavior analytics and demand distribution based on Radio Frequency Identification (RFID) stocktaking. Existing solutions lack applicability to real-life situations in retailing, which may result in unobservable loss of sales. the proposed solution provides new parameters of demand distribution to the retailer using a mobile robot for autonomous stocktaking of RFID-equipped shopping rooms. Built models depict location-related demand dependencies, the most and the least purchasable areas in a store, and precise localization of lost and moved items. Our research differs from the related works by the sheer size of the underlying data set collected in a real-world environment for more than ten months.

关键词： Robots Robot kinematics RFID tags Mobile robots Collision avoidance automation Sensors

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