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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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Output control and Disturbances Compensation using Modified Backstepping Algorithm 16

Output Control and Disturbances Compensation using Modified ...

引用

16th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Konovalov, D. E. Vrazhevsky, S. A. Furtat, I. B. Kremlev, A. S. ITMO Univ Fac Control Syst & Robot Kronverksky Av 49 St Petersburg Russia Russian Acad Sci IPME RAS Inst Problems Mech Engn Lab Control Complex Syst VO Bolshoi Pr 61 St Petersburg Russia

ISBN: (纸本)9789897583803

the article deals with a problem of output control for linear systems under unknown mismatched disturbances. this algorithm is based on the modified backstepping method and the auxiliary loop method. the proposed control scheme is a robust approach intended to unknown mismatched disturbances estimation and compensation. Efficiency of the method is verified by computer modelling and practical approbation of the algorithm using a laboratory platform called "Twin Rotor MIMO System".

关键词： Backstepping Auxiliary Loop Method Robust control Disturbance Observer Output control Mismatched Disturbances

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An Approach to Marker Detection in IR- and RGB-images for an Augmented Reality Marker 16

An Approach to Marker Detection in IR- and RGB-images for an...

引用

16th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Ehambram, Aaronkumar Hemme, Patrick Wagner, Bernardo Leibniz Univ Hannover Real Time Syst Grp Inst Syst Engn Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897583803

We introduce an augmented reality marker based on ArUco markers (Garrido-Jurado et al., 2014) that can be detected in RGB- and IR-images by using retroreflective material. Due to active perception by IR-capable camera systems the negative impact of external disturbances like change of light conditions on the marker detection is minimized. By the parallel processing architecture of RGB- and IR-images redundancy stabilizes the detection. As different retroreflective materials influence the image quality depending on the camera system, we also examined different retroreflective materials and compared the performance of the Kinect V2 and the Intel RealSense D435 regarding the detection probability depending on the geometrical distance of the augmented reality marker to the camera.

关键词： Computer vision Augmented Reality Kinect Intel RealSense Pose Estimation Retroreflective Markers Sensor Fusion

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Supervised High-Dimension Endecoder Net: 3D End to End Prediction Network for Mark-less Human Pose Estimation from Single Depth Map 5

Supervised High-Dimension Endecoder Net: 3D End to End Predi...

引用

5th international conference on control, automation and robotics (ICCAR)

作者： Shen, Li Chen, Ying Jiangnan Univ Key Lab Adv Control Light Proc Wuxi Jiangsu Peoples R China

ISBN: (纸本)9781728133263

Most of the existing deep learning-based methods for Mark-less human pose estimation from a single depth map are based on a common framework that takes a 2D depth map and directly regresses the 3D coordinates of human body joints via 2D convolutional neural networks (CNNs). But depth map is intrinsically 3D data, treat it as 2D images will distort the shape of the actual object through projection from 3D to 2D space, and compels the network to perform perspective distortion-invariant estimation. Moreover, directly regressing 3D coordinates from a 2D image is a highly nonlinear mapping, which causes difficulty in learning procedure. To overcome these problems, a module called Supervised Endecoder is proposed to process 3D convolution data, which can also be stacked through series connection to adapt different size of dataset. Based on the module, a network called Supervised High Dimension Endecoder Network is designed, which can be used to predict key points of markless human in a single depth map in 3D space. Experiments show improved prediction accuracy compared to the state-of-the-art approaches.

关键词： computer vision deep learning 3D-CNN pose estimation depth map

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Transient Stability of Grid-Forming Inverters in Microgrids: Nonlinear Analysis

Transient Stability of Grid-Forming Inverters in Microgrids:...

引用

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

作者： Mohsen Eskandari Andrey V. Savkin The School of Electrical Engineering and Telecommunications University of New South Wales Sydney NSW Australia

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

A current limiting scheme is employed for Inverter-Interfaced Distributed Generation (IIDG) units, mostly in the control loops, to limit the current within the tolerable range and to facilitate the IIDG units being connected to the grid during the transient. However, current-limiting/saturation of the droop-controlled grid-forming inverters affects their transient stability and may make them unstable, which yet has not been explored in the literature in the context of autonomous microgrids (MGs). It is disclosed in this paper that the sharp phase angle variation and the arbitrary resistive output impedance of grid-forming inverters in the current limiting mode make the autonomous MGs unstable. Time-domain simulations prove the idea.

关键词： Power system stability Microgrids Limiting Transient analysis Voltage control Stability criteria Impedance

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Dynamic Event-Triggered control for Discrete-Time Markov Jump Systems

Dynamic Event-Triggered Control for Discrete-Time Markov Jum...

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

作者： Yueyuan Zhang Yiyang Chen School of Mechanical and Electrical Engineering Soochow University Suzhou China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper concentrates on the dynamic event trigger based controller design for discrete-time Markov jump systems. the rich data transmission within the network channel may cause the collision and the waste of resources, which leads to some kinds of poor system performance. Firstly, a discrete time domain dynamic event trigger mechanism is proposed for controller design. Secondly, for discrete time Markov jump systems, a mode-dependent Lyapunov function is designed to ensure the system state to be exponentially mean-square ultimately bounded by linear matrix inequalities (LMIs). Finally, a numerical simulation example is conducted to illustrate the effectiveness of the provided method.

关键词： Markov processes Linear matrix inequalities Dynamic scheduling Generators Process control Nonlinear dynamical systems Data communication

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control of A 2R Planar Horizontal Underactuated Manipulator

Control of A 2R Planar Horizontal Underactuated Manipulator

引用

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

作者： Tan Chen Bill Goodwine University of Notre Dame IN USA

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper presents a new method for trajectory planning and control of a 2R planar horizontal robotic arm with only the first joint actuated, which is known to be controllable but not asymptotically stabilizable with smooth feedback controllers. the main idea is to first determine an admissible trajectory that satisfies both the constraints of system dynamics and boundary value conditions, and then design a feedforward controller for the system. For complex and highly nonlinear systems, an optimization method is applied to determine the trajectory. Moreover, a time-scaling method can be used to control the magnitude of the inputs and also make it easier to find a solution in the optimization procedure. To further improve the robustness of the controller, a feedback controller is designed along the planned trajectory. Position to position control of the robot is simulated to demonstrate the effectiveness of the method.

关键词： Trajectory Robots Robot kinematics control systems Gravity controllability Position control

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Mean Field LQ Games with a Finite Number of Agents

Mean Field LQ Games with a Finite Number of Agents

引用

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

作者： Bing-Chang Wang Huanshui Zhang Minyue Fu School of Control Science and Engineering. Shandong University Jinan P. R. China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao P. R. China School of Electrical Engineering and Computer Science University of Newcastle NSW Australia

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, we are concerned with a new class of mean field games which involve a finite number of agents. With help of conditional mathematical expectation, we obtain necessary and sufficient conditions for the existence of the decentralized open-loop Nash equilibrium for finite-population games. By decoupling a non-standard forward-backward stochastic differential equation, we design a set of decentralized strategies in term of two differential Riccati equations. Instead of the s-Nash equilibrium, the set of decentralized strategies is shown be a Nash equilibrium. Furthermore, we examine the infinite-horizon problem and give a neat condition for solvability of the related algebraic Riccati equation.

关键词： Games Nash equilibrium Statistics Sociology Riccati equations Decentralized control Mathematical model

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A Collaborative Relative Localization Method for Vehicles using vision and LiDAR Sensors

A Collaborative Relative Localization Method for Vehicles us...

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

作者： Yanhao Li Hao Li School of SPEIT Shanghai Jiao Tong Univ. (SJTU Shanghai China Shanghai Jiao Tong Univ. (SJTU) Shanghai China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Inter-vehicle relative localization is essential to various multi-vehicle collaborative tasks such as environment perception augmentation, long range path planning and communication-assisted driving applications. We propose a real-time collaborative relative localization framework to estimate inter-vehicle poses via vision and LiDAR sensors. the vision sensor is used for inter-vehicle pose initialization, whereas the LiDAR sensor is used for SLAM and pose refinement. A comparative study between our proposed method and a representative baseline method based on ORB-SLAM2-stereo is performed in the CARLA simulator, which demonstrates advantages of the proposed method in terms of accuracy and robustness in real-time operation.

关键词： Visualization three-dimensional displays Laser radar Feature extraction Collaboration Sensors Simultaneous localization and mapping

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Cooperative control Based on Distributed Attack Identification and Isolation

Cooperative Control Based on Distributed Attack Identificati...

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

作者： Hailing Liu Dalin Huang Ya Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper studies the secure consensus control of multi-agent systems where some agents are injected into malicious attacks and compromised. We focus on the distributed detection and identification of attacks on agents and the realization of consensus of agents against attacks. Firstly, we design monitors that can perform precise distributed attack detection. then, we propose a distributed attack identification algorithm by constructing distributed observers. After that, a cooperative controller is proposed which ensures the normal control of systems by means of isolating the agents which are attacked. Finally, we validate our results through simulation examples.

关键词： Multi-agent systems Monitoring Sensors Sensor systems Security Observers Data models

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Fractional PI controller for Integrating Plants

Fractional PI Controller for Integrating Plants

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

作者： Sheikh Izzal Azid Vivek Pawan Shankaran Utkal Mehta School of Engineering and Physics The University of the South Pacific Suva Fiji

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper verifies a fractional-order PI controller to stabilize integrating time delay plants. Firstly, the stability region by non-integer order controller namely, PI λ is illustrated using boundary condition. this is achieved using complex root boundary domains. the controller parameters are calculated using the ITAE criterion for integrating plant with time delay. the twin rotor MIMO system (TRMS) as an integrating plant is verified in our study. Another example with large time delay is studied to check the validity of fractional-order integrator. Both simulation and experimental results are discussed and compared by PI λ with classical PI. the result proves the effectiveness of the fractional order controller.

关键词： Rotors Stability criteria PI control Delay effects Transmission line measurements DC motors Mathematical model

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