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

共 5313 条记录，以下是1481-1490 订阅

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Global Stabilization for Nonminimum Phase Systems by means of Sliding Mode control and Multiple Observers

Global Stabilization for Nonminimum Phase Systems by means o...

引用

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

作者： Roberto Santos Tiago Roux Oliveira Department of Electronics and Telecommunication Engineering State University of Rio de Janeiro (UERJ) Rio de Janeiro RJ Brazil

A new control strategy using only output feedback for the stabilization of uncertain nonminimum phase systems is presented in this paper. Multiple observers for the unmeasured states of the plant, the output signal and unknown disturbances have served as the basis for the design of a sliding mode control law robust to parametric uncertainties and exogenous perturbations. Global asymptotic stability is demonstrated for the closed-loop system. Simulation results illustrate the performance of the proposed control algorithm.

关键词： Observers Uncertainty Modulation Output feedback Sliding mode control Matrix decomposition

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Augmented Anti-Windup control for PI control System via ASPR based Adaptive Output Feedback with a PFC

Augmented Anti-Windup Control for PI Control System via ASPR...

引用

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

作者： Ikuro Mizumoto Shota Momiki Faculty of Advanced Science and Technology Kumamoto University Kumamoto Japan

Windup phenomenon often occur for the control systems with input constraint and it degrades the control performance significantly. In this paper, an adaptive anti-windup control strategy for compensate the PI control system with saturated input will be proposed. An almost strictly positive real (ASPR) based adaptive output feedback control is added on the PI control and adaptive anti-windup control design scheme will be proposed based on the model recovery anti-windup strategy. the stability of the obtained control system is analyzed and the effectiveness of the proposed method will be confirmed through numerical simulations.

关键词： PI control Output feedback Adaptive control Windup Adaptation models

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A transient FEA-based methodology for designing soft surgical manipulators 15

A transient FEA-based methodology for designing soft surgica...

引用

15th IEEE international conference on Mechatronics and automation, ICMA 2018

作者： Elkeran, Mohamed Fanni, Mohamed Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Mansoura University Egypt

ISBN: (纸本)9781538660720

Traditionally, any new development in soft robotics has to come first through many trial-and-error experiments. Many researchers tried to develop analytical models either to study certain phenomena in an already existed deigns or to use them to enhance soft robots performance. However, there is no general methodology that can be used to design any arbitrary soft robot from scratch. Such methodology should have the ability to test different operation scenarios for checking certain control approaches or certain types of sensors and actuators. this paper introduces a general tool for developing soft surgical manipulators, which is based on transient finite element analysis (FEA). To verify the feasibility of the proposed approach, experiments have been conducted on a fabricated soft manipulator. the test setup incorporates pressure sensors and vision tracking system to record the manipulator trajectory. Air pressure measurements are used as input to FEA for transient simulation. the experimental results demonstrate high level of agreement with FEA results and prove that the suggested approach is promising to be used in designing new soft surgical robots. © 2018 IEEE.

关键词： Finite element method

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MRAC-MU Online Learning

MRAC-MU Online Learning

引用

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

作者： Si-Si Zhang Jian-Wei Liu Xin Zuo Xin Wan Mohamed S. Kamel Department of Automation China University of Petroleum Beijing China Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada

In this paper, we apply the method of control theory to machine learning, proposing a new multiplication update algorithm combined with adaptive control theory, we name it MRAC-MU algorithm. A new parameter updating law is obtained according to Lyapunov stability theorem. Using the same object function as the exponential gradient (EG) algorithm, which is the key online learning method to multiplicative updates algorithm, Experiments are used to validate the proposed algorithm has a better result than EG algorithm in prediction accuracy.

关键词： Prediction algorithms Adaptation models Lyapunov methods Adaptive control Mathematical model automation Linear programming

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Linear Active Disturbance Rejection control For Double Integrator: Separation Diagram And Frequency Properties

Linear Active Disturbance Rejection Control For Double Integ...

引用

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

作者： Huiyu Jin Jingchao Song Song Zeng Dongyun Lin Weiyao Lan School of Aerospace Engineering Xiamen University Xiamen P.R. China

this paper investigates to control the double integrator with linear active disturbance rejection control and reports two results. First, there is a separation principle which means the dynamics of the state feedback and the error of extended state observer are completely decoupled. Second, with bandwidth method in which the observer bandwidth equals to the controller bandwidth, the closed-loop always has a phase margin of 31.89 degrees and a gain crossover frequency equals to the observer bandwidth, which can be set arbitrary.

关键词： Bandwidth Observers Tuning Standards Transfer functions Aerodynamics

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Non-fragile reliable control for positive switched systems with actuator faults

Non-fragile reliable control for positive switched systems w...

引用

international conference on control, automation, robotics and vision

作者： Miao Li Junfeng Zhang Xianglei Jia School of Automation Hangzhou Dianzi University Hangzhou China

this paper is concerned with non-fragile reliable control for positive switched systems with actuator faults. Using linear co-positive Lyapunov functions with linear programming approach, a new non-fragile reliable controller is designed based on a gain matrix decomposition technique for positive switched systems. To increase the reliability of the controller, the controller gain perturbation term is introduced for the controller. then, the presented approach is developed to interval positive switched systems. Under the designed controller, the interval closed-loop system is positive and exponentially stable. Finally, a numerical example is given to illustrate the validity of the obtained results.

关键词： Switched systems Actuators Switches Stability analysis Lyapunov methods

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vision System with High Performance Wide Angle Fovea Lens 23

Vision System with High Performance Wide Angle Fovea Lens

引用

23rd IEEE international conference on Emerging Technologies and Factory automation, ETFA 2018

作者： Murakami, Rei Shimizu, Sota Hasebe, Nobuyuki Graduate School of Science and Technology Shibaura Institute of Technology Tokyo Japan Dept. of Design Engineering Shibaura Institute of Technology Tokyo Japan Dept. of Applied Physics Waseda University Tokyo Japan

ISBN: (纸本)9781538671085

this paper designs and produces a single camera head, i.e., the camera view direction control device, for the highperformance Wide Angle Fovea (WAF) sensor. Since the input image by the WAF sensor has an explicit attention region inside its wide-angle field of view (FOV), the view direction control of the WAF sensor is strongly required to acquire visual data most efficiently from the environments. Further, this paper proposes an algorithm to detect self-motion of the WAF sensor using the optical flow calculated from two temporally-sequential images. We have implemented and experimented this algorithm. the experimental results have proved the proposed algorithm performs well to detect self-motion using only the peripheral FOV. this vision system enables to distinguish the self-motion from detecting moving objects in the still scene. the authors hope this WAF vision system will play a role of eyes and will help to control robots more intelligently in the very near future. © 2018 IEEE.

关键词： Optical flows

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Realization of the Fast Real-Time Hierarchical Inverse Kinematics for Dexterous Full Body Manipulation

Realization of the Fast Real-Time Hierarchical Inverse Kinem...

引用

international conference on control, automation and Systems ( ICCAS)

作者： Seongil Hong Gyuhyun Park Wonsuk Lee Sincheon Kang Robotics Laboratory Seoul National University Seoul Korea Agency for Defense Development Daejeon Korea

ISBN: (纸本)9781538670804;9788993215168

We focus on the realization of the hierarchical inverse kinematics as a practical means of a hard real-time motion planning for a humanoid robot. To achieve complex on-line full body manipulation performance, a task priority is established among the tasks to precisely resolve task conflicts and all algorithms are described in recursive equations so as to minimize computation time. Formulating the kinematic problem in a least-square optimization enables us to derive solutions in a unified and consistent framework. the performance is validated through numerical simulations with bearing mind of rescue robot applications and finally, the inverse kinematic solution is found within 0.3msec on average for 19 degrees of freedom control.

关键词： Task analysis Kinematics Null space Robots Aerospace electronics Planning Real-time systems

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Sample-Data-Based Stabilization of a Class of Switched Nonlinear Systems with Unknown Output Function

Sample-Data-Based Stabilization of a Class of Switched Nonli...

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

作者： Yan Jiang Junyong Zhai School of Automation Southeast University Nanjing Jiangsu China

In this paper, the problem of sampled-data output feedback control is discussed for a class of switched nonlinear systems with imprecise output information. First, with the help of a compensator, an output feedback controller in the form of continuous-time is designed on the basis of backstepping design method and the domination approach. then, by discretizing the continuous-time one, we obtain the sampled-data output feedback controller by skillfully choosing design parameters and a maximum sampling period, which ensures the global exponential stability for the closed-loop system. Finally, a numerical example is presented to illustrate the validity of the result.

关键词： Nonlinear systems Switches Output feedback Backstepping Design methodology Lyapunov methods

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Application of Finite-Time Stabilization to Position control of Quadcopters

Application of Finite-Time Stabilization to Position Control...

引用

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

作者： Kenta Hoshino Department of Electronics and Electrical Engineering Aoyama Gakuin University Sagamihara-city Kanagawa Japan

this paper discusses an application of finite-time stabilization methods to the control of quadcopters. the finite-time stabilization methods guarantee the finite-time convergence to the equilibrium state and exhibit robustness property with respect to disturbances and modeling errors. the application of the finite-time stabilization to the control of UAV is expected to be effective. this paper shows an application of a finite-time stabilization to quadcopters and investigates the effectiveness of the stabilization via the physics simulation based on ROS and Gazebo. the performance of the finite-time stabilization method is compared with those of an exponentially stabilizing feedback controller.

关键词： Asymptotic stability Stability analysis Adaptive control Robustness Position control Convergence control theory

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