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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1491-1500 订阅

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Discrete-time Lossless Positive Real Lemma Based on Kalman Reachability Decomposition

Discrete-time Lossless Positive Real Lemma Based on Kalman R...

引用

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

作者： Zhaowu Yin Junlin Xiong Department of Automation University of Science and Technology of China Hefei China

this paper studies the discrete-time lossless positive real properties of transfer functions with minimal state-space realizations. Firstly, necessary and sufficiency conditions are established to characterize the discrete-time lossless positive real properties of a transfer function in terms of its behavior on the unit circle. Secondly, a DT-LPR lemma is given based on the QR decomposition and the Kalman reachability decomposition. this lemma provides necessary and sufficiency conditions for state-space systems to be DT-LPR. Finally, a numerical example is given to illustrate the developed theory.

关键词： Transfer functions Matrix decomposition Symmetric matrices Kalman filters control theory Integrated circuit modeling Testing

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Stability Evaluation of Outdoor Unmanned Security Robot in Terrain Information

Stability Evaluation of Outdoor Unmanned Security Robot in T...

引用

international conference on control, automation and Systems

作者： Ji-Hyun Park Tae-Young Uhm Gi-Deok Bae Young-Ho Choi Field Robotics R&D Division Korea Institute of Robot and Convergence(KIRO) Pohang Korea

ISBN: (纸本)9781538670804;9788993215168

Recently, mobile robots are increasingly used for guidance and security. When the robot drive for guidance and security work, it should drive autonomously. At this time, the robot has to judge the obstacle and avoid it, and the robot should not fall over. In particular, in the case of outdoor unmanned robot mentioned in this paper, when a special situation occurs, the robot has a high speed because it must reach the target point quickly. the outdoor driving robot can be rolled over because it moves in an outdoor environment where a slope exists. In this paper, we define the case where the robot rollover and suggest a method for stability evaluation. We define a model for robot rollover through information of robot dynamics and terrain environment. And a method for evaluating rollover will be described.

关键词： Robot safety Mobile robot Mobile robot zmp Rollover

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Global Leader-following control of Multiple Non-holonomic Mobile Robots With Input Saturation

Global Leader-following Control of Multiple Non-holonomic Mo...

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international conference on control, automation, robotics and vision

作者： Junjie Fu Tingwen Huang Guanghui Wen School of Engineering RMIT University Melbourne VIC Australia Texas A&M University at Qatar Doha Qatar

In this paper, global leader-following consensus problem is investigated for multiple non-holonomic mobile robots subject to input saturation. A globally bounded distributed controller based on only relative state measurements in local coordinate is designed. Under the assumption that the leader's angular velocity is persistently exciting, sufficient conditions for the achievement of consensus tracking in the closed-loop multi-agent systems are established. Finally, simulation examples are provided to illustrate the analytical results.

关键词： Mobile robots Robot kinematics Angular velocity Robot sensing systems Symmetric matrices Decentralized control

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Output Feedback Tracking control and Stability Analysis for Network control Systems with Packet Losses

Output Feedback Tracking Control and Stability Analysis for ...

引用

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

作者： Yue Liu Chunyan Han Jun Wei School of Electrical Engineering University of Jinan Jinan Shandong China

this paper mainly investigates the output feedback tracking control and stabilization for network control systems with packet losses. Both finite-horizon and infinite-horizon cases are considered. We introduce an augmented state consisting of the system state and the reference trajectory to address the problem in finite-horizon. And then the optimal closed-loop control, the minimum cost function and the optimal estimator are offered by solving a set of difference Riccati equations. In infinite-horizon, we provide a necessary and sufficient condition for the stabilization of the system, the optimal control and the optimal cost function are establishing based on a set of algebraic Riccati equations.

关键词： Packet loss Cost function Optimal control Trajectory Stability analysis Networked control systems

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Ratio-of-Distance Rigidity in Distributed Formation control

Ratio-of-Distance Rigidity in Distributed Formation Control

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international conference on control, automation, robotics and vision

作者： Kun Cao Zhimin Han Xiuxian Li Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Automation Hangzhou Dianzi University Hangzhou China

this paper presents a notion of rigidity, Ratio-of-Distance (RoD) rigidity, for studying when a framework can be uniquely determined by a set of RoD constraints up to similar transformations. Unlike the constraints such as distance, bearing and angle used in existing literature, we aim to develop a framework by a set of RoD constraints (the ratio of distances of a pair of edges joining a common vertex). In particular, triangulated Laman graphs are introduced to provide some sufficient conditions for the RoD rigidity. the proposed RoD rigidity theory is further applied to the RoD-based similar formation control. Numerical simulations are provided to support the analysis.

关键词： Transmission line matrix methods Laplace equations automation Distance measurement Gain measurement Robot kinematics

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Short Text Classification with A Convolutional Neural Networks Based Method

Short Text Classification with A Convolutional Neural Networ...

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

作者： Yibo Hu Yang Li Tao Yang Quan Pan School of Automation Northwestern Polytechnical University Xi'an China

the traditional machine learning algorithms are easily affected by datasets in short text classification tasks, so they have weak generalization ability when confronted with new situations. this paper presents a new method SVMCNN by combining Convolutional Neural Networks and Support Vector Machine. Training the SVMCNN model with labeled datasets, and using the collected Twitter data for classification test. the results show that the SVMCNN, especially pre-trained SVMCNN has good performance in short text classification, which gets the high Precision rate, Recall rate and F1-measure.

关键词： Support vector machines Feature extraction Twitter Training Semantics automation Data models

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Consensus conditions of continuous-time multi-agent systems under the $G$-expectation frame

Consensus conditions of continuous-time multi-agent systems ...

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

作者： Li Zhang Shuai Liu Xin Tai School of Control Science and Engineering Shandong University Jinan China 41st Institute of China Electronics Technology Group Corporation Qingdao China

In this paper, we consider the control problem of multi-agent systems with additive noises in the uncertain situation, (which means we are not sure about a particular probability space.) With mild condition, both G-mean square convergence and G-mean square steady-state error are analyzed by graph theory and G-martingale convergence. Different from classical probability, weak convergence in capacity and weak convergence in capacity 1 are considered.

关键词： Multi-agent systems Convergence Random variables Graph theory Switches Laplace equations Symmetric matrices

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Bipartite Consensus Problem of Second-order Multi-agent Systems with Disturbances

Bipartite Consensus Problem of Second-order Multi-agent Syst...

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

作者： Hang Tian Cheng-Lin Liu Guang-Ye Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi China Shanghai Keliang Information Tech. & Eng. Co. Ltd Shanghai China

this paper studies the bipartite consensus problem for second-order multi-agent systems with distinct disturbances. the interactions between agents are described by a signed directed graph. For structurally balanced networks, a generalized bipartite consensus algorithm with disturbances' observers is proposed. Necessary and sufficient conditions are obtained to achieve bipartite consensus with the well designed algorithm by using frequency-domain analysis and matrix theory. Finally, simulations are shown to verify the correctness of presented results.

关键词： Observers Multi-agent systems Heuristic algorithms Laplace equations automation Frequency-domain analysis

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Time-domain moment matching model reduction for negative imaginary systems

Time-domain moment matching model reduction for negative ima...

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

作者： Lanlin Yu Junlin Xiong Department of Automation University of Science and Technology of China Hefei China

In this paper, the moment matching model reduction problem for negative imaginary systems is considered in the time-domain framework. For a given high order negative imaginary system with poles at the origin, our goal is to find a reduced-order negative imaginary system such that a prescribed number of the moments and the poles at the origin are preserved. the reduced-order negative imaginary systems was constructed by the parameterized reduced-order systems that match the moments. It shows that a desired reduced-order system can be obtained by using the unique solution of a Sylvester equation. Finally, the proposed model reduction method is illustrated by an RLC network and a train system.

关键词： Reduced order systems Time-domain analysis Mathematical model automation Transfer functions Robots Analytical models

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Develop of AGV Platform to Support the Arrangement of Cargo in Storehouse

Develop of AGV Platform to Support The Arrangement of Cargo ...

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24th IEEE international conference on automation and Computing (ICAC) - Improving Productivity through automation and Computing Newcastle

作者： Ha Anh Minh Tran Ha Quang thinh Ngo thanh Phuong Nguyen Hung Nguyen Vietnam Natl Univ Ho Chi Minh City VNU HCM Ho Chi Minh City Vietnam Ho Chi Minh Univ Technol HUTECH Inst Engn Ho Chi Minh City Vietnam

ISBN: (纸本)9781862203426

In the era of the fourth industrial revolution, instead of human, machine or robot plays an important role in working place. Especially, it is difficult to manage a large warehouse only with human. In this paper, the open platform of automated guided vehicle is introduced to meet the demands of logistics field. the design of hardware is ensured that vehicle is able to lift up and down goods without problems. there are three levels of software design such as firmware, middleware and monitoring software. In lowest level, firmware drives servo motors directly, receives signals from sensors and carried out the control command. the mission of middleware is to protect communication lacking traffic jam. In host PC, monitoring software displays internal parameters of system, provide executed status or caution. In theoretical analysis, the controller is integrated in microprocessor to track the pre-defined trajectory as well as guarantee the smooth motion. From the experimental results, the design and control method that proved in this work are feasible and capable.

关键词： mobile platform robotics logistics automation embedded system

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