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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1511-1520 订阅

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Frequency-Shaped Second-Order Sliding Mode control for Smart Suspension Systems

Frequency-Shaped Second-Order Sliding Mode Control for Smart...

引用

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

作者： Sayed Royel Q. P. Ha Ricardo P. Aguilera School of Electrical and Data Engineering University of Technology Sydney Ultimo NSW Australia

Design of a frequency-shaped second-order sliding mode (FS2SM) controller is demonstrated by means of exploiting second-order low-pass filter (LPF) to model the dynamic sliding surface to shape the frequency characteristics of the equivalent dynamics. the proposed technique is numerically verified in the simulation of a half-car model (HCM) with inbuilt active hydraulically interconnected suspension (HIS) system. the closed-loop performances confirm that inclusion of an appropriate filter in the control scheme allows not only to reduce the roll angle but also its spectrum can be shaped.

关键词： Manifolds Frequency control Trajectory Numerical models Power system dynamics Frequency-domain analysis Switches

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Estimation based formation control with size scaling for leader-follower networks

Estimation based formation control with size scaling for lea...

引用

international conference on control, automation, robotics and vision

作者： Zhimin Han Guoqiang Hu Lihua Xie Zhiyun Lin School of Automation Hangzhou Dianzi University Hangzhou China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

this paper studies a multi-agent formation control problem under a leader-follower framework, where the agents are governed by double-integrator dynamics and the objective is to achieve a formation with desired shape and a specified size. Firstly, a distributed control algorithm is developed for the leaders to achieve a desired distance. then, by combining the control law for the leaders and a relative position estimation based control law for the followers, an estimation based formation control algorithm is developed for the entire multi-agent system to asymptotically achieve a formation with desired shape and a specified size in the case without initial relative position estimation errors and approximately attain the desired formation in the case with initial relative position initial estimation errors. Simulation results are provided to validate the proposed algorithm.

关键词： Laplace equations Position measurement Estimation Shape Synchronization Frequency measurement Velocity measurement

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Actuator Fault Tolerant control in a Team of Mobile Robots

Actuator Fault Tolerant Control in a Team of Mobile Robots

引用

international conference on control, automation, robotics and vision

作者： Parisa Yazdjerdi Nader Meskin Department of Electrical Engineering Qatar University Doha Qatar Faculty of Electrical Engineering Qatar University Doha Qatar

In this paper, a fault tolerant controller is developed for loss of effectiveness actuator faults in differential drive mobile robots. Based on the extended Kalman filter technique, a joint parameter and state estimation method is used to estimate the actuator loss of effectiveness gains as the parameters of the system. the estimated gains are then used in the controller to compensate the effect of actuator faults. Moreover, a fault tolerant leader-follower controller is developed to control multiple robots moving on a desired trajectory in a formation in the presence of actuator faults in leader or followers. the proposed method is implemented on Qbot-2 and its performance is experimentally validated.

关键词： Fault tolerant control (FTC) Mobile robots Extended Kalman filter Loss of effectiveness actuator fault Leader-Follower

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Adaptive Leader-Following Consensus of Networked Uncertain Euler-Lagrange Systems With Dynamic Leader Based on Sensory Feedback

Adaptive Leader-Following Consensus of Networked Uncertain E...

引用

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

作者： Maobin Lu Lu Liu School of Automation Beijing Institute of Technology Beijing Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong

In this paper, the leader-following consensus problem of multiple uncertain Euler-Lagrange systems is studied by developing a new adaptive distributed control law based on sensory feedback. In comparison with existing results, the developed distributed control law depends on the relative position of the Euler-Lagrange systems instead of the relative internal state of the controller. In the case that all systems are only equipped with sensors rather than communication devices, the developed distributed control law shows its distinct advantage. Moreover, the communication cost can be reduced by the new adaptive control law. the effectiveness of the main result is demonstrated by its application to cooperative control of multiple two-link robot arms.

关键词： Decentralized control Robot sensing systems Multi-agent systems Manipulators Robot kinematics

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Study about variable adjustment rule of AC Servo Motor using Simple Adaptive control

Study about variable adjustment rule of AC Servo Motor using...

引用

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

作者： Yuichiro Obana Qingjiu Huang Kogakuin University

In servo motor positioning control, when the load changes, readjustment of the control gain must be performed. In this paper, with stabilization of servo adjustment due to load fluctuation in mind as well as convenience, based on simple adaptive control which is relatively simple structure and easy to realize even in adaptive control, while saving the trouble of adaptive gain adjustment we study a control method. In this study, simulation analysis was performed using MATLAB / Simulink to control the position of the Servo Motor. First, using the integral adaptive adjustment rule which is the most basic adaptive adjustment rule among Simple Adaptive control, simulation was carried out next using integral + proportional type adaptive adjustment rule.

关键词： Mathematical model Transfer functions Adaptive control Servomotors Adaptation models Load modeling Analytical models

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First-Person Activity Recognition Based on three-Stream Deep Features

First-Person Activity Recognition Based on Three-Stream Deep...

引用

international conference on control, automation and Systems ( ICCAS)

作者： Ye-Ji Kim Dong-Gyu Lee Seong-Whan Lee Department of Computer and Radio Communications Engineering Korea University Seoul Korea Department of Brain and Cognitive Engineering Korea University Seoul Korea

ISBN: (纸本)9781538670804;9788993215168

In this paper, we present a novel three-stream deep feature fusion technique to recognize interaction-level human activities from a first-person viewpoint. Specifically, the proposed approach distinguishes human motion and camera ego-motion to focus on human's movement. the features of human and camera ego-motion information are extracted from the three-stream architecture. these features are fused by considering a relationship of human action and camera ego-motion. To validate the effectiveness of our approach, we perform experiments on UTKinect-FirstPerson dataset, and achieve state-of-the-art performance.

关键词： Cameras Feature extraction Videos Optical imaging Activity recognition Robot vision systems Integrated optics

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the Design of Person Carrier Robot using SLAM and Robust Salient Detection

The Design of Person Carrier Robot using SLAM and Robust Sal...

引用

international conference on control, automation and Systems ( ICCAS)

作者： Youngjae Yun Taeyang Gwon Donghan Kim Department of Electronics Kyung Hee University Yongin-si Gyeonggi-do Republic of Korea

ISBN: (纸本)9781538670804;9788993215168

In this paper, we propose a person carrier robot for the movement of people with blindness and injured lower body in the building. Visually impaired people are unfamiliar with the structure of the building for the first time, so there is a high risk of accidents when moving. Likewise, patients suffering from lower body injuries are more uncomfortable to move than normal people, and therefore, there are many difficulties in moving. To solve this problem, we propose a robot that creates a building map, moves to a destination, and detects obstacles. Hector SLAM is used to map buildings, calculation of odometry when person carrier robot is moving, USB camera and Robust Salient Detection for object detection.

关键词： Simultaneous localization and mapping Mobile robots Cameras Robot vision systems Buildings

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Loosely-Coupled INS/vision based Absolute Navigation with Adaptive Kalman Filter

Loosely-Coupled INS/Vision based Absolute Navigation with Ad...

引用

international conference on control, automation and Systems ( ICCAS)

作者： Sung Hyuk Choi Chan Gook Park Department of Mechanical and Aerospace Engineering Seoul National University Seoul Korea Department of Mechanical Engineering Seoul National University/Automation and System Research Institute Seoul Korea

ISBN: (纸本)9781538670804;9788993215168

We represent adaptive Kalman filter which combines advantages of fast output inertial navigation and slow image based absolute navigation algorithm. In the feature matching process of the scene-matching algorithm, the outliers occasionally occur, resulting in the problem that the state variables of the Kalman filter diverge due to the mismatched improper navigation results. Since this can lead to a very dangerous situation in the navigation system, we propose an adaptive Kalman filter algorithm to solve this problem. the proposed algorithm uses the residual, which is the difference between the measured value and the model, as a judgment variable and does not use the measured value when the threshold value is exceeded. the performance of the proposed algorithm is verified by using flight data.

关键词： Navigation Kalman filters Position measurement Databases Cameras Feature extraction Measurement uncertainty

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Wall-contact sliding control strategy for a 2D caged quadrotor

Wall-contact sliding control strategy for a 2D caged quadrot...

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international conference on control, automation and Systems ( ICCAS)

作者： Pu Bai Bruno Guerreiro Rita Cunha Przemyslaw Kornatowski Dario Floreano Carlos Silvestre Institute for Systems and Robotics (ISRnST) LARSYS Instituto Superior Técnico Universidade de Lisboa Portugal Laboratory of Intelligent Systems École Polytechnique Fédérale de Lausanne Switzerland

ISBN: (纸本)9781538670804;9788993215168

this paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to let the quadrotor hover or move along the wall with arbitrary velocity and attitude. the control law is derived using the Lyapunov stability theory, applying backstepping techniques to achieve exponential stability under mild assumptions. To overcome the unknown friction force between robot and wall, we design estimators for the friction coefficient, which include a projection operator that provides an upper bound for the obtained estimates. Realistic simulation results are provided to validate the proposed methodology.

关键词： Friction Drones Two dimensional displays Robots Stability analysis Force Backstepping

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Experimental results of fractional order PI controller designed for second order plus dead time (SOPDT) processes

Experimental results of fractional order PI controller desig...

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international conference on control, automation, robotics and vision

作者： Isabela Birs Cristina Muresan Ioan Nascu Silviu Folea Clara Ionescu Automation Department Technical University of Cluj-Napoca Romania Dynamical Systems and Control research group Ghent University Ghent Belgium

the present paper presentes the tuning of a Fractional Order Proportional Integral (FOPI) controller for second-order-plus-time-delay (SOPDT) plants. the tuning procedure is based on imposing frequency domain constraints for the open loop system with the FOPI controller and the SOPDT plant. the gain crossover frequency, phase margin and the iso-damping property that guarantees a certain degree of robustness to gain variations are imposed in order to obtain the parameters of the fractional order controller. the proposed method is validated by real life implementation on a process whose dynamics are approximated to a SOPDT model. the settling time, steady state error, robustness and disturbance rejection capabilities are analyzed using experimental test cases.

关键词： Frequency-domain analysis Tuning Process control Robustness PI control Transfer functions Open loop systems

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