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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1521-1530 订阅

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Reciprocal Collision Avoidance for Nonholonomic Mobile Robots

Reciprocal Collision Avoidance for Nonholonomic Mobile Robot...

引用

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

作者： Lei Wang Zhengguo Li Changyun Wen Renjie He Fanghong Guo School of Electrical and Electronic Engineering Nanyang Technological University Singapore Robotics Department Institute for Infocomm Research Singapore Department of Automation Zhejiang University of Technology Hangzhou China

In this paper, reciprocal collision avoidance is studied for nonholonomic mobile robots to achieve an efficient navigation. Two strategies are proposed to respectively adjust the linear and angular velocities so that a collision-free navigation can be achieved. By characterizing the collision-free navigation as a set of changing ratios for linear velocities, it is shown that collision can be avoided if the changing ratio of linear velocities is inside this set. Moreover, the strategy of the adjusting angular velocities is established following TTC-based method. With the combination of these two strategies, a simulation is done for four robots crossing the intersection, which shows the effectiveness of the proposed method.

关键词： Collision avoidance Navigation Mobile robots Robot kinematics Prediction algorithms Angular velocity

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Event-triggered Consensus Problem of General Multi-agent System on Signed Networks

Event-triggered Consensus Problem of General Multi-agent Sys...

引用

international conference on control, automation, robotics and vision

作者： Lulu Pan Haibin Shao Dewei Li Yugeng Xi Xiaoli Li Shibei Xue Department of Automation and the Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Information Science and Technology Donghua University Shanghai China

this paper examines the event-triggered consensus problem of the multi-agent system on signed networks. An event-based distributed control protocol is proposed for multiagent networks where the dynamics of each agent is characterized by a controllable linear time-invariant system (A, B). By exploring the Gauge transformation between Laplacian matrix and signed Laplacian matrix, we show that the bipartite consensus and trivial consensus can be achieved, respectively, in terms of the structural balance of the underlying signed network. Furthermore, the Zeno phenomenon of the closed-loop system is shown to be non-existed when employing the proposed event-based control protocol. Simulation results are finally provided to demonstrate our results.

关键词： Multi-agent systems Protocols Symmetric matrices Eigenvalues and eigenfunctions Laplace equations Robot kinematics

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Measurement of Tree Barriers in Transmission Line Corridors Based on Binocular Stereo vision

Measurement of Tree Barriers in Transmission Line Corridors ...

引用

international conference on control, automation, robotics and vision

作者： Qian Chen Xiren Miao Hao Jiang Liangyuan Wang Jing Chen College of Electrical Engineering and Automation Fuzhou University Fuzhou China State Grid Fujian Electric Power Company Limited Fuzhou China

Aiming at measuring tree barriers in transmission line corridors, a binocular vision ranging method is proposed to measure the distance between the transmission lines and trees. Based on the principle of binocular vision ranging, the binocular camera is calibrated using a marked checkerboard as a calibration board. then, the SAD region matching algorithm is applied to the preprocessed images, and the disparity map is acquired. Finally, the distance between the tree and the transmission line can obtain according to the three-dimensional coordinate information of two target points. the results of the experiments show that the proposed binocular vision-based method can achieve the measurement error within ±30cm. the precision can meet the need of measuring the distance between trees and the transmission lines, which is an effective way for warning tree barriers in transmission line corridors.

关键词： Transmission line measurements Cameras Calibration Power transmission lines Vegetation Distance measurement

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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...

引用

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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Receding Horizon Estimation for Networked control Systems with Packet Losses

Receding Horizon Estimation for Networked Control Systems wi...

引用

international conference on control, automation, robotics and vision

作者： Chaochao Li Chunyan Han Fang He School of Electrical Engineering University of Jinan Jinan China

this paper is interested in the receding horizon estimation problem for the networked control systems with packet losses. Different from the scalar data losses case, we introduce a diagonal matrix to represent the phenomenon of packet losses, where each element of the diagonal matrix is a binary stochastic variable and indicates the arrival of the corresponding measurement component. that means different observation components have different packet loss probability. A batch form and a recursive form for the receding horizon estimation are proposed by minimizing a new cost function that includes two terminal weighting terms. Using the derived condition, the stability of the proposed receding horizon estimation is proved. Finally, a numerical example is provided for illustration.

关键词： Receding horizon estimation stability analysis networked control systems packet losses

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Block Backstepping Trajectories Tracking control for Unmanned Helicopters

Block Backstepping Trajectories Tracking Control for Unmanne...

引用

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

作者： Xin Yu Xiangyu Wang Shihua Li Jiyu Liu Ya Zhang Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering PR China Aviation Key Laboratory of Science and Technology on Aircraft Control. Facri. Xian PR China

this paper proposes a block backstepping trajectories tracking control scheme for a class of unmanned helicopters. the control objective is to make the position and yaw angle trajectories of the helicopter track the desired position and yaw angle trajectories. In order to design the controller, the helicopter system is divided into three subsystems at first. then based on the block backstepping technique, four control inputs which constitute the helicopter controller are designed step by step in three subsystems. the asymptotic stability of the closed-loop helicopter trajectories tracking error system is verified based on Lyapunov stability analysis. Finally, numerical simulations demonstrate the effectiveness of the proposed block backstepping control scheme.

关键词： Helicopters Backstepping Trajectory tracking Trajectory Aerodynamics Process control control design

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Precise Angle Estimation Using Geometry Features for Bin Picking 18

Precise Angle Estimation Using Geometry Features for Bin Pic...

引用

18th international conference on Advanced robotics (ICAR)

作者： Pyo, Ji-hyeong Kim, Kyekyung Korea Univ Sci & Technol Dept Comp Software Engn Daejeon South Korea Elect & Telecommun Res Inst Intelligent Robot Res Div Daejeon South Korea

ISBN: (纸本)9781538631577

In the recent automation process, the manufacturing automation innovation is being done by using vision technology that can make instant judgement. In this paper, a method of vision based angle estimation is presented. the central moment is calculated and the rotation angle is estimated by the angle with the principal axis. there is also a method of estimating the precision rotation angle using the angle between matching points of SIFT descriptors. We propose a rotation angle estimation method that is invariant to object posture. We used affine transformation for the preprocessing of the image for the invariance to object posture. To estimate the accuracy of the rotation angle, we used blobs which are features in the object area. We conducted the angle estimation accuracy and repeatability tests under the experimental environment which has been constructed in our lab. We obtain less than 0.154 angle estimation accuracy.

关键词： Computer vision Image Processing Object detection Angle estimation

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Design of a Data-Driven control System based on the Abnormality using Kernel Density Estimation

Design of a Data-Driven Control System based on the Abnormal...

引用

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

作者： Takuya Kinoshita Toru Yamamoto Department of System Cybernetics Hiroshima University Hiroshima Japan

the data-driven control scheme has been proposed to control nonlinear systems by adaptively tuning controller parameters based on the database. In the data-driven control scheme, the fixed number of neighbors' data are selected to calculate controller parameters. therefore, the control performance cannot be improved when the inappropriate neighbors' data are chosen. In other words, the inappropriate controller parameters are calculated when query data is not included in the database. In this study, the data-driven control scheme using the kernel density estimation is proposed. the kernel density estimation can calculate the similarity between query data and database. According to the proposed scheme, controller parameters are calculated based on the abnormality which is obtained by the similarity mentioned above. the effectiveness of the proposed scheme is evaluated by a numerical example.

关键词： Databases Kernel Mathematical model Estimation control systems Probability Nonlinear systems

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Weighted $\mathcal{L}_{1}$-gain performance on delayed positive system using an impulse time dependent hybrid control scheme

Weighted $\mathcal{L}_{1}$-gain performance on delayed posit...

引用

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

作者： Hao Chen Qinzhen Huang Xingwen Liu State Grid Shanxi Electric Power Research Institute Taiyuan China CHINA Energy Engineering Group SHANXI Electric Power Engineering CO. LTD Taiyuan China

In this paper, the weighted L 1 -gain performance on positive system with time-varying delay is investigated. An impulse time dependent hybrid control scheme is proposed by applying the proportional control method K p at impulse instants and the integral control action K I during the impulsive time intervals. Using average impulsive interval approach and the co-positive Lyapunov function, sufficient conditions are derived to design the Proportional Impulsive with Integral (PII) controller. then the exponential stability and weighted L 1 -gain control of the impulsive positive system are obtained. Numerical examples show the efficiency of this proposed design.

关键词： Delays Trajectory Time-varying systems Lyapunov methods Stability analysis Proportional control System dynamics

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Post-impact Motion control of a Space Robot with Flexible Manipulator

Post-impact Motion Control of a Space Robot with Flexible Ma...

引用

international conference on control, automation, robotics and vision

作者： Sharmila Kayastha Lingling Shi Jayantha Katupitiya Garth Pearce School of Mechanical and Manufacturing Engineering University of New South Wales (UNSW) Kensington NSW Australia School of Mechanical Engineering Beijing Institute of Technology China

this paper presents the impact dynamics and post-impact motion control of both the spacecraft base and the robot with flexible manipulator. First, the dynamic equations of the system are reformulated in the task space using Lagrangian equation based on assumed mode method. then, the impact dynamic equations between end-effector of robotic manipulator and the contact object are derived based on momentum conservation principle. To control the unstable motion of the system due to the impact effect caused by an external object, a combination of Sliding Mode control (SMC) and Linear Quadratic Regulator (LQR) control algorithm is derived. the performances of the proposed control method are validated by numerical simulations. the simulation results show the satisfactory performance of the system.

关键词： Manipulator dynamics Mathematical model Dynamics Task analysis

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