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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1551-1560 订阅

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Robust Spherical Formation Tracking control of First-order Agents with An Adaptive Neural Flow Estimate

Robust Spherical Formation Tracking Control of First-order A...

引用

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

作者： Yanteng Ge Yang-Yang Chen Qingling Wang Junyong Zhai Ministry of Education Southeast University Nanjing P.R. China

this paper addresses the robust cooperative control for lateral formation tracking a set of circles on the given sphere in an absolutely unknown spatial flowfield. Different from the adaptive estimation method for the unknown flow speed with knowledge of the velocity direction in the literatures, a novel adaptive neural estimate is constructed based on the neighbors' information to approximate the unknown flow velocity. It is noted that such neighbor-based adaptive neural estimation develops the traditional adaptive neural approach by consensus. then, a robust spherical formation tracking control law is established according to flow estimation. the uniform ultimate boundedness is proven when the communication topology associated with networked first-order agents. the effectiveness of the analytical results is verified by numerical simulations.

关键词： Target tracking three-dimensional displays Azimuth Estimation Two dimensional displays Orbits

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UAV Push Recovery Operation by Symmetrical control and Estimation in Receding Horizon

UAV Push Recovery Operation by Symmetrical Control and Estim...

引用

international conference on control, automation, robotics and vision

作者： Basaran Bahadir Kocer Tegoeh Tjahjowidodo Gerald Gim Lee Seet Faculty of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

this paper presents an unmanned aerial vehicle (UAV) push recovery operation using model predictive control (MPC) and moving horizon estimation (MHE) in a symmetric manner. this utilization is motivated by the active use of UAVs, particularly for the contact based inspection of the surrounding's ceilings. To enable a physical interaction operation by an optimization-based algorithm, a primal-dual quadratic programming (QP) solver is structured for the MPC and MHE. the designed system consists of (a) an interaction model to be implemented both on the control and the estimation;(b) an integral action in the predictive controller;(c) a disturbance estimation by MHE to update the MPC. Consequently, the nominal MPC, the integral action in MPC, and the disturbance observer based MPC are compared for a UAV push recovery operation. the numerical investigations demonstrate the applicability of the proposed approach.

关键词： Estimation Unmanned aerial vehicles Linear programming Microsoft Windows Quadratic programming Predictive models

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Application of Back-stepping Method on Innovative Indoor Quadrotor Test Platform

Application of Back-stepping Method on Innovative Indoor Qua...

引用

international conference on control, automation, robotics and vision

作者： Kai Cao Jiajia Gao Song Gao Chaobo Chen School of Electronic Information Engineering Xi'an Technology University Xi'an Shaanxi China

the quadrotor aircraft has the characteristics of nonlinearity, strong coupling and underactivity, which is a useful tool for researchers to test and evaluate new ideas in many different fields, including flight control theory, real time systems, and robot navigation. In order to reduce the non-essential disturbance factors and accident rate during the flight, and we independently design a test platform to test quadrotor flight attitude. through the force analysis and dynamic modeling of the system, the attitude controller is designed by back-stepping control algorithm which can stabilize quickly. the stability of flight attitude is verified on Matlab environment and the platform respectively. the experimental results show that the platform design is reasonable and feasible, and it is an effective test platform.

关键词： Aircraft Mathematical model Force Attitude control Atmospheric modeling Aerospace electronics

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Transporting Microobjects Using a Magnetic Microrobot at Water Surfaces*

Transporting Microobjects Using a Magnetic Microrobot at Wat...

引用

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

作者： Yuanzhe He Lefeng Wang Lifu Zhong Yang Liu Weibin Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Microobject transporting is an important task in numerous micromanipulation applications. In this paper, we propose a novel method to transport microobjects using a magnetically actuated microrobot at water surfaces. the microrobot is a pentagram-shaped magnetized sheet with typical diameter of 800μm. By applying magnetic gradient generated by electromagnetic coils, the microrobot can move controllably at water surfaces. Microobjects at water surfaces can be trapped by the microrobot due to the capillary attraction. Microobject transporting is realized by direct push of the microrobot. A releasing strategy by accelerating the microrobot is also presented to separate the microobject from the microrobot. the experimental results show that the maximum transporting speed for solder balls achieved 3.3mm/s with a magnetic gradient of 79mT/m.

关键词： Force Drag Robots Magnetic field measurement Magnetic separation Saturation magnetization

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Design and Fabrication of a Deployable Rubber Membrane for a Circular Mesh-Type Robot

Design and Fabrication of a Deployable Rubber Membrane for a...

引用

international conference on control, automation, robotics and vision

作者： Yang Jiang Atsushi Nishikawa Noriyasu Iwamoto Department of Biomedical Engineering Shinshu University Ueda Nagano Japan Faculty of Textile Science and Technology Shinshu University Ueda Nagano Japan

this paper shows a design and fabrication process that combines soft robotics and origami technology for developing a modular robot. Integration of multiple modular robots provides hyper degrees of freedom and creates a deformable system. the application of soft robotics to a modular robot makes it adaptable to diverse environments. Choosing a feasible method of design and fabrication for the modular robot is necessary to obtain the desirable deformation of the system. Among the various proposed methods, application of origami structures based on mathematical operations can facilitate the design process of elastic robots. Here, we propose a novel circular mesh-type robot that has planar and three-dimensional shape transformation functions. then, we present the application of conformal mapping origami structure to a soft robot and make a deplorable rubber membrane, which is a key part of a variable-radius circular robot.

关键词： Robot kinematics Soft robotics Rubber Strain Shape Fabrication

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An Improvement to Discrete Fuzzy Logic control

An Improvement to Discrete Fuzzy Logic Control

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

作者： Saw Jing Wen Nicholas Ng Lim Choo Min School of Engineering Ngee Ann Polytechnic Singapore

A method of improving the performance of discrete fuzzy logic control (FLC) when applied to different systems will be proposed in this paper. Improvements to the controller performance have been made in terms of steady state error, lowered ripple heights, and decreased settling time, particularly with respect to a multi-machine power system. Regarding our methodology, a truth-table was first pre-calculated, allowing direct mapping of given inputs to a suitable output following basic fuzzy logic operations. Next, a novel method of increasing the resolution of the FLC when the output nears the reference signal was implemented. Finally, simulations were run to prove the effectiveness of the proposed method compared to conventional control schemes in both linear and non-linear systems.

关键词： Steady-state Power system stability Generators Signal resolution Fuzzy logic Tuning Robustness

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Learning Under-Specified Object Manipulations from Human Demonstrations

Learning Under-Specified Object Manipulations from Human Dem...

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international conference on control, automation, robotics and vision

作者： Kun Qian Jun Xu Ge Gao Fang Fang Xudong Ma School of Automation Ministry of Education Nanjing China

Learning by Demonstration (LbD) allows robots to acquire manipulation skills through human demonstration. In this regard, it is a challenging task to perceive spatial-temporal relations between sub-activities and object affordance in human demonstrations, especially when they are under-specified. this work extends the Probability Graph Model based methods to incorporate high-level demonstration classification. We propose an approach to model the semantics of human demonstration using Programming Domain Description Language (PDDL). therefore, hidden motion primitives that are impossible to be learned directly from observing human demonstration in noisy video data can be inferred and the robot's plans are refined. Experimental results validate the effectiveness of the proposed method, in which more refined scripts can be generated for robot's execution.

关键词： Learning by Demonstration Service Robot PDDL CRF Object Affordance

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Development of a Transformable Self-Balancing Mobile Robot

Development of a Transformable Self-Balancing Mobile Robot

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international conference on control, automation and Systems

作者： Jinkwang Kim Geonhoo Kim Taewoo Han Seungwon Heo Yongjae Kim Hyun Myung Department of the Robotics Program KAIST Daejeon Korea Department of Electronics Engineering Korea University of Technology and Education(Koreatech) Cheonan Korea Department of Civil and Environmental Engineering KAIST Daejeon Korea

ISBN: (纸本)9781538670804;9788993215168

this paper reports the design, construction, and control of a mobile robot that can be transformed from the four-wheel mobile robot into two-wheel self-balancing robot and vice versa. the hardware of the robot utilizes the mechanism of the three-link manipulator. this robot is composed of three components;the body part, the middle link, and the top part. the system architecture comprises a pair of DC motor controllers to move the wheel, two servo motors to move the middle link and the top part, and an Arduino microcontroller board, etc. When the robot is transformed to the two-wheel self-balancing robot, the COM (Center of Mass) equation, and the IMU (Inertial Measurement Unit) sensor are employed for attitude determination. the method of the control is based on a proportional-integral-differential (PID) control. the results show the possibility of performing both functions of the four-wheel mobile robot and two-wheel self-balancing robot.

关键词： three-link manipulator Two-wheel self-balancing robot Center of mass

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Efficient Trajectory Optimization for Robot Motion Planning

Efficient Trajectory Optimization for Robot Motion Planning

引用

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

作者： Yu Zhao Hsien-Chung Lin Masayoshi Tomizuka Department of Mechanical Engineering University of California at Berkeley Berkely CA USA

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only sub-optimal solution can be found by decomposition based approaches. this paper presents an optimal control based approach to address the path planning and trajectory planning subproblems simultaneously. Unlike similar works which either ignore robot dynamics or require long computation time, an efficient numerical method for trajectory optimization is presented in this paper for motion planning involving complicated robot dynamics. the efficiency and effectiveness of the proposed approach is shown by numerical results. Experimental results are used to show the feasibility of the presented planning algorithm.

关键词： Robots Planning Dynamics Collision avoidance Optimal control Interpolation Trajectory optimization

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Simulation and Comparison of Different Types of First-order Decentralized Sliding Mode Estimators

Simulation and Comparison of Different Types of First-order ...

引用

international conference on control, automation, robotics and vision

作者： Ning Zhou Guoxing Wen Jie Huang Qingkai Yang Liangming Chen College of Computer and Information Sciences Fujian Agriculture and Forestry University Fuzhou China Department of Mathematics Binzhou University Binzhou China College of Electrical Engineering and Automation Fuzhou University Fuzhou China Faculty of Science and Engineering University of Groningen Groningen Netherlands

this paper focuses on the simulation and comparison of different types of first-order decentralized sliding mode estimators (FDSMEs). From the previous works, three types of FDSMEs were presented and applied to solve the cooperative control problems. Utilizing the FDSME, a finite-time leader-follower tracking control algorithm is proposed for a networked single-integrator vehicle system. then based on the existing structure of FDSME, a new compound FDSME is developed to improve the estimation performance. Simulation and comparison of all the presented FDSMEs are given in detail to evaluate the theoretical results. Finally, regulation rules of the parameters in the compound FDSME are summarized according to the simulation results.

关键词： First-order Decentralized Sliding Mode Estimator Finite-time control Cooperative control

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