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

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Sampled-Data control for Optimal Gain Margin of Cart Inverted Pendulum System: Comparison with Continuous-Time control

Sampled-Data Control for Optimal Gain Margin of Cart Inverte...

引用

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

作者： Sananda Chatterjee Sarit K. Das Department of Electrical Engineering Indian Institute of Technology Kharagpur India

Seeking to robustly stabilize the cart-inverted-pendulum (CIP) system in the discrete domain, this paper first obtains, via an iterative approach for a sampling rate T, the controller that achieves a multiloop gain margin optimization that is analogous to what has been achieved via continuous-domain in [13]. Unlike what may be expected, however, the optimal gain margins obtained are not found to improve monotonically with reduction in T. Consequently the optimal T and the corresponding discrete-domain controller that maximizes the gain margin is obtained. the same, moreover, is found to be superior to what the optimal continuous-domain design yields. An explanation for this counter intuitive observation is provided. this has also been verified using physical implementation.

关键词： Optimization Robustness Poles and zeros Stability analysis Force Rails

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Virtual Commissioning of Machine vision Applications in Aero Engine Manufacturing

Virtual Commissioning of Machine Vision Applications in Aero...

引用

international conference on control, automation, robotics and vision

作者： Mikael Ericsson Xiaoxiao Zhang Anna-Karin Christiansson Department of Engineering Science University West Trollhttan Sweden

New aero engine design puts new demands on the manufacturing methods with increased automation level. therefore, the use of vision sensors for control and guiding of industrial robots is being increasingly used. In such system, it is need to customise the machine vision system with real components in the real environment which is normally done close to the start-up of the production. this paper addresses a new concept for designing, programming, analysing, testing and verifying a machine vision application early in the design phase, called Virtual Machine vision. It is based on a robot simulation software where the real machine vision application is simulated before the implementation in the production line. To verify the Virtual Machine vision concept an advanced stereo vision application was used. Using two captured images from the robot simulated environment, camera calibration, image analysis and stereo vision algorithms are applied to determine a desired welding joint. the information of the weld joint, i.e. robot position and orientation for the weld path, are sent from the machine vision system to the robot control system in the simulation environment and the weld path is updated. the validation of the Virtual Machine vision concept using the stereo vision application is promising for industrial use, and it is emphasised that the same programs are used in the virtual and real word.

关键词： Cameras Software Solid modeling Machine vision Robot sensing systems Service robots

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Cooperative Adaptive Output Regulation for Unknown Multi-agent Systems with Nonidentical Relative Degrees

Cooperative Adaptive Output Regulation for Unknown Multi-age...

引用

international conference on control, automation, robotics and vision

作者： Ying Zhang Youfeng Su Xinghu Wang College of Mathematics and Computer Science Fuzhou University Fuzhou P. R. China Department of Automation University of Science and Technology of China Hefei P. R. China

In this paper, we present a novel universal adaptive output feedback control for the cooperative output regulation problem of linear multi-agent systems. the agent plant is general in the sense that those interesting practical issues such as unknown dynamics, direct network graph, and nonidentical relative degree agents are taken into account simultaneously. the obtained controller consists of the reduced-order observer, the internal model, as well as the adaptive control law, all of which are shown to be fully distributed. It is of interest to see that, in our recursive design, each agent does not need to estimate the unknown parameters caused by the neighbors, giving rise to a merely two-dimensional adaptive law with quite a simple structure. It is also this feature that our design has the capability of handling the agents with arbitrary nonidentical high relative degrees.

关键词： Output feedback Observers Multi-agent systems Adaptive control Uncertainty Feedback control

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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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Containment control of fully heterogeneous linear multi-agent systems with switching topologies

Containment control of fully heterogeneous linear multi-agen...

引用

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

作者： Yongzhao Hua Xiwang Dong Jianglong Yu Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Beihang University Beijing China

this paper studies the containment control problems for fully heterogeneous multi-agent systems (HMASs) with switching topologies, where both the leaders and the followers have different dynamics. Firstly, a distributed observer is constructed for each follower to estimate the states of all the non-identical leaders using the neighboring interaction. then, based on the estimated states of the multiple leaders, an output containment control protocol is proposed for HMASs using the output regulation strategy, where several predefined weights are applied for the followers to specify the desired convex combinations of the leaders. thus, the given containment format is independent of the interaction topology. In light of the common Lyapunov stability and output regulation theory, it is proved that the desired output containment can be realized by fully HMASs under the influences of switching topologies. Finally, a simulation example is provided to verify the effectiveness of the theoretical results.

关键词： Switches Topology Observers Protocols Multi-agent systems Laplace equations

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Robust Fuzzy MPC for Station-keeping of A Multi-vectored Propeller Airship Based on Path Following Method

Robust Fuzzy MPC for Station-keeping of A Multi-vectored Pro...

引用

international conference on control, automation, robotics and vision

作者： Yubin Wen Li Chen Dengping Duan Jinguo Liu School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai China School of Air Transportation Shanghai University of Engineering Science Shanghai China State Key Laboratory of Robotics Chinese Academy of Sciences(CAS) Shenyang China

In this paper, a station-keeping controller is designed for a multi-vectored (four thrusts) propeller airship by using path following approach. Firstly, the nonlinear models of the airship are introduced, including kinematics and dynamics, and the T-S fuzzy model is derived using linearization. then, the station-keeping controller is designed, which consists of two modules: a guidance loop and a robust model predictive control (MPC). the guidance loop uses the guidance-based path following (GBPF) principle to calculate the desired yaw rate and velocities of the airship, while the robust MPC calculates a feedback control law to track the desired yaw rate and velocities by solving linear matrix inequalities (LMIs). Simulation results for the multi-vectored propeller airship are carried out to illustrate the effectiveness of the proposed method.

关键词： Atmospheric modeling Mathematical model Propellers Computational modeling Load modeling Angular velocity Kinematics

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A study on the security of public opinion in social networks

A study on the security of public opinion in social networks

引用

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

作者： Long Gao Wen Yang Mengling Wang Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai China

In this paper, we consider the security problem of public opinions when it has terrorists who try to guide people's opinions to malicious ones in social network. First, we propose an opinion dynamics model, which is composed by the suspects, the defenders and the masses. In this model, a set of suspects influenced by the terrorists at the beginning send malicious opinions to their neighbors. Similarly, the defenders spread the government's opinion to resist people's opinions following that of terrorists. Second, we consider the random communication among neighbours, where people can not interact with each other every time. At the last, we provide a sufficient condition to ensure the convergence of the expected opinions of the system. Finally, we provide some numerical examples to illustrate all the derived results.

关键词： Social groups Social network services Security Convergence Mathematical model Government Stability analysis

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control of position, attitude, force and moment of 6-DOF manipulator by impedance control

Control of position, attitude, force and moment of 6-DOF man...

引用

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

作者： Takuya Hanafusa Qingjiu Hunang Kogakuin University

In this laboratory, we proposed hybrid control of position, attitude, force and moment which is direct force control. this is a control that extracts the control of attitude and moment from the conventional position and force hybrid control, and it was confirmed that it is effective for surface contacting work. However, in this hybrid control of position, attitude, force and moment, the control input is a torque command to the joint of the robot, so it lacked versatility for industrial robots which can receive only the position command of the robot hand. In this paper, considering versatility for industrial robots, we proposed control of position, attitude, force and moment by Impedanc-control based on position control of robot hand. Furthermore using the proposed method of this study, simulation was performed on MATLAB / Simulink to automatically match the face of the hand of the PUMA type six degree of freedom robot arm with the wall whose slope is unknown. Based on the results we clarified the effectiveness of our proposed method.

关键词： Force control Force Service robots Manipulators Robot kinematics Mathematical model

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Computer vision System for Cabin Door Detection and Location

Computer Vision System for Cabin Door Detection and Location

引用

international conference on control, automation, robotics and vision

作者： Bojan Andonovski Jianliang Wang Faculty of Electrical and Electronics Engineering Nanyang Technological University Singapore

this paper describes the outcomes of a framework for aircraft door position identification with visual camera using common features that can be found in all commercial airplanes, which guides the aerobridge to automatically and reliably dock (Precision of 0.5cm), with minimal human intervention. the system has to work day and night, rain or shine under all-weather conditions. the proposed solution consists of a suite of relevant extracted and identified features that characterize aircraft door (e.g. door windows, handle, text, footplate, arrow, frame lines). Furthermore, the work focuses on a final door position confirmation accomplished by the logical structure for the decision process for the identification of the aircraft door using the various features. In that way we are able to build confidence level with appropriate structural (logical component connection) organization. thus, the aircraft door frame can be accurately identified with a very small error (in the range of a couple of cm) and eliminate risk of injuring the personnel or damaging the airplane.

关键词： Feature extraction Airplanes Image color analysis Organizations Aircraft manufacture automation

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On the Timing of Operator Commands for the Navigation of a Robot Swarm

On the Timing of Operator Commands for the Navigation of a R...

引用

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

作者： Jing Ma Edmund M-K Lai Jun Ren Department of Information Technology & Software Engineering Auckland University of Technology Auckland New Zealand Institute of Natural and Mathematical Sciences Massey University Auckland New Zealand

A human-swarm interactive system has been shown to benefit from neglect benevolence. this means if the human interacts too often with a swarm of robots, it will degrade its performance in achieving the operational goal. Past works have focused on human-swarm interaction (HSI) for reaching rendezvous points. In this paper, we aim to establish neglect benevolence for realignment in a leader-follower Cucker-Smale system. the human operator issues heading commands to the leader and the follower robots tries to realign with the leader through Cucker-Smale model dynamics. Simulation results show that there is a minimum time interval that the operator should wait before issuing a new heading command in order for the swarm to remain in a flocking state.

关键词： Robots Task analysis control systems Navigation Simulation Avatars Computational modeling

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