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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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Probabilistic trajectory estimation based leader following for multi-robot systems

Probabilistic trajectory estimation based leader following f...

引用

international conference on control, automation, robotics and vision

作者： Mao Shan Ying Zou Mingyang Guan Changyun Wen Kwang-Yong Lim Cheng-Leong Ng Paul Tan ST Engineering-NTU Corporate Laboratory School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781509035502

the paper is concerned with the multi-robot leader-following problem in the presence of frequent dropouts in vision detection. In many scenarios, for instance a structured environment, it is inevitable to experience outage of vision detection due to reasons such as the target moving out of view, vision occlusion, motion blurring, etc. the paper proposes a Bayesian trajectory estimation based leader-following approach that can offer accurate path following given intermittent vision observations. the follower robot estimates the trajectory of the leader robot based on the noise-corrupted odometry information of both robots, and inter-robot relative observations based on detection of fiducial markers using an RGBD camera. A linear trajectory-following control method is employed to track a historical pose of the leader robot on the estimated trajectory. Results are obtained based on evaluating the proposed leader-following approach in tests with a zig-zag shaped trajectory and with a trajectory that contains sharp turns.

关键词： Trajectory Robot kinematics Estimation Cameras Robot vision systems

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Observer-based discrete-time sliding-mode control for higher-order dynamic delay-time system

Observer-based discrete-time sliding-mode control for higher...

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international conference on control, automation, robotics and vision

作者： Y. P. Patil H. G. Patel Department of Instrumentation & Control Engineering NDMVP Samaj's KBT College of Engineering Nashik M.S. India Department of Electrical Engineering Sardar Vallabhbhai National Institute of Technology Surat Gujrat India

ISBN: (纸本)9781509035502

the linear time invariant (LTI) observer-based discrete-time sliding-mode control problem is considered for a robust tracking of higher-order dynamic delay-time systems. Here, Luenberger observer is used for estimation of system states as all states are not available for measurement. Sliding surface is selected based on output feedback and observer states to realize the sliding-mode control. Observer and controller parameters are tabulated by pole placement strategy. the performance of proposed control is improved with dual tuning parameter in terms of settling time and control effort. Finally, non-oscillatory, oscillatory, integrating, and non-minimum phase systems with delay-time examples are implemented with numerical simulations to demonstrate the validity of the proposed control method.

关键词： delay time Discrete-time sliding-mode control higher-order process observer

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Adaptive backstepping controller design for quadrotor aircraft with unknown disturbance

Adaptive backstepping controller design for quadrotor aircra...

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

作者： Zhixiang Dong Huijin Fan Yongji Wang Linyi Xu Wei Wang School of Automation Huazhong University of Science and Technology Wuhan China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9781509035502

For quadrotor aircraft, atmospheric turbulence, wind shear, and model uncertainty are important factors which affect the quality of flight, or even lead to a failure of flight. In this paper, we consider the control problem of quadrotor aircraft with linear or nonlinear disturbances including model uncertainty. By employing backstepping technique, adaptive backstepping controllers are proposed which ensure the stability and reliability of the closed-loop system. Simulation results illustrate the effectiveness of proposed scheme.

关键词： Atmospheric modeling Aircraft Propellers Adaptation models Angular velocity Mathematical model Backstepping

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Consensus of linear multi-agent systems with communication delays under dynamic networks

Consensus of linear multi-agent systems with communication d...

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

作者： Maobin Lu Lu Liu Department of Mechanical and Biomedical Engineering City University of Hong Kong Kowloon Hong Kong

ISBN: (纸本)9781509035502

In this paper, the consensus problem for linear multi-agent systems subject to non-uniform time-varying communication delays and jointly connected switching networks is investigated. Both distributed dynamic state feedback control law and distributed dynamic output feedback control law are proposed. By establishing some technical lemmas, it is shown that the proposed distributed control laws can solve the consensus problem.

关键词： Delays Switches Multi-agent systems Communication networks Closed loop systems Decentralized control Trajectory

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A multiple neural-network-based controller for a class of nonlinear systems

A multiple neural-network-based controller for a class of no...

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international conference on control, automation, robotics and vision

作者： Koshy George Rashmi Ugarakhod PES Centre for Intelligent Systems Department of Telecommunication Engineering PES Institute of Technology Bangalore India Dept. of Electronics & Communication Engg PES University Bangalore India

Improving the transient behaviour of neural-networked-based control of a class of nonlinear systems is the goal of this paper. this is achieved by leveraging the faster convergence of the online sequential learning al... 详细信息

ISBN: (纸本)9781509035502

关键词： Nonlinear systems Transient analysis Heuristic algorithms Adaptation models Approximation algorithms control systems Fuzzy control

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An optimal active power control strategy of islanded microgrid with diverse communication delays

An optimal active power control strategy of islanded microgr...

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international conference on control, automation, robotics and vision

作者： Gang Chen Zhongyuan Zhao Mingxiang Dai College of Automation Chongqing University Chongqing China

ISBN: (纸本)9781509035502

Communication networks are increasingly applied in smart grid for information exchange and optimal operation. this paper presents an optimal active power control strategy for islanded microgrid in the presence of communication delays. the control strategies are fully distributed. the impact of the diverse communication delays and the effectiveness of the algorithm are analyzed by using the Generalized Nyquist criterion. the proposed approach can minimize the total cost and maintain the supply-demand balance of the microgrid. Several case studies are carried out to verify the effectiveness of the proposed approach.

关键词： distributed control Islanded microgrid optimal control communication delay

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Research on new algorithm of dealing with distance ambiguity for high frequency PD radar

Research on new algorithm of dealing with distance ambiguity...

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international conference on control, automation, robotics and vision

作者： Kai-Rui Zhao Yang Li Ya-Zhou Hu Xin-Hua Huang Long-Bin Hou School of Automation Northwestern Polytechnical University (NWPU) Xi'an China Department of Engineering Technology Changhe Aircraft Industry Group Co. LTD JingDeZhen China

ISBN: (纸本)9781509035502

In the high-frequency PD radar engineering applications, it is easy to produce the distance ambiguity problem. the most commonly used solutions of the fuzzy algorithms are Chinese remainder theorem, one-dimensional set of algorithms and more than poor look-up table method. this paper presents a new algorithm of range ambiguity resolution, first of all estimate a set of fuzzy distance number of wavelengths through the lattice theory, and then implement the estimation of the true distance in the framework of maximum likelihood estimation. Finally, the simulation experiments show that, the solution of fuzzy algorithm under the assurance to solve the ambiguity of the accuracy of the premise, compared to in the Chinese remainder theorem, one-dimensional set algorithm, residual look-up table method has a faster processing speed.

关键词： maximum likelihood estimation Chinese remainder theorem one-dimensional set algorithm residual look-up table method Lattice theory

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Adaptive control of uncertain gear transmission servo systems with dead-zone nonlinearity

Adaptive control of uncertain gear transmission servo system...

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

作者： Bin Xie Wei Wang Zongyu Zuo School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9781509035502

In this paper, the position control problem of a gear transmission servo system with dead-zone nonlinearity is investigated. All the parameters involved in both system model and dead-zone nonlinearity model are allowed totally unknown. An adaptive back stepping control scheme is presented. the effects of dead-zone nonlinearities are described by mismatched and matched disturbances, which are compensated by introducing additional estimates of their bounds in control laws and robust terms in parameter update laws. It is shown that all the closed-loop signals can be ensured bounded and the output regulation error will converge to a compact set. Simulation results are provided to show the effectiveness of the proposed adaptive control scheme.

关键词： Gears Adaptation models Servomotors Torque automation Backstepping Adaptive control

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Distributed neuro-adaptive control of multi-agent systems and its application in micro-grids

Distributed neuro-adaptive control of multi-agent systems an...

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international conference on control, automation, robotics and vision

作者： Haoyang Wang Tao Huang Junhao Huang Tiedong Ma College of Automation Chongqing University Chongqing China

ISBN: (纸本)9781509035502

In this paper, the distributed control of micro-grids is regarded as the consensus problem for a class of nonlinear multi-agent systems. An effective distributed adaptive control strategy is proposed based only on local information of the network structure. Dynamics of agents are assumed to be unknown and estimated by Neural Networks. the leader is ultimately followed by the followers with bounded synchronization error. To verify the effectiveness of the cooperative tracking adaptive controller, one simulation in micro-grid system is given finally.

关键词： neural adaptive control micro-grid system nonlinear multi-agent systems distributed cooperative control

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Relative localization with computer vision and UWB range for flying robot formation control

Relative localization with computer vision and UWB range for...

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international conference on control, automation, robotics and vision

作者： B. Ramirez H. Chung H. Derhamy J. Eliasson J. C. Barca Faculty of Information Technology Monash University Clayton VIC 3800 Australia Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia Department of Computer Science Electrical and Space Engineering Lule? University of Technology 971 87 Lule? Sweden

ISBN: (纸本)9781509035502

Relative localization is a core problem for swarm robotics since each swarm node must determine where neighboring robots are located to accomplish cooperative tasks such as formation control. In this paper we present a system that performs relative localization between a stationary marker and a flying robot in real-time. Relative distances are obtained using ultra-wide band radio, while a low-cost webcam provide angle measurements. To achieve the latter, we employed the Camshift algorithm and a Kalman filter. We tested our system outdoors during daylight using centimeter-accuracy GPS measurements as ground truth. three data sets have been collected from a series of experiments and it shows that errors in estimated relative positions are between +/-0.190 m on the x-East axis and +/-0.291 m on the z-North axis at 95% confidence level.

关键词： Camshift Flying robot Relative Localization UWB Range Computer vision

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