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Feedforward control of LTI system with uncertainty and disturbance

Feedforward control of LTI system with uncertainty and distu...

引用

international conference on control, automation, robotics and vision

作者： Sergei Basovich Shai Arogeti Ben-Gurion University of the Negev Beer-Sheva Israel

ISBN: (纸本)9781509035502

this paper presents a control scheme for a linear time invariant (LTI) system with uncertainty and disturbance, which are not assumed to be matched with the control input. the presented control scheme consists of a stabilizing feedback controller and a newly developed feed forward mechanism, which counteracts the uncertainty and disturbance through the reference path. In contrast to the related control methods, such as time delay control (TDC) and uncertainty and disturbance estimation (UDE) based control, the scheme presented in this paper does not impose any structural constraints on the controlled plant. the presented control scheme was verified experimentally using a flexible mechanical testbed with a poorly damped resonance.

关键词： disturbance FEEDFORWARD control Uncertainty LTI Standing Orders disturbances feedback controller Scheme control Methods time delay control

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ILC based perimeter control for an urban traffic network

ILC based perimeter control for an urban traffic network

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

作者： Ying Ding Shangtai Jin Chenkun Yin Zhongsheng Hou Advanced Control Systems Laboratory Beijing Jiaotong University Beijing China

ISBN: (纸本)9781509035502

Macroscopic fundamental diagram (MFD) that describes traffic flow in an urban road network can be used to design perimeter control method to regulate the traffic flow from a macroscopic level. Most of the perimeter control algorithms are regarded as a kind of model-based feedback control method, whose performance is hardly to improve in practice due to the model uncertainty. By noticing the repetitive nature of urban traffic flow, an iterative learning control (ILC) based perimeter control method is proposed for an urban region. Since the repetitive information of the controlled system is fully utilized, an improved tracking performance is guaranteed by theoretical analysis, and simulation results verify the effectiveness of the proposed perimeter control method.

关键词： Iterative learning control Mathematical model Uncertainty Feedback control Vehicle dynamics Heuristic algorithms Traffic control

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Adaptive output tracking of switched nonlinear systems with unmodeled dynamics

Adaptive output tracking of switched nonlinear systems with ...

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international conference on control, automation, robotics and vision

作者： Zehua Wang Jie Lian Dong Wang Wei Wan School of Control Science and Engineering Dalian University of Technology Dalian Dalian 116024 P. R. China

ISBN: (纸本)9781509035502

this paper is concerned with the problem of output feedback adaptive control for switched systems with unmodeled dynamics and relative degree p. Firstly, for the former p states, based on the local filters, an adaptive controller is designed by using a backstepping recursive design method and a common coordinate transformation for all subsystems. Second, a common Lyapunov function is constructed to establish the boundedness of all signals in the resulting closed-loop switched systems under arbitrary switching signals. Finally, it is shown that a system output can track the desired trajectory.

关键词： adaptive control switched systems nonlinear systems

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Nonlinear modeling and control of a two-link hybrid manipulator

Nonlinear modeling and control of a two-link hybrid manipula...

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international conference on control, automation, robotics and vision

作者： Mahmut Reyhanoglu Derek Hoffman Jop de Wit Physical Sciences Department Embry-Riddle Aeronautical University Daytona Beach FL ASML Netherlands B.V. Veldhoven the Netherlands

ISBN: (纸本)9781509035502

the slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. the results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.

关键词： Manipulator dynamics Mathematical model Vibrations Robot kinematics Benchmark testing Benchmark testing manipulator dynamics Robot kinematics Vibration Mathematical Model Robot Manipulator control technology Nonlinear Models control law

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Observer-based sliding mode control of a 3-DOF hover system

Observer-based sliding mode control of a 3-DOF hover system

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

作者： Mahmut Reyhanoglu Remon Damen William MacKunis Physical Sciences Department Embry-Riddle Aeronautical University Daytona Beach FL USA Mechanical Engineering Department Eindhoven University of Technology Eindhoven AZ Netherlands

ISBN: (纸本)9781509035502

A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is employed to estimate the angular velocities. In addition, the proposed control design incorporates the input voltage constraints inherent in practical systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.

关键词： Observers control design Propellers Sliding mode control Backstepping Convergence Uncertainty

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Development of a novel post-construction quality assessment robot system

Development of a novel post-construction quality assessment ...

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international conference on control, automation, robotics and vision

作者： Rui-Jun Yan Chin Leong Low Jinjun Duan Lili Liu Erdal Kayacan I-Ming Chen Robert Tiong School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue Singapore School of Civil and Environmental Engineering Nanyang Technological University 50 Nanyang Avenue Singapore

ISBN: (纸本)9781509035502

Utilizing construction quality standards for almost perfect building projects ensures future marketability of projects, customer satisfaction and maximization of asset value. this paper describes a novel robot system to autonomously assess the post-construction quality of buildings which is currently done manually by using human inspectors. However, manual inspection always has the disadvantages, such as labile inspection accuracy, being time consuming and indistinct recording. As a novel solution to the aforementioned drawbacks, a mobile robot is equipped with a laser scanner, a thermal camera, an inclinometer and a RGB camera to achieve an autonomous assessment system. this proposed system can assess five types of defects: evenness, alignment, cracks, hollowness, and inclination. A movable trolley with different mechanisms are designed to mount and integrate all these sensors. Its mechanical design with four motors and one linear actuator, which are installed to increase the measurement range of sensors, is also presented. the experimental tests show that the proposed system has a great potential in construction quality assessment area in building sector.

关键词： Cameras Robot vision systems Actuators Heating

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UKF based two-timescale control for a helicopter

UKF based two-timescale control for a helicopter

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international conference on control, automation, robotics and vision

作者： Song Qi Jiang Zhe Faculty of Aerospace Engineering Shenyang Aerospace University Shenyang Liaoning Province China The Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Science Beijing China

ISBN: (纸本)9781509035502

UKF based two-timescale control method is proposed for a helicopter to overcome model errors in this paper. According to the time-scale separation principle, the helicopter is decomposed into two lower-order systems: the slow subsystem and the fast subsystem. Backstepping control and inverse dynamic control method are developed for these two subsystems individually. Model errors are considered as constants or a mixture of two sinusoidal signals. Unscented Kalman filter (UKF) is employed to estimate the model errors. the results of the UKF are used for the reconfiguration of the controller. Simulation results are provided to verify the performance of the proposed method in the presence of the modeling error.

关键词： model errors Helicopter UKF two-timescale active control

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24th international conference on robotics in Alpe-Adria-Danube Region, RAAD 2015

24th International Conference on Robotics in Alpe-Adria-Danu...

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24th international conference on robotics in Alpe-Adria-Danube Region, RAAD 2015

ISBN: (纸本)9783319212890

the proceedings contain 57 papers. the special focus in this conference is on Robot Integration in Industrial Applications, Grasping Analysis, Dexterous Grippers and Component Design. the topics include: On applying CSP for coordination of a multi-robot holonic manufacturing execution system;establishing optimal energy working parameters for a robotized manufacturing cell;ROS based safety concept for collaborative robots in industrial applications;experimental platform for performance tests of compliant robotic devices;cooperative assembly using two industrial robots;the beginning of the automation;gripping analysis of an underactuated finger;dynamic behaviour of an underactuated finger;swivel walker with electromotor module and designation of stability;resistance feedback of a shape memory alloy wire;study of 3-jaw gripper architectures;flexible actuator for biomorphic applications;optimizing trajectory points for high speed robot assembly operations;cost function-free optimization in inverse kinematics of open kinematic chains;preliminary ideas on the odometry of an omni-directional mobile robot;study of controlled motion of exoskeleton moving from sitting to standing position;robotic system equipped with catapult;a control predictive framework for image-based visual servoing applications;motion leap compared to data gloves in human hand tracking;considerations for robot vision in glass production;rotation angle determination of a rectangular object using an infrared sensorial system;analysis of the first interaction with nao robot based on their proprioceptive and kinematic profiles and designing a multimodal human-robot interaction interface for an industrial robot.

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Distributed controller design for multi-agent systems with stochastic upper-triangular nonlinear dynamics

Distributed controller design for multi-agent systems with s...

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

作者： Wuquan Li Hui Wang Xin Yu School of Mathematics and Statistics Science Ludong University Yantai China School of Electrical and Information Engineering Jiangsu University Zhenjiang China

ISBN: (纸本)9781509035502

this paper studies the distributed controller design for multi-agent systems (MASs) with stochastic upper-triangular nonlinear dynamics under the directed network topology. By developing the distributed low-gain homogeneous domination method, distributed controllers are designed. By using the algebraic graph theory and stochastic analysis method, it can be proved that the followers can achieve mean square bounded output tracking of the leader while keeping all the states of the closed-loop system bounded in probability. Finally, a simulation example is given to illustrate the efficiency of the distributed controllers.

关键词： Stability analysis Multi-agent systems control systems Robots Nonlinear dynamical systems Electronic mail

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A method of simultaneous location and mapping based on RGB-D cameras

A method of simultaneous location and mapping based on RGB-D...

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international conference on control, automation, robotics and vision

作者： Xin Liu Baiwei Guo Chao Meng Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509035502

Autonomous UAV must rely on the navigation system to fly in the indoor environment. However, the traditional navigation system such as GPS cannot be used in the indoor environment. A method of Simultaneous Location and Mapping (SLAM) based on RGB-D cameras is used to solve this matter. We adopt the RGB-D SLAM algorithm to locate the camera and build the 3D map of the environment in this paper. the framework and process of the algorithm are described in detail. the experiments show that the RGB-D SLAM algorithm can achieve good results.

关键词： navigation UAV Simultaneous Location and Mapping RGB-D cameras

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