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An Autonomous Task Allocation Method Of the Multi-Robot System

An Autonomous Task Allocation Method Of The Multi-Robot Syst...

引用

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

作者： Yingying Ding Miaoliang Zhu Yan He Jingping Jiang College of Computer Science University of Zhejiang Hangzhou China College of Electrical Engineering University of Zhejiang Hangzhou China

To enable the multi-robot system allocating tasks automatically is very important in improving the adaptation of the system. In this paper, a task allocation method based on personality is designed and a persistent factor, as one aspect of personality of the robot is introduced; the pheromone follow phenomenon of the ant algorithm is used to realize cooperation. Box pushing problem is used to test the performance of the algorithm. A phenomenon called task deadlock is defined and discussed in the paper. the persistent factor is used to solve the task deadlock problem

关键词： Multirobot systems System recovery Educational institutions Algorithm design and analysis Testing Intelligent robots Insects Computer architecture Computer science robotics and automation

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Outer Approximation of the Minimal Disturbance Invariant Set of PWL Systems with Bounded Disturbances

Outer Approximation of the Minimal Disturbance Invariant Set...

引用

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

作者： Sui Dan Ong Chong Jin Singapore-MIT Alliance National University of Singapore Singapore Singapore-MIT Alliance and Mechanical Engineering Department National University of Singapore Singapore

the paper considers piecewise linear system with bounded disturbances (PWLBD system). Some properties of the minimal disturbance invariant set F infin of PWLBD systems are discussed and an algorithm for the computation of its outer bounds is presented. In general, the set F infin of PWLBD system is non-convex and a union of many polytopes. the resulting outer bounds are convex and remain disturbance invariant property

关键词： Piecewise linear approximation Piecewise linear techniques Linear systems Mechanical engineering Linear approximation control systems Sufficient conditions Robust control Optimal control Predictive models

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Decomposition and Noncausal Realization of Unstable LPTV System

Decomposition and Noncausal Realization of Unstable LPTV Sys...

引用

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

作者： Xiaofang Chen Cishen Zhang Jingxin Zhang School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Electrical and Computer Systems Engineering Monash University VIC Australia

In this paper, we propose a state space approach to the decomposition of linear periodic time-varying (LPTV) systems. It decomposes an LPTV system into two subsystems: the stable LPTV subsystem and the unstable LPTV subsystem. An anti-causal realization for the unstable LPTV subsystem is further developed for providing stable numerical computation of the unstable system output

关键词： Time varying systems State-space methods Image restoration Filter bank Space technology Inverse problems Systems engineering and theory Additive noise control systems Filtering

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Neural Network control Approach for Improving Vehicle Stability

Neural Network Control Approach for Improving Vehicle Stabil...

引用

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

作者： Li Jianfeng Gao Li School of Mechanical and Vehicle Engineering B.I.T. Beijing China

A neural network controller for direct yaw moment control was developed to improve the vehicle stability. the neural network approximate model was used to identify the vehicle system and then the controller was obtained by rearrangement of the neural network plant model. the controller was designed to generate additional yaw moment and make the yaw rate tracking the desired trajectory. the numerical simulation of a vehicle under severe cornering maneuver has been carried out with and without the use of the controller. Simulation results indicate that the vehicle handling and stability are significantly improved as compared to the uncontrolled one

关键词： Neural networks Stability Road vehicles Vehicle driving control systems Equations Motion control Vehicle dynamics Wheels Automotive engineering

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Delay-dependent Robust H∞ controller Design For Uncertain Linear Systems with Time-varying State and Input Delays

Delay-dependent Robust H∞ Controller Design For Uncertain L...

引用

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

作者： Yunxiang Wang Wenzhan Dai Information & Electronic Engineering College Zhejiang Gongshang University Hangzhou Zhejiang China

this paper studies on delay-dependent robust H ∞ control for uncertain linear systems with time-varying delays both in state and input. Based on an integral inequality, the sufficient condition of the existence for the state feedback controller is presented in terms of LMI, by means of Lyapunov-Krasovskii functional approach; it is proved that the new criterion does not require any assumptions about the system matrices. Finally, a numerical example is presented to demonstrate that using this integral inequality is effective

关键词： Robustness control systems Symmetric matrices Time varying systems Delay systems Robust control Linear systems Performance analysis Linear feedback control systems Design engineering

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A Study on Piecewise Polynomial Smooth Approximation to the Plus Function

A Study on Piecewise Polynomial Smooth Approximation to the ...

引用

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

作者： Linkai Luo Chengde Lin Hong Peng Qifeng Zhou Xiamen University Xiamen Fujian CN Department of Automation Xiamen University Xiamen China

In smooth support vector machine (SSVM), the plus function must be approximated by some smooth function, and the approximate error will affect the classification ability. this paper studies the smooth approximation to the plus function by piecewise polynomials. First, some standard piecewise polynomial smooth approximation problems are formulated. then, the existence and uniqueness of solution for these problems are proved and the analytic solutions are achieved. the comparison between the results in this paper and the previous ones shows that the piecewise polynomial functions in this paper achieve better approximation to the plus function

关键词： Polynomials Support vector machines Interpolation Support vector machine classification automation control system synthesis Optimization methods Neural networks Stability Measurement standards

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Real Time control for 4-wheeled Vehicles via Algorithmic control Incorporating Computation Time

Real Time Control for 4-wheeled Vehicles via Algorithmic Con...

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

作者： Tomoaki Kobayashi Junichi Maenishi Joe Imae Guisheng Zhai Department of Mechanical Engineering Osaka Prefecture University Sakai Osaka Japan

In this paper, we consider robustness for real-time control method, which is based on the algorithms of numerical solutions for optimal control problems, called algorithmic control. We improved the conventional algorithmic control technique for the numerical robustness via incorporating computation time. the proposed control technique is applied to a positioning control problem of four-wheeled vehicles. We deal with the case of disturbance or modeling errors exists. the effectiveness of the proposed method is demonstrated through some numerical simulation results

关键词： Vehicles Nonlinear control systems control systems Optimal control Robust control Riccati equations Uncertain systems Iterative algorithms Design methodology Linear feedback control systems

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A Study of Robotizing Daily Items For an Autonomous Carrying System-Development of person following shopping cart robot

A Study of Robotizing Daily Items For an Autonomous Carrying...

引用

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

作者： Soh Nishimura Keita Itou Takashi Kikuchi Hiroshi Takemura Hiroshi Mizoguchi Department of Mechanical Engineering Tokyo University of Science Chiba Japan

this paper introduces a person following shopping cart robot. the developed prototype robot is using a shopping cart as the robot's main body and attaching a driving module. the aim of this study is to develop a porting system for large-sized facilities (i.e. shopping mall, airport, etc.), where the object item is autonomously carried by a person following ("after you") porting robot. We believe such study on porting robots is highly practical and necessary in today's aging society. By using the computer's signal output for autonomous run and the manually control function for risk aversion, a compatible control with automatically and manually control is realized. the structure and the principle of control system are described

关键词： Robots robotics and automation Airports Automatic control Tires Joining processes Senior citizens Costs Electronics packaging Mechanical engineering

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Adaptive Reliable and Robust H∞ control for Nonlinear Systems with Parametric Uncertainties and External Disturbances

Adaptive Reliable and Robust H∞ Control for Nonlinear Syste...

引用

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

作者： Ling-tao Zhang Shu-ci Wu Ling-bo Zhang James Zhang School of Electronics and Information Engineering Central South University of Forestry and Technology Changsha China Institute of Automation East China University of Science and Technology Shanghai China Department of Engineering and Technology Western Carolina University Cullowhee NC USA

this paper proposes a design method for the adaptive reliable and robust H ∞ control problems of a class of nonlinear systems with parametric uncertainties and external disturbances in the case of existing actuator failures. By the use of the parametric projection method in adaptive control, the adaptive control laws are derived. Based on Hamilton-Jacobi inequalities, the adaptive controllers are designed to guarantee the system robust H ∞ performance with actuator failures

关键词： Robustness Adaptive control Programmable control Robust control control systems Actuators Design methodology Nonlinear control systems Nonlinear systems Uncertainty

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Self-tuning Fuzzy Logic control of Greenhouse Temperature using Real-coded Genetic Algorithm

Self-tuning Fuzzy Logic Control of Greenhouse Temperature us...

引用

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

作者： Fang Xu Jiaoliao Chen Libin Zhang Hongwu Zhan MOE Key Laboratory of Mechanical manufacture and Automation Zhejiang University of Science and Technology Hangzhou Zhejiang China

the greenhouse temperature model is built based on the balance of the energy. A new real-coded genetic algorithm (GA) for self-tuning fuzzy logic control (FLC) of greenhouse temperature is proposed, in which, an arithmetical crossover operator, a ranking-based reproduction operator and a non-uniform mutation operator are adopted. the Gaussian input membership functions for the error and the change-in-error of the temperature of FLC is optimized by GA in terms of the root-mean-square error (RMSE) with setpoint and input energy. Compared with the basic fuzzy control, the tuned FLC gives better performance in terms of improving control precision and saving energy

关键词： Fuzzy logic Temperature control Genetic algorithms Solar heating Crops Optimal control Automatic control Manufacturing automation Fuzzy control Mathematical model

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