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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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Adaptive Neural Network control of Uncertain Nonlinear Systems in the Presence of Input Saturation

Adaptive Neural Network Control of Uncertain Nonlinear Syste...

引用

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

作者： Jing Zhou Meng Joo Er Yi Zhou Intelligent Systems Centre Research Techno Plaza Nanyang Technological University Singapore Process Instrumentation Lab School of EEE Nanyang Technological University Singapore

In this paper, we present a new scheme to design adaptive controller for uncertain nonlinear systems in the presence of input saturation. the control design is achieved by using backstepping technique and neural network. Unlike some existing control schemes for systems with input saturation, the developed controller does not require uncertain parameters within a known compact set. Besides showing stability, transient performance is also established and can be adjusted by tuning certain design parameters

关键词： Adaptive systems Programmable control Adaptive control Neural networks Nonlinear control systems control systems Nonlinear systems control design Backstepping Stability

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Robot Navigation by Panoramic vision and Attention Guided Fetaures

Robot Navigation by Panoramic Vision and Attention Guided Fe...

引用

international conference on Pattern Recognition

作者： A. Bur A. Tapus N. Ouerhani R. Siegwart H. Hugli Institute of Microtechnology (IMT) University of Neuchâtel Neuchâtel Switzerland Swiss Federal Institute of Technology Lausanne (EPFL) Switzerland 2Swiss Federal Institute of Technology Lausanne (EPFL) Switzerland ~nstitute of Microtechnology (IMT) University of Neuchstel Neuchitel Switzerland

ISBN: (纸本)0769525210

In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose robots. In order to fulfil new requirements of robot versatility and robustness to environmental changes, we propose in this paper to perform the feature selection of a panoramic vision system by means of the saliency-based model of visual attention, a model known for its universality. the first part of the paper describes a localization system combining panoramic vision and visual attention. the second part presents a series of indoor localization experiments using panoramic vision and attention guided feature detection. the results show the feasibility of the approach and illustrate some of its capabilities

关键词： Robot vision systems Navigation Robustness Machine vision Robot localization Computer vision Cameras robotics and automation Layout Testing

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Technology for Automatic Ceramic Powder Storing and Continuous Proportional Weighing Establishment of a Flexible Design Platform

Technology for Automatic Ceramic Powder Storing and Continuo...

引用

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

作者： W.L. Wang School of Mechanical and Electrical Engineering University of Nanchang Nanchang China

the automatic ceramic powder storing and continuous proportional weighing (CPS&CPW) section for modern ceramic tile production line is usually a very large and complicated system, its developing works are often difficult, confusing and time-consuming. A flexible design system functioned as a convenient CAD platform for CPS&CPW process automation was established, corresponding techniques which include the modularized hardware and software design, flexible developing method for application systems based on Siemens Profibus and Ethernet communication protocols are presented. An actual industrial application system which was yielded from the platform is also introduced

关键词： Ceramics Powders Design automation Application software Tiles Continuous production Production systems Hardware Software design Ethernet networks

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control of Catalytic Flow Reversal Reactor

Control of Catalytic Flow Reversal Reactor

引用

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

作者： Vinay Kariwala J. Fraser Forbes Division of Chemical & Biomolecular Engineering Nanyang Technological University Singapore Department of Chemical & Materials Engineering University of Alberta Edmonton Canada

this paper deals with control of catalytic flow reversal reactors (CFRR) used for oxidation of greenhouse gases like methane. this system differs from conventional reactors as it is a discrete-event or hybrid system with the only available manipulated variable being the flow direction. For maintaining high conversion rate and safety reasons, closed loop control is required. We successfully implement and compare the performances of different techniques like logic control, scheduling and predictive control for safe operation of CFRR. We find that the performances of latter two schemes are almost equivalent

关键词： Inductors Predictive control Chemical technology Global warming Logic Job shop scheduling Chemical engineering Chemical reactors control systems Heating

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Generalized Minimum Variance Implicit Self-tuning Nodal Voltage Regulation in Power Systems with Pole-assignment Technique

Generalized Minimum Variance Implicit Self-tuning Nodal Volt...

引用

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

作者： Giuseppe Fusco Mario Russo Faculty of Engineering University of Cassino Italy

the application of the generalized minimum variance approach to the design of an implicit self-tuning with pole-assignment nodal voltage regulator in electrical power systems is presented. the regulator embeds a difference filter to counteract the effects of a constant disturbance term present in the proposed power system model. the difference filter and the disturbance term generate equivalent terms in the generalized pseudo-output which must be accounted for into the estimation algorithm. Implementation aspect and simulation results are finally discussed and reported

关键词： Voltage control Power systems Power system modeling Power system dynamics Regulators Power system simulation Finite impulse response filter Adaptive control Polynomials Frequency

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Cross-Coupled Contouring control of a Rotary Based Biaxial Motion System

Cross-Coupled Contouring Control of a Rotary Based Biaxial M...

引用

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

作者： W. Deng K. S. Low School of Electrical and Electronic Engineering Nanyang Technological University Singapore

For multi-axis translational motion system, better contouring accuracy is achieved using a cross-coupled controller. However, the rotary biaxial motion system that is under investigation in this paper has different system dynamics as compared to the translational system. Consequently, the existing cross-coupled control method becomes less effective. To overcome this deficiency, a trajectory coordinate based cross-coupled control method is proposed. the effectiveness of the proposed approach has been evaluated with both simulation and experiment studies. the results have shown that the new system performs better than the traditional scheme

关键词： Motion control control systems Error correction Tracking Trajectory Feedback control Cameras Directional antennas Antenna measurements Motion measurement

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A Unified Approach for Multi-Fingered Manipulation with Non-Sliding Contact in a Horizontal Plane

A Unified Approach for Multi-Fingered Manipulation with Non-...

引用

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

作者： Ryuta Ozawa Suguru Arimoto Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

To date, many control algorithms have been proposed for grasping of rigid objects, through fixed or rolling contact in a horizontal plane, by multi-fingered robotic hands. However, these non-sliding contacts have not been considered in a single model. Here, by examining kinematics, we present a single model for both fixed and rolling contacts in a horizontal plane, and show that a fixed point contact is a special case of a rolling contact. We introduce a blind grasping algorithm with tactile feedback, and show that the algorithm does not require any tactile feedback in the case of a fixed point contact. Numerical simulations show that the algorithm is applicable for stable pinching with non-sliding contact

关键词： Kinematics Force sensors Grasping Service robots Fingers Force control Tactile sensors Force feedback Surface treatment control systems

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New Results In Robust Observation And Fault Reconstruction

New Results In Robust Observation And Fault Reconstruction

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

作者： C.P. Tan F. Crusca M. Aldeen School of Engineering Monash University Malaysia Department of Electrical and Computer Systems Engineering Monash University VIC Australia Department of Electrical and Electronic Engineering University of Melbourne Parkville VIC Australia

A common requirement that is implicit in current methods for the design of robust state estimators and robust fault detection filters is that the first Markov matrix must be non-zero, and indeed, full rank. We relax both of these restrictions in this paper to allow the applicability to a wider range of systems. the extended results are then applied to an aircraft fault detection for which the restrictive condition is not satisfied

关键词： Robustness Fault detection State estimation Observers Design engineering Filters Aerospace industry Aerospace control Uncertainty Systems engineering and theory

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Parallel Grammatical Evolution with Backward Processing

Parallel Grammatical Evolution with Backward Processing

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

作者： Pavel Osmera Ondrej Popelka Petr Pivonka Faculty of Mechanical Engineering Brno University of Technology Brno Czech Republic Department of Control and Instrumentation Brno University of Technology Brno Czech Republic

this paper describes parallel grammatical evolution (PGE) that can evolve complete programs using a variable length linear genome to govern the mapping of a Backus Naur form grammar definition. To increase the efficiency of grammatical evolution (GE) the influence of backward processing was tested. the significance of backward coding (BC) and the comparison with standard coding of GEs is presented. BC can speed up grammatical evolution with high quality features. the adaptive significance of parallel grammatical evolution with "male" and "female" populations has been studied

关键词： Genetic programming Evolution (biology) Genomics Bioinformatics Production automation Computer science Paper technology Mechanical engineering Testing

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Reliable Memory Feedback H∞ control for Linear Time-Delay Systems with Adaptive Mechanism

Reliable Memory Feedback H∞ Control for Linear Time-Delay S...

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

作者： Dan Ye Guang-Hong Yang College of Information Science and Engineering Northeastern University Shenyang China

this paper deals with the reliable controller design problem for continuous-time linear systems with time-delay and actuator faults based on LMI method and adaptive method. A new delay-dependent memory reliable controller is established in a parameter-dependent form, in which fault parameters are adjusted on-line based on adaptive method to automatically compensate the fault effect on system. In the framework of linear matrix inequality (LMI) approach, the stability and H ∞ performance of closed-loop systems are guaranteed in normal and faulty cases. A numerical example and its simulations are provided to demonstrate the effectiveness of the proposed results

关键词： Feedback Automatic control control systems Programmable control Adaptive control Linear systems Hydraulic actuators Delay effects Linear matrix inequalities Stability

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