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About Gain Scheduled State Feedback controllers for Rational LPV Systems

About Gain Scheduled State Feedback Controllers for Rational...

引用

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

作者： A. Bouali P. Chevrel M. Yagoubi Department Automatique Institutde Recherche en Communication et Cybernetiquede Nates Nantes France Department Automatique Ecole des Mines de Nantes Nantes France

the problem of H infin , state-feedback control synthesis for a subclass of rational LPV (linear varying parameter) systems is studied. It is shown first that rational LPV systems may be equivalently recast as an affine descriptor LPV system. Working on such realizations and under some simplifying assumptions, sufficient conditions for stability and H infin , performance are proposed in terms of LMI (linear matrix inequalities). Based on these conditions, a LMI problem is formulated in order to design constant or affine (in the varying parameters) H infin state-feedback. the effectiveness of the controllers so obtained is illustrated through academic examples

关键词： State feedback control systems Stability Automatic control Lyapunov method Time varying systems Communication system control Sufficient conditions Constraint optimization control system synthesis

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Design of GPS/MM/GPRS Integrated Location System for the Mobile Robot

Design of GPS/MM/GPRS Integrated Location System for the Mob...

引用

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

作者： Feng Cui Minglu Zhang Lingyu Sun School of Mechanical Engineering Hebei University of Technology Tianjin China

A MM (map matching) method based on credibility algorithm is proposed in this paper to improve location precision of GPS (global positioning system) for the mobile robot. It can find the exact road on which the robot moves in the electronic map quickly when the longitude and latitude of the robot is known. How to extract longitude and latitude from GPS data stream is also introduced. AT commands are used to establish GPRS (general packer radio service) link for transmitting location messages and telecommands between the robot and control center. the analysis of map matching diagram and simulation are given in the final. A great deal of on-the-spot experiments prove that this system has the better positioning precision than that of positioning of single GPS receiver

关键词： Global Positioning System Ground penetrating radar Mobile robots Roads Data mining Radio control Robot control Telecommunication control Analytical models Receivers

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Interactive & Immersive VR Image Processing and Visualization

Interactive & Immersive VR Image Processing and Visualizatio...

引用

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

作者： Ch Lim C Indhumathi Yy Cai School of Mechanical & Aerospace Engineering Nanyang Technological University Singapore

Volume rendering is a computerized visualization technique that can be used to identify critical portions and specific regions of interest in various applications including medicine or biology. Localization and segmentations can be conducted and rendered dynamically such that navigation and operations within the volumetric dataset can be implemented. this paper describes our work on immersive VR image processing and visualization. A system is being developed with motion tracking and a pen-like stylus in this project in order to assist the bio-medical science research. this will provide a six degree-of-freedom 3D motion control that eases the control for volume manipulation and data extraction in a 3D environment. Together with a stereovision system, it will provide the user with a full 3D interactive environment in virtual reality (VR) for medical and cell biological applications

关键词： Virtual reality Image processing Visualization Rendering (computer graphics) Biomedical imaging Motion control Biology computing Application software Image segmentation Navigation

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Optimum Efficiency of U-shaped Flexible Production Line

Optimum Efficiency of U-shaped Flexible Production Line

引用

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

作者： Fang Lin Shixiong Zheng South China University of Technology Guangzhou Guangdong China

this paper discusses the optimum efficiency of a U-shaped flexible production line (U-FPL) and the relationship between the efficiency and cycle time of a U-FPL. In the literature, few researches have been done in this area. However, designing a U-FPL scheme, many designers decrease the cycle time of a U-FPL to increase its productivity and overlook the efficiency of a U-FPL. thus it causes the increasing of equipment costs. this paper describes a model of the U-FPL that can present most U-FPLs and deduces an equation to calculate the efficiency of a U-FPL. From analyzing the equation, the optimum efficiency of a U-FPL and several rules for guiding the design of a U-FPL scheme are obtained

关键词： Computer numerical control Equations Lean production Productivity Costs Production systems Educational institutions Mechanical engineering Paper technology Manufacturing

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Full State Tracking of a Four-Wheel-Steering Vehicle based on Output Tracking control Strategies

Full State Tracking of a Four-Wheel-Steering Vehicle based o...

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

作者： Guangyan Xu Danwei Wang Department of Automation Shenyang Institute of Aeronautical Engineering Shenyang China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In this paper, the stable full-state tracking problem of a four-wheel-steering vehicle based on the output tracking strategies are investigated. Dynamics of such vehicle is nonholonomic and pose challenging problems for control design and the stability analysis. the dynamics formulated in terms of full state tracking errors offer some properties that allow better understanding of internal and zero dynamics of the tracking error system. Sufficient conditions are derived to ensure the stability of the internal dynamics. We show that the stability of the internal dynamics is mainly guaranteed by suitably defining output function and by suitably confining the behavior of the desired trajectory. Since sufficient conditions to confine the desired trajectory behavior are rather mild, we conclude that the output tracking control laws can be applied very well to solve the full-state tracking problem of a nonholonomic four-wheel-steering vehicle

关键词： Vehicle dynamics Aerodynamics Stability Remotely operated vehicles Sufficient conditions Linear feedback control systems Trajectory Feedback control Road vehicles Vehicle driving

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Adaptive control for Stabilizing Nonnecessarily Inversely Stable Plants by Using Multiple Estimation Models with Multirate Input and Fractional-Order Holds

Adaptive Control for Stabilizing Nonnecessarily Inversely St...

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

作者： S. Alonso-Quesada M. De la Sen Departamentode Electricidad y Electronica Universidad del Paris Vasco Spain Departamento de Electricidad y Electrónica Universidad del País Vasco Leioa Spain

this paper presents a multi-estimation adaptive control strategy for stabilizing a potentially noninversely stable, linear and time-invariant plant. Such a strategy works with several discretization models of the plant. Each one of them is obtained by means of a fractional-order hold (FROH) and a multirate input in order to place its zeros into the stability region. A supervisor activates one of such models and maintains it in operation during at least a minimum residence time for stability purposes. that estimation model parameterizes a discrete-time adaptive controller for asymptotically matching a stable reference model at sampling instants

关键词： Adaptive control Stability Sampling methods Programmable control Parameter estimation Signal processing Switches Transient response State-space methods Equations

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Exploring Possibilities for RSS-Adaptive Power control in MICA2-based Wireless Sensor Networks

Exploring Possibilities for RSS-Adaptive Power Control in MI...

引用

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

作者： J.C. Lim K.D. Wong Faculty of Information Technology Malaysia University of Science and Technology Petaling Jaya Malaysia

Careful control of power transmission levels can play an important role in prolonging the lifetime of a node in a wireless sensor network. thus in designing efficient wireless sensor networks protocols serious consideration should be given to this factor. this paper investigates the relationship between power transmission levels and received signal strength and packet reception rates, when MICA2 motes are used. the measurement-based approach obtains real-world performance data of MICA2 mote communications as power transmission levels are varied. the results presented here may therefore be of use in the design of power control algorithms in new communication protocols for the MICA2

关键词： Power control Wireless sensor networks Protocols Power transmission Batteries Voltage Radio transceivers Microcontrollers Radio transmitters Receivers

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Probabilistic Integration of 2D and 3D Cues for Visual Servoing

Probabilistic Integration of 2D and 3D Cues for Visual Servo...

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

作者： A. H. Abdul Hafez C. V. Jawahar Dept. of Computer Science and Engineering Osmania University Hyderabad India Center for Visual Information Technology International Institute of Information Technology Hyderabad India Department of Computer Science and Engineering College of Engineering Osmania University Hyderabad India

In this paper we present a new integration method for improving the performance of visual servoing. the method integrates image-based visual servoing (IBVS) and position-based visual servoing (PBVS) approaches to satisfy the widely varying requirements of the visual servoing process. We define an integration rule for IBVS and PBVS controllers. Density functions that determine the weighting factor of each controller are defined to satisfy the above constraints. We prove that this integration method provides global stability, and avoids local minima. the new integration method is validated on positioning tasks and compared with other switching methods

关键词： Visual servoing Cameras Robot vision systems Signal processing Information technology Robot sensing systems Feedback Orbital robotics Error correction Computer science

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Low Cost Measurement of Small Boat RCS at 94GHz

Low Cost Measurement of Small Boat RCS at 94GHz

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

作者： G.M. Brooker C. Lobsey R Hennessy Australian Centre for Field Robotics University of Sydney Sydney Australia

this paper discusses a procedure to measure the radar cross section (RCS) of small boats at 94 GHz. It describes a simple and moderately low cost set of hardware that was used to perform these measurements. Results include polar patterns made from the peak RCS at each angle and probability density functions to characterise the distribution of RCS. In the case of the largest boat, a 41 ft fly-bridge cruiser, it was possible to process the high resolution range profile data to identify the positions of the larger scatterers. Analysis of the measured data for all of the craft shows a linear relationship between the median RCS of the non-metallic boats and their physical cross-section when viewed side on

关键词： Costs Boats Radar cross section Radar antennas Radar measurements Frequency Australia Antenna measurements Hardware Radar scattering

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Emotional Communication with the Robot Head MEXI

Emotional Communication with the Robot Head MEXI

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

作者： Natascha Esau Lisa Kleinjohann Bernd Kleinjohann C-Laboratory University of Paderborn Paderborn Germany

this paper presents the robot head MEXI which is able to communicate to humans in an emotional way. MEXI recognizes emotions of its human counterpart from the prososdy of his or her natural speech using a fuzzy rule based approach. MEXI reacts on its perceptions by showing artificial emotions in its facial expressions and in the prosody of its synthesized natural speech. MEXI does not rely on a world model to control and plan its actions like usual goal based agents. Instead MEXI uses its internal state consisting of emotions and drives to evaluate its perceptions and action alternatives and controls its behavior on the basis of this evaluation. For MEXI, the behavior based programming paradigm originally developed by Arkin for robot navigation was extended to support a multidimensional control architecture based on emotions and drives

关键词： Humans Emotion recognition Communication system control Computer architecture Humanoid robots Natural languages Robot sensing systems Intelligent robots Speech analysis Speech recognition

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