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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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Research on multi-target automatic locating in batch micro-operation

Research on multi-target automatic locating in batch micro-o...

引用

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

作者： Y.H. Wen X. Zhao G.Z. Lu Institute of Robotics & Information Automatic Systems Nankai University Tianjin China

In batch micro-operation, the system needs to operate multiple targets in unstructured environment and these targets distribute in an area that is larger than micro visual field and much smaller than the whole workspace of robot. During the procedure of micro-operation, the operator ought to moving platform to search micro target and locate it into micro visual field, which is slow and has low precision. How to locate multiple micro targets under unstructured environment and automatically move them into micro visual field is a key problem of batch micro-operation automation. this paper puts forward a mechanism of operating region map management that is applied in batch micro-operation. In the paper, we present scan path plan of micro map dynamic creation, algorithm of micro-target fast orientation based on map compression and put forward a solution to batch micro-operation automation based on micro map and primitive. Finally, by a simple experiment, the mechanism of operating region map management is proved to be effective and feasible.

关键词： robotics and automation Service robots Medical robotics Image resolution Intelligent robots Microscopy Automatic control control systems Robot vision systems Humans

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H/spl infin/ controller analysis and synthesis of piecewise discrete time linear systems

H/spl infin/ controller analysis and synthesis of piecewise ...

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

作者： Gang Feng Department of Manufacturing Engineering & Engineering Management City University of Hong Kong Kowloon Hong Kong China

ISBN: (纸本)0780386531

this article presents H ∞ , controller analysis and design methods for piecewise discrete time linear systems based on a piecewise smooth Lyapunov function. It is shown that the H ∞ , controller analysis or the synthesis problem can be casted as a convex optimaization problem, and the controller can be obtained by solving a set of linear matrix inequalities that is numerically feasible with commercially available software. Simulation examples are also given to illustrate the advantage of the proposed approaches.

关键词： control system analysis control system synthesis Linear systems Piecewise linear techniques Lyapunov method control systems Linear matrix inequalities Stability analysis Design methodology Circuits

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High performance motion control of sensorless interior permanent magnet linear synchronous motor

High performance motion control of sensorless interior perma...

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

作者： Jihao Zou Shan'an Zhu College of Electrical Engineering Zheijiang University Hangzhou China

ISBN: (纸本)0780386531

this paper describes a high performance servo drive system for an interior permanent magnet linear synchronous motor (IPMLSM) without voltage, speed and position sensors. Both the thrust and the stator flux linkage are controlled directly and maximum thrust per ampere (MTPA) operation is introduced, which makes the method more efficient. In order to control the stator flux linkage accurately, a high ratio of the stator flux linkage to stator voltage is also considered. Simulation results verify the effectiveness of the proposed method.

关键词： Motion control Synchronous motors Stators Couplings Servomechanisms Voltage Magnetic sensors Sensor phenomena and characterization Sensor systems Sensorless control

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Diagnosability for discrete event systems based on Petri net language

Diagnosability for discrete event systems based on Petri net...

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2004 8th international conference on control, automation, robotics and vision (ICARCV), Volume 3

作者： Fei Xue Da-Zhong Zheng Department of Automation Tsinghua University Beijing Beijing China

ISBN: (纸本)0780386531

In this paper, the diagnosability for discrete event systems has been extended to Petri net language, which is motivated from some network systems. A composition net, called as verifier, is constructed for analysis of diagnosability. It is proved that the diagnosability for Petri net language is equal to a reachability problem of verifier with respect to the marked markings set for any failure transition of system. the practical verification condition is further given for general unbounded Petri net based on the coverability tree of verifier.

关键词： discrete event systems formal languages Petri nets formal verification trees (mathematics) fault diagnosis reachability analysis Petri net language diagnosability verifier reachability problem system failure transition unbounded Petri net verifier coverability tree

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Adaptive robust nonlinear design of course keeping ship steering autopilot

Adaptive robust nonlinear design of course keeping ship stee...

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

作者： Jialu Du Chen Guo Yongsheng Zhao Yingjun Bi School of Automation and Electrical Engineering Dalian Maritime University Dalian China Laboratory of simulation and Control of Navigation Systems Dalian Maritime University Dalian China

ISBN: (纸本)0780386531

this paper develops an adaptive robust control design strategy for automatic steering of ships with unknown parameters under unknown environmental disturbances induced by wave, wind, and ocean current. Based on the incorporation of the Nussbaum-type function into backstepping design and some technical lemmas, the proposed design method does not require a priori knowledge of the sign of the unknown coefficient. It is proved that the designed adaptive robust controller can guarantee the uniform ultimate boundedness of the resulting closed-loop system signals. the control performance can be guaranteed by an appropriate choice of the design parameters. Simulation results on a 45 meters long ship are presented to validate the proposed controller.

关键词： Robustness Marine vehicles Programmable control Adaptive control Robust control Oceans Backstepping Design methodology Signal design control systems

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Robust H/sub /spl infin// controller designs for linear uncertain discrete-time systems: the LMI approach

Robust H/sub /spl infin// controller designs for linear unce...

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

作者： Zhenjuan Zhang Jianyun Cao Guoping Lu Department of Information Engineering Nantong University Nantong Jiangsu China Department of Automation Nantong University Nantong Jiangsu China Department of Applied Mathematics Nantong University Nantong Jiangsu China

ISBN: (纸本)0780386531

In this paper, robust H/sub /spl infin// control problem is investigated for a class of uncertain linear discrete-time systems with norm-bounded nonlinear uncertainties. the class of systems can be treated as linear nominal parts with nonlinear perturbations on both states and control inputs. By means of linear matrix inequality technique, an approach has been developed to find the tolerable uncertainty bounds for the robust H/sub /spl infin// performance, and the corresponding static (or dynamic) output feedback controllers at the same time.

关键词： Robust control control systems Uncertainty Linear feedback control systems Output feedback Robustness Nonlinear control systems State feedback Riccati equations Automatic control

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Self-compensating closed loop real-time robotic polishing system

Self-compensating closed loop real-time robotic polishing sy...

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

作者： Wen-Jong Lin Bryan Tsong-Jye Ng Xiaoqi Chen Zhiming Gong Jingbing Zhang Kiew Choon Meng Singapore Institute of Manufacturing Technology Singapore

ISBN: (纸本)0780386531

An automated real-time robotic polishing system (RT-RPS) has been designed specifically for the turbine blade polishing process. the system is equipped with various functional modules such as in-situ measurement, intelligent profile prediction, robust robot path generation and so on. A novel self self-compensating mechanism was also introduced to provide a servo-based position/force control to ensure that the blending force is dynamically maintained and hence, consistent polishing is achieved. And the result is, a robot polishing system that is able to deliver the precision and accuracy that is beyond the rated specification of the robot itself.

关键词： Real time systems Robot kinematics Blades Turbines Robot sensing systems robotics and automation Service robots Coordinate measuring machines Surface fitting Costs

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Smooth time-varying regulation of nonholonomic chained systems

Smooth time-varying regulation of nonholonomic chained syste...

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2004 8th international conference on control, automation, robotics and vision (ICARCV), Volume 2

作者： Zuoshi Song Jianqiang Yi Dongbin Zhao Xinchun Li Lab of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China

ISBN: (纸本)0780386531

the problem of regulating a nonholonomic system in chained form to an equilibrium state is addressed and solved by a smooth time-varying control law. the proposed scheme based on Lyapunov analysis can guarantee asymptotic stabilization and exponential stabilization, respectively, by simply changing a term in the controller expression. therefore, the controller can be used for theoretical analysis and practical application. the additional novelty of the proposed approach is that the parameters in our controller have clear physical meanings and are easily implemented and tuned. Simulation results based on a numerical example and a tricycle-type mobile robot are presented to demonstrate the effectiveness of the developed method.

关键词： time-varying systems mobile robots Lyapunov methods asymptotic stability nonholonomic chained systems time-varying regulation Lyapunov analysis asymptotic stabilization exponential stabilization tricycle-type mobile robot

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Direct adaptive control for a class of nonlinear systems using multilayer neural networks

Direct adaptive control for a class of nonlinear systems usi...

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

作者： Tianping Zhang Qikuen Shen Jiandong Mei Yang Yi Department of Computer College of Information Yangzhou University Yangzhou China

ISBN: (纸本)0780386531

A new design scheme of direct adaptive neural network controller for a class of nonlinear systems with unknown function control gain is proposed in this paper. the design is based on the principle of sliding mode control and the approximation capability of multilayer neural networks (MNNs). By adopting the adaptive compensation term of the upper bound function of the sum of residual and approximation error, the closed-loop control system is shown to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.

关键词： Multi-layer neural network Adaptive control Nonlinear systems Neural networks Sliding mode control control systems Programmable control Nonlinear control systems Adaptive systems Upper bound

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Decentralized control of robotic manipulators with neural networks

Decentralized control of robotic manipulators with neural ne...

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

作者： C. Xiang S.Y. Siow Department of Electrical and Computer Engineering National University of Singapore Singapore

A decentralized neuro-controller with feedback error learning is proposed in this paper to deal with robot manipulator tracking problem. the PD + nonlinear (NL) feedback law + robustifying signal ensure global stability while the neural networks are utilized to compensate the decentralized nonlinear terms in the robot manipulator dynamics so that both robustness and good tracking performance are achieved. In addition to the theoretical proof of global stability, the effectiveness of the proposed scheme is also demonstrated by comparing the tracking performance of the neuro-controller for a two-link robot manipulator with that of the conventional decentralized adaptive controller.

关键词： Distributed control Robots Neural networks Error correction Symmetric matrices Neurofeedback Manipulator dynamics Torque Robust stability control systems

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