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Pilot Misoperation control Based on L1 Adaptation and INDI Methods

Pilot Misoperation Control Based on L1 Adaptation and INDI M...

引用

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

作者： Jin Wan Dan Huang Lei Song Lu Ding Shan Fu School of Aeronautics and Astronautics Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the pilot's error is one of the important factors affecting flight safety, which may cause serious consequences. this article mainly discusses the continuous operating deviation and sudden large-scale misoperation during the flight process. For the two types of error models, the controllers are designed to reduce the impact after the misoperation occurs, and simulation verification is performed. Simulation results show that the L1 adaptive controller can effectively suppress the impact of continuous operating deviation on control performance and improve flight comfort; the incremental nonlinear dynamic inverse controller can effectively reduce the impact of large misoperation and restore the original flight state.

关键词： Safety Adaptation models Mathematical model Low-pass filters Interference Attitude control Uncertainty

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Event Triggered Fault Tolerant control for Nonlinear Systems Based on Adaptive Fault Estimation

Event Triggered Fault Tolerant Control for Nonlinear Systems...

引用

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

作者： Quan-Yong Fan Shuoheng Xu Chao Deng Cai-Cheng Wang School of Automation Northwestern Polytechnical University Xi'an China School of Electrical and Electronic Engineering Nanyang Technological University Singapore North Automatic Control Technology Institute Taiyuan China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, the problem of event triggered fault- tolerant control for nonlinear systems based on neural network learning technique is investigated. To achieve the main objective, a novel dynamic fault estimation method is proposed so that the fault mode of the system considered can be determined quickly. then, one appropriate reference dynamics is selected. Based on the model reference control mechanism, the neural network is employed to learn the desired control policy when the event triggering condition is met. the stability of the closed-loop system is proved based on Lyapunov stability theory. Moreover, there does not exist the Zeno phenomenon using the proposed event triggered control method. Finally, the the effectiveness of the proposed method is verified on a single-joint manipulator system.

关键词： Estimation Fault tolerant systems Fault tolerance Networked control systems Trajectory Security Robots

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Symbolic Self-triggered control of Continuous-time Non-deterministic Systems without Stability Assumptions for 2-LTL Specifications

Symbolic Self-triggered Control of Continuous-time Non-deter...

引用

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

作者： Sasinee Pruekprasert Clovis Eberhart Jérémy Dubut National Institute of Informatics Tokyo Japan Japanese-French Laboratory for Informatics

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. the goal is to compute a controller that satisfies two objectives. the first objective is represented as a specification in a fragment of LTL, which we call 2-LTL. the second one is an energy objective, in the sense that control inputs are issued only when necessary, which saves energy. To this end, we first quantise the state and input spaces, and then translate the controller synthesis problem to the computation of a winning strategy in a mean-payoff parity game. We illustrate the feasibility of our method on the example of a navigating nonholonomic robot.

关键词： Games Stability analysis control systems Aerospace electronics Trajectory Sensors Safety

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Brain-Computer Interface for high-level control of rehabilitation robotic systems

Brain-Computer Interface for high-level control of rehabilit...

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IEEE international conference on Rehabilitation robotics (ICORR)

作者： Diana Valbuena Marco Cyriacks Ola Friman Ivan Volosyak Axel Graser Institute of Automation University of Brethemen Bremen Germany

In this work, a brain-computer interface (BCI) based on steady-state visual evoked potentials (SSVEP) is presented as an input device for the human machine interface (HMI) of the semi-autonomous robot FRIEND II. the role of the BCI is to translate high-level requests from the user into control commands for the FRIEND II system. In the current application, the BCI is used to navigate a menu system and to select commands such as pouring a beverage into a glass. the low-level control of the test platform, the rehabilitation robot FRIEND II, is executed by the control architecture MASSiVE, which in turn is served by a planning instance, an environment model and a set of sensors (e.g., machine vision) and actors. the BCI is introduced as a step towards the goal of providing disabled users with at least 1.5 hours independence from care givers.

关键词： Brain computer interfaces Robot control control systems Rehabilitation robotics Steady-state Humans Navigation Glass Testing Robot sensing systems

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An adaptive PID-type iterative learning controller unknown nonlinear systems

An adaptive PID-type iterative learning controller unknown n...

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

作者： Y.-C. Wang C.-J. Chien D.-T. Lee Institute of Information Science Academia Sinica Taipei Taiwan Department of Electronic Engineering Hufan University Taipei Taiwan

To deal with an iterative learning control problem of unknown nonlinear systems with varying initial state errors and state dependent input gain, an adaptive PID-type iterative learning controller is presented in this paper. the main design concept is motivated from a fact that a PID-type controller can be used as an approximator for an optimal controller in a compact set. the main structure of the adaptive PID-type iterative learning controller is constructed based on a time-varying boundary layer, which is designed to overcome the problem of initial state errors and further eliminate the possible undesirable chattering behavior. An error equation is then derived to represent the relation between the control input and system tracking error. Since the optimal PID gains for the best approximation is in general unavailable, the control parameters are tuned between successive iterations to ensure the stability and convergence. Compared with most of the adaptive laws in the field of adaptive iterative learning control, the proposed adaptive law can be realized without using projection or dead zone mechanism. It is shown that all the adjustable parameters and the internal signals remain bounded for all iterations, and the norm of tracking error vector at each time instant would asymptotically converge to a tunable residual set.

关键词： Programmable control Adaptive control Nonlinear control systems control systems Nonlinear systems Error correction Optimal control Equations three-term control Stability

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Multiscale corner detection for gray level images using Plessey method

Multiscale corner detection for gray level images using Ples...

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

作者： Xinting Gao Zhuliang Yu F. Sattar R. Venkateswarlu School of Electrical and Electronic Engineering Nanyang Technological University Singapore Institute for Infocomm Research Singapore

this paper proposes an improved Plessey corner detection method for gray level images using multiscale analysis. Plessey corner detector is well known for its good performance. But, as we understand, Plessey corner detection method has three drawbacks. Firstly, it works only in the spatial domain, so it can only detect corners belonging to a specific scale. On the other hand, the proposed detector works in the scale-space domain, thus, it can detect the corner points belonging to different scales. Secondly, three parameters are needed to be set manually in the original Plessey method, while the proposed method requires to set only one parameter. thirdly, the delocalization is a well-known inherent problem for the Plessey corner operator. And it can be increased with the scale at which it operates. the proposed algorithm partially solves this problem by detecting the corners from smaller scale to larger scales. Our proposed multiscale scheme can also be applied to other spatial corner detectors to improve their performances. Better simulation results are shown and compared with the original Plessey and SUSAN corner detectors.

关键词： Detectors Image analysis Large-scale systems Image processing Application software Computer vision Computational modeling Visual perception Detection algorithms Shape

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Four-axis high-frequcncy structural strength fatigue test system

Four-axis high-frequcncy structural strength fatigue test sy...

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

作者： Wenang Jia Jian Ruan The MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of Technology Hangzhou China

High cycle fatigue testing to long lives requires high frequency equipment. the working frequency of the conventional electrohydraulic vibration exciters in fatigue test system is limited to fairly narrow range by the frequency response capability of the servo valve. In response to these needs, a four-axis structural strength fatigue test system capable of frequency and amplitude controlled testing at 5~200 Hz has been developed. the four-axis structural strength fatigue test system includes four electrohydraulic vibration exciters mounted in horizontal and vertical structural frame respectively. this electrohydraulic vibration exciters include 2D valve, double acting cylinder and bias control servo valve etc. In the 2D valve, the rotary and sliding motions are independently exploited to control the frequency and the magnitude of the vibration respectively. the frequency of the 2D valve controlled vibration exciter is determined by the rotary speed, number of grooves distributed on a spool land and coupled pattern of the groove's number on the spool land and the window's number on the spool sleeve. By adjusting these factors in the 2D valve design, the proposed scheme of vibration exciter is apt to realize high-frequency vibration and to increase the working frequency of multi-axis structural strength fatigue test system. In this paper, the structure of test system is first described. then, the principal of the electrohydaulic vibration exciter using 2D valve is discussed, which includes the control method of frequency, amplitude and phase. the dynamic characteristics of electrohydaulic vibration exciter in test system are briefly discussed. Finally, the measured vibration wave is given to validate the theoretical analysis. Four-axis structural strength fatigue test system formed by the electrohydraulic vibration exciter using 2D valve has now been put into practical operation as a standard fatigue testing device. It is classified that the vibration of the tested ob

关键词： Fatigue System testing Valves Electrohydraulics Vibration control Servomechanisms Vibration measurement Frequency response control systems Motion control

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Containment control of second-order multi-agent systems via asynchronous sampled-data control

Containment control of second-order multi-agent systems via ...

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

作者： Hongjian Chen Lulu Chen Jinliang Shao Glasgow college University of Electronic Science and Technology of China Sichuan P. R. China School of Automation Engineering University of Electronic Science and Technology of China Sichuan P. R. China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen P. R. China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper formulates and solves an asynchronous sampled-data containment control problem of second-order multi-agent systems, in which each agent only receives the neighbors' information at certain sampling instants determined by its own clock, not all sampling instants. It is not assumed that the time sequence in which each agent receives its neighbors' information is evenly spaced. A distributed containment control protocol in the asynchronous sampled-data setting is designed. Main research tools, including nonnegative matrix theory and the composite of binary relation, are used to derive a necessary and sufficient condition guaranteeing that all the followers asymptotically converge to a convex hull formed by the static leaders. An example is provided to demonstrate the effectiveness of our theoretical result.

关键词： Multi-agent systems Sensors Clocks Vehicle dynamics Sensor systems Protocols Mathematical model

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Mobile Cooperative Robot Safe Interaction Method Based on Embodied Perception

Mobile Cooperative Robot Safe Interaction Method Based on Em...

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international conference on control and automation (ICCA)

作者： Sicheng Wang Xu Cheng Tin Lun Lam Tianwei Zhang The Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Department of Technology Management and Economics Technical University of Denmark Denmark The Chinese University of Hong Kong - Shenzhen Shenzhen China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

the most crucial feature of cooperative robot is interaction safety. Ensuring safe interaction with humans is essential for improving the quality and efficiency of industrial robot production. the promotion and development of cooperative robot heavily rely on ensuring safe human-robot interaction. therefore, this paper introduces a vision-centric cooperative robot interaction system designed for dynamic environments. Firstly, the system utilizes a highly accurate 3D camera to reconstruct the monitoring scene in three dimensions. Simultaneously, the camera mounted on the robot's head reconstructs objects within its current field of view with high precision. By merging the point clouds of these two scenes, the system achieves a comprehensive reconstruction. Secondly, the system extracts the point cloud data of human bodies in the scene and determines a safe distance between humans and the robot based on the human point cloud. this analysis allows the system to define an appropriate safety range. Finally, the system evaluates whether the human body is within the predefined safe distance from the robot and facilitates improved human-robot interactions accordingly. By implementing this approach, the system effectively ensures interaction safety in the work environment. Experimental results demonstrate the effectiveness of the proposed system in maintaining a secure interaction environment.

关键词： Point cloud compression Service robots Robot vision systems Human-robot interaction Cameras Real-time systems Safety

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A multi-hop distributed indoor localization algorithm for ultra-wide-band sensor network

A multi-hop distributed indoor localization algorithm for ul...

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

作者： Chengyang He Yinqiu Xia Chengpu Yu Chaoyang Jiang Beijing Institute of Technology Chongqing Innovation Center China School of Automation Beijing Institute of Technology China School of Mechanical Engineering Beijing Institute of Technology China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper proposes a multi-hop distributed sensor network localization method based on UWB ranging measurements. Different from the positioning algorithm suitable for known indoor environments, this algorithm is designed for the exploration needs of unknown areas. Based on the barycentric coordinates of the tetrahedron, the expansion of the sensor network is realized through the multi-hop of the UWB sensor. the proposed algorithm can be applied for three-dimensional space. By designing time-varying weight coefficients and combining Taylor expansion, the localization performance is enhanced. Finally, a numerical simulation is given to verify the effectiveness of the proposed algorithm.

关键词： Distance measurement Indoor environment Spread spectrum communication Robot sensing systems Global Positioning System automation Ultra wideband technology

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