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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

共 5236 条记录，以下是51-60 订阅

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A Pull Drift Compensation Strategy for Heavy Commercial Vehicles with Electric Power Steering Assistance

A Pull Drift Compensation Strategy for Heavy Commercial Vehi...

引用

2024 international conference on intelligent robotics and automatic control

作者： Dong, Xinyi Hu, Yuhui He, Jiaxin Liu, Xiaoyu Beijing Inst Technol Sch Mech Engn Beijing Peoples R China

ISBN: (纸本)9798350389814;9798350389807

Vehicle driving wandering is a common failure mode that affects the performance of vehicles. Due to the greater mass and higher center of gravity of commercial vehicles compared to passenger cars, pull drift not only increases driver fatigue but also increases the risk of rollover. Therefore, designing an effective compensation plan for commercial vehicle pull drift is an important and challenging issue. In this paper, based on the pull drift mechanism of heavy commercial vehicles, we propose an electric power steering pull drift compensation strategy for heavy commercial vehicles. Through three stages of functional scene recognition, compensation torque calculation, and compensation torque output, it can directly generate the torque demand for the steering system motor. Simulation experiments show that this method can accurately and quickly recognize pull drift scenarios and effectively reduce vehicle lateral error and roll angle.

关键词： Commercial vehicles Pull drift Stability control

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Vehicle Adaptive Cruise control Based on Model Predictive Algorithm

Vehicle Adaptive Cruise Control Based on Model Predictive Al...

引用

2024 international conference on intelligent robotics and automatic control

作者： Tian, Jiawei Harbin Inst Technol Sch Automot Engn Weihai 264200 Peoples R China

ISBN: (纸本)9798350389814;9798350389807

With the development of the information age and electric vehicles, there is an increasing demand for highly safe and comfortable driving experiences. Autonomous driving, based on adaptive cruise systems, has emerged in response to these needs. As one of the most critical technologies in vehicle ADAS, adaptive cruise systems have always been a focal point in the research of autonomous driving technology. These systems can control vehicle speed, distance, and lane-changing operations through various sensors and decision-making facilities during long-distance driving, thereby reducing driver fatigue and enhancing driving comfort. At the same time, adaptive cruise systems carry out safer operations by precisely perceiving the environment and performing accurate calculations, meeting the demand for a safe and comfortable driving environment. The paper predicts vehicle behavior using the MPC (Model Predictive control) algorithm based on the principles of adaptive cruise systems. The intelligent decision-making and optimization instructions of the adaptive cruise system module are then used to control the vehicle's power, braking, and other systems to execute the commands. A simulation platform was built using Matlab/Simulink software to simulate working conditions such as distance control. The experimental results show that the MPC algorithm enhances the precision of the vehicle's following movement in the cruise system, demonstrating better practical effects. It adapts to various traffic environments and ensures greater stability and safety during driving.

关键词： Adaptive Cruise System intelligent Decision-making MPC Simulation

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Time-Varying ZAI (Zhang Approximation Inverse) and SE (Simple "Optimal") Alternative Proposed for Solving Nonlinear Equations

Time-Varying ZAI (Zhang Approximation Inverse) and SE (Simpl...

引用

2024 international conference on intelligent robotics and automatic control

作者： Zhang, Yunong Wang, Guanquan Sun Yat Sen Univ Sch Intelligent Syst Engn Shenzhen 518107 Peoples R China Sun Yat Sen Univ Sch Comp Sci & Engn Guangzhou 510006 Peoples R China

ISBN: (纸本)9798350389814;9798350389807

Approximation inverse and nonlinear equations are critical topics in contemporary research. In this paper, we propose and utilize the concept of time-varying Zhang approximation inverse (TV-ZAI) to approximate the inverse of time-varying Jacobian matrix, and to solve the nonlinear equation. Specifically, we propose the norm based definitions and spectral-radius (SR) based definitions to complement the TV-ZAI. The TV-ZAI is capable of dealing with both continuous and discrete time-varying problems, which makes it more efficient in computation and easier to implement in digital computers compared with analog computers. In addition, we propose a simple alternative for the time-varying optimal Zhang approximation inverse (TV-OZAI). Besides, the corresponding numerical experimental results show the feasibility and effectiveness of the TV-ZAI and TV-OZAI-alternative solutions for solving nonlinear equations.

关键词： Zhang approximation inverse Time-varying Simple "optimal" alternative Nonlinear equations Numerical experiments

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Formation control of Multiple Underactuated Unmanned Surface Vessel Systems Based on the Leader-Follower Method 11

Formation Control of Multiple Underactuated Unmanned Surface...

引用

11th IEEE international conference on Cybernetics and intelligent Systems (CIS) / 11th IEEE international conference on robotics, Automation and Mechatronics (RAM)

作者： Yuan, Jianyang Ge, Shuzhi Sam Liang, Xiaoling Natl Univ Singapore Dept Elect & Comp Engn Singapore Singapore

ISBN: (纸本)9798350364200;9798350364194

This paper focuses on formation control for multiple underactuated unmanned surface vessels (USVs) system based on the leader-follower method. A new formation control model is first proposed. Then control laws for the kinematics and dynamics parts are developed separately based on the Lyapunov direct method and proportional control. The formation controller guarantees that the fleet can move in the desired structure with stability under disturbances. Numerical simulations are conducted to verify the controller's effectiveness.

关键词： unmanned surface vessel formation control leader-follower proportional control

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Robust-Adaptive Two-Loop control for Robots with Mixed Rigid-Elastic Joints

Robust-Adaptive Two-Loop Control for Robots with Mixed Rigid...

引用

2024 international conference on intelligent Robots and Systems

作者： Minh Tuan Hua Sveen, Emil Muhlbradt Schlanbusch, Siri Marte Sanfilippo, Filippo Univ Agder Fac Engn & Sci Dept Engn Sci Jon Lilletuns Vei 9 N-4879 Grimstad Norway

ISBN: (纸本)9798350377712;9798350377705

In robotics, while rigid joints are common due to their accuracy and fast response ability, elastic joints are well-known for their safety when interacting with the environment. To harmonise the advantages of these joint types, robots with mixed rigid-elastic joints can be considered. In this paper, a robust-adaptive two-loop control algorithm is proposed to control this type of hybrid robots when there are uncertainties in system parameters. In the outer loop, a robust control algorithm is proposed to deal with the uncertainties in the parameters of the joint dynamics, together with an adaptive controller for the rigid joints. In the inner loop, another robust control algorithm is proposed to handle the uncertainties in system parameters of the elastic joint's motor contribution, and a similar adaptive control algorithm is presented to manipulate the elastic joints' motors. The stability of the system is assured by Lyapunov's stability theory. Finally, simulations are conducted to verify the proposed control algorithm.

关键词： Robust control

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An Adaptive Direct-Discretized RNN With Fuzzy Factor for Handling Future Distinct-Layer Inequality and Equation System Applied to Robot Manipulator control

An Adaptive Direct-Discretized RNN With Fuzzy Factor for Han...

引用

2024 international conference on intelligent robotics and automatic control

作者： Qiu, Binbin Li, Kehan Li, Zihang Guo, Jinjin Sun Yat Sen Univ Sch Intelligent Syst Engn Shenzhen 518107 Peoples R China Guangdong Polytech Normal Univ Sch Comp Sci Guangzhou 510665 Peoples R China Guangdong Prov Key Lab Fire Sci & Intelligent Eme Shenzhen 518107 Peoples R China

ISBN: (纸本)9798350389814;9798350389807

This paper proposes an adaptive direct-discretized recurrent neural network (ADD-RNN) algorithm with fuzzy factor to address the problem of future distinct-layer inequality and equation system (FDLIES). For comparison purposes, a traditional indirect-discretized RNN (TID-RNN) algorithm is also developed to solve the same problem. The superior performance of the proposed ADD-RNN algorithm is validated through numerical experiment. The applicability and meliority of the proposed ADD-RNN algorithm are further demonstrated by applying it to tackle a motion planning and control problem of a robot manipulator with an additional constraint, which is formulated as a specific FDLIES problem.

关键词： Adaptive direct-discretized recurrent neural network (ADD-RNN) future distinct-layer inequality and equation system (FDLIES) fuzzy factor robot manipulator control

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Flight control of Aerial Robots for Wire-Hanging Under Wind Disturbances 6

Flight Control of Aerial Robots for Wire-Hanging Under Wind ...

引用

6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Wang, Dazhi Yang, Zhong Wang, Xiantan He, Jiahui College of Automation Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (纸本)9798331541699

To enhance the efficiency of power transmission line inspections, this paper designs a novel aerial robot capable of hanging line operations and proposes an automatic hanging line flight control method. The robot's structure is designed, and its mathematical model is established using the Newton-Euler method, along with a wind field model for accurate wind disturbance simulation. To address nonlinear coupling and wind disturbances, a position controller based on Linear Active Disturbance Rejection control (LADRC) is developed, and system stability is proven. Simulation results demonstrate that the LADRC controller ensures stable and robust position control, enabling the aerial robot to perform hanging line tasks effectively under wind disturbances. © 2024 IEEE.

关键词： Disturbance rejection

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Cooperative Co-evolutionary Genetic Algorithm for Generating Adversarial Examples

Cooperative Co-evolutionary Genetic Algorithm for Generating...

引用

2024 international conference on intelligent robotics and automatic control

作者： Liang, Zilong Huang, Minrui Chan, Miuyi Zhang, Xinyuan Jinan Univ Sch Intelligent Syst Sci & Engn Jinan Peoples R China

ISBN: (纸本)9798350389814;9798350389807

Deep neural networks have rapidly advanced, with many models demonstrating outstanding performance. However, robustness is crucial for ensuring the safety and stability of artificial intelligence, especially in real-world applications where models are frequently exposed to interference. Research on adversarial example generation is significant for improving model robustness and preventing sensitive information from being interpreted. This paper proposes a Cooperative Co-evolutionary Genetic Algorithm (CCGA) for generating adversarial examples with small perturbations. The algorithm adopts a collaborative optimization strategy, demonstrating high efficiency when dealing with large-scale problems. Furthermore, it operates as a black-box attack method, requiring only access to the model's inputs and outputs without any knowledge of its structure or parameters. Experimental results on the MNIST and CIFAR-10 datasets show that CCGA achieves adversarial success rates of 97% and 100%, respectively, with mean squared errors as low as 7.41 and 12.00 between the adversarial and original samples, the differences are nearly imperceptible to human eyes.

关键词： Cooperative co-evolution Genetic Algorithm Adversarial Examples

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An intelligent garbage collection robot for highway cleaning

An intelligent garbage collection robot for highway cleaning

引用

2024 international conference on Automation control, Algorithm, and intelligent Bionics, ACAIB 2024

作者： Wang, Hyunkai Lee, Min Guangzhou Huali College Guangzhou China

ISBN: (纸本)9781510682597

With the improvement of our country's requirements for the development of ecological civilization, as well as the further enhancement of our country's urban motorization level, highway sanitation is naturally in a critical position in the construction of ecological civilization. Therefore, this study applies robotics-related technology to develop an intelligent garbage inspection robot that can intelligently avoid vehicles on highways and automatically identify and pick up garbage. The robot uses STM32 microcontroller as the main controller, FPGA chip to identify and locate the garbage, and Raspberry Pi to realize the automatic navigation system, which applies ROS and deep learning technology to make the robot efficiently clean up and recycle the garbage, and at the same time, ensure the safety of the operation on the highway. This study will provide certain value for the development of highway garbage cleaning robots. © 2024 SPIE.

关键词： intelligent robots

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Research and design an intelligent zero gravity space floating robot for Space Stations 3

Research and design an intelligent zero gravity space floati...

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3rd international conference on robotics, Artificial Intelligence and intelligent control (RAIIC)

作者： Yu, Huan Liang, Lu Chen, Chaoji Zhao, Yu China Acad Space Technol Beijing Inst Spacecraft Syst Engn Beijing Peoples R China

ISBN: (纸本)9798350352634;9798350352627

Considering difficulties in the design of lightweight and autonomous zero gravity space floating robot inside Space Stations, referring to the characteristics of floating robots already in orbit on the international Space Station (ISS), as well as the needs of astronauts and space station operation and maintenance for floating robots, a 5Kg level lightweight floating robot using 3D printing and modular design is proposed. To achieve highprecision autonomous navigation and control in limited space of the Space Stations, a closed-loop trajectory planning and control method based on visual slam and model predictive control, is proposed for our intelligent floating robot. By using a zerogravity suspension device, ground tests proved the correctness of hardware and software design, including structural, propulsion, navigation, control and human-computer interaction design. In the future, it can be deployed to the China Space Station.

关键词： intelligent robot planning Space Station

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