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检索条件"任意字段=20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015"

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2015 20th international conference on methods and models in automation and robotics, mmar 2015

2015 20th International Conference on Methods and Models in ...

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20th international conference on methods and models in automation and robotics, mmar 2015

ISBN: (纸本)9781479987016

the proceedings contain 211 papers. the topics discussed include: experimental validation of LMI approaches for robust control design of a spatially three-dimensional heat transfer process;the excitation controller with gain scheduling mechanism for synchronous generator control;a motion planning algorithm for the invalid initial state disassembly problem;task scheduling with restricted preemptions on two parallel processors;the steady state response of a lti system with singular perturbations in the physical domain;fractional control differential-algebraic systems with many delays - relative controllability;advanced methods of controller design for pneumatic servodrives;parametric optimization of PD alpha controller using Laguerre function approximation;parallel digraphs-building algorithm for polynomial realisations of one-dimensional positive systems with delays;and online identification of an electric PEMFC model for power control by NMPC.

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A variant of Adams - Bashforth - Moulton method to solve fractional ordinary differential equation 20

A variant of Adams - Bashforth - Moulton method to solve fra...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Blasik, Marek Czestochowa Tech Univ Inst Math Czestochowa Poland

In this paper, we present a numerical method to solve fractional ordinary differential equation (FDE) with Caputo derivative of order in the range (0,1]. the proposed scheme is a variant of Adams - Bashforth - Moulton... 详细信息

ISBN: (纸本)9781479987016

关键词： fractional calculus integrodifferential equations numerical methods

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methods of identification of data transmitted in the in-vehicle CAN-BUS networks 20

Methods of identification of data transmitted in the in-vehi...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Rokicki, Krzysztof Szczurowski, Krzysztof Warsaw Univ Technol Inst Vehicles Warsaw Poland

ISBN: (纸本)9781479987016

In the first part of this paper the operation mechanism of exchanging the data used in vehicles and equipment as well as the applied security measures have been presented. In the further part of the work, the identification method for the data in the network, for which the encoding system is not known, has been discussed. Subsequently, a suggestion of the decoding method for the network-derived data has been presented.

关键词： CAN bus data sniffer car hacking

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Robot's Velocity and Tilt Estimation through Computationally Efficient Fusion of Proprioceptive Sensors Readouts 20

Robot's Velocity and Tilt Estimation Through Computationally...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Wawrzynski, Pawel Warsaw Univ Technol Inst Control & Computat Engn PL-00665 Warsaw Poland

ISBN: (纸本)9781479987016

In this paper a method is introduced that combines Inertial Measurement Unit (IMU) readouts with low accuracy and temporarily unavailable velocity measurements (e.g., based on kinematics or GPS) to produce high accuracy estimates of velocity and orientation with respect to gravity. the method is computationally cheap enough to be readily implementable in sensors. the main area of application of the introduced method is mobile robotics.

关键词： velocity estimation Kalman filter mobile robotics

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Application of the Rayleigh-Ritz method to solve a class of fractional variational problem 20

Application of the Rayleigh-Ritz method to solve a class of ...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Blaszczyk, Tomasz Czestochowa Tech Univ Inst Math Al Armii Krajowej 21 PL-42201 Czestochowa Poland

ISBN: (纸本)9781479987016

the aim of this paper is to investigate a direct numerical method for solving a class of a fractional variational problem (FVP). the fractional derivative in the FVP is in the Caputo sense. the Rayleigh-Ritz method is introduced for the numerical solution of the FVP. the corresponding Euler-Lagrange equation contain the left and right Caputo fractional derivatives. We approximate the solution of the FVP by using the trigonometric function. Finally, the illustrative example is presented.

关键词： Rayleigh-Ritz methods Numerical methods Circular Functions Euler-Lagrange equation Solve Lagrangian equations

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Optimal route determining for LQ problem with optimally stopped horizon 20

Optimal route determining for LQ problem with optimally stop...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Kozlowski, Edward Lublin Univ Technol Dept Quantitat Methods Nadbystrzycka 38 PL-20618 Lublin Poland

ISBN: (纸本)9781479987016

the routing problem with optimal stopping of linear system is investigated in this paper. the classical linear quadratic control problem was replaced by determining the optimal trajectory (way, track, path). the general aim of optimal stopping and route determining consists of minimization of composite cost function. To illustrate the optimal track a numerical example is included.

关键词： optimum route LQ Linear system numerical example Optimal composite cost Horizon Track linear quadratic control stopping Routing Problem

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Application of Iterative Learning Control methods for a Service Robot with Multi-Body Kinematics 20

Application of Iterative Learning Control Methods for a Serv...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Bassler, Sandra Duenow, Peter Marquardt, Mathias Daasch, Andreas Univ Technol Business & Design Hsch Wismar Wismar Germany IAV GmbH Ingenieurgesell Auto & Verkehr Wismar Germany

ISBN: (纸本)9781479987016

this paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In addition to the controller structure, the development of the nonlinear dynamic model and the trajectory generation for the robot-configuration control are briefly explained.

关键词： Service robots many-body Iterative learning control Torque control body kinematics kinematics controller structure

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Practical analog realization of multiple order switching for recursive fractional variable order derivative 20

Practical analog realization of multiple order switching for...

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20th international conference on methods and models in automation and robotics (mmar)

作者： Sierociuk, Dominik Malesza, Wiktor Macias, Michal Warsaw Univ Technol Inst Control & Ind Elect Koszykowa 75 PL-00662 Warsaw Poland

ISBN: (纸本)9781479987016

In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approximation of half order impedance, allows to multiple-switching between orders 0.5 and 1. Moreover, numerical scheme for solving variable order differential equations is introduced. Experimental results of modeling are also presented and compared with numerical simulations.

关键词： variable order Analog models Instruction repertory Recursive multiples LADDER APPROXIMATION

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Adaptive Control of Nonlinear Resonant Systems with Damping 20

Adaptive Control of Nonlinear Resonant Systems with Damping

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20th international conference on methods and models in automation and robotics (mmar)

作者： Kabzinski, Jacek Mosiolek, Przemyslaw Lodz Univ Technol Inst Automat Control Lodz Poland

ISBN: (纸本)9781479987016

the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft is characterized by the stiffness and the damping coefficients. the proposed controller is based on adaptive backstepping, modified by the use of command filtering. Although in the presence of damping the model is not in a strict-feedback form, the proposed approach allows to accomplish the rigorous proof of the closed-loop system stability. Several experiments prove the control effectiveness and robustness against un-modelled dynamics.

关键词： adaptive control resonant systems friction compensation drive automation

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Non-Gaussian models in Particle Filters 20

Non-Gaussian models in Particle Filters

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20th international conference on methods and models in automation and robotics (mmar)

作者： Kozierski, Piotr Sadalla, Talar Horla, Dariusz Poznan Univ Tech Fac Elect Engn Inst Control & Informat Engn Piotrowo St 3a PL-60965 Poznan Poland Poznan Univ Tech Fac Comp Chair Control & Syst Engn Div Signal Proc & Elect Syst PL-60965 Poznan Poland

ISBN: (纸本)9781479987016

the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been taken into account. Simulations have been performed for two different objects. Based on the obtained results, it can be said that in some cases incorrect modelling can allow the best estimation quality.

关键词： particle filter state estimation measurement model transition model

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