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检索条件"任意字段=28th International Conference on Methods and Models in Automation and Robotics, MMAR 2024"

共 112 条记录，以下是51-60 订阅

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Mechanical input-output linearization and decoupling of mechanical control systems

Mechanical input-output linearization and decoupling of mech...

引用

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

作者： Marcin Nowicki Witold Respondek Institute of Automatic Control and Robotics Poznan University of Technology Poznaň Poland Institute of Automatic Control Lodz University of Technology Łódź Poland Emeritus Professor at Normandie Université INSA de Rouen Saint-Etienne-du-Rouvray France

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, we present a mechanical counterpart of the problem of simultaneous input-output feedback linearization and decoupling that is designed for control systems that possess a mechanical structure. We show how our problem differs from the classical one and what are the supplementary conditions for preserving the mechanical structure of the system. Unlike our previous works, here we treat a mechanical control system $(\mathcal{M S O})$ as a control system on $\mathrm{T} Q$ with a special structure of the drift and control vector fields.

关键词： Manifolds automation Control systems Vectors Planning Feedback linearization Mechanical systems

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Identification of the sources of radiated electromagnetic disturbances in mobile robots

Identification of the sources of radiated electromagnetic di...

引用

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

作者： Krzysztof Łukas Trzcinka Renata Markowska Andrzej Masłowski Łukasiewicz Research Network - Industrial Research Institute for Automation & Measurements PIAP Warsaw Poland Faculty of Electrical Engineering Bialystok University of Technology Bialystok Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the article describes the development of the method for locating sources of radiated electromagnetic disturbances generated in the units of some specific class of mobile robots. In the analyzed case, the source of disturbances was a radiating slot, that has formed due to poor electromagnetic tightness of the housing, which caused a negative result of radiated emission tests. the slot was created artificially in the shielded housing in order to simulate the actual problem. the paper describes the testing method and the configuration and construction of the test stand for locating sources of disturbances using an EMC scanner placed in a dedicated EMC testing chamber with ferrite plates covering the walls inside.

关键词： Ferrites automation Electromagnetic compatibility Distortion Software Mobile robots Electromagnetic fields

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Poles sequence selection in implementation of fractional-order difference via Takenaka-Malmquist functions

Poles sequence selection in implementation of fractional-ord...

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

作者： Marek Rydel Rafał Stanisławski Department of Electrical Control and Computer Engineering Opole University of Technology ul. Prószkowska 76 Opole Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the paper presents a new algorithm for the selection of poles for modeling fractional-order difference based on Takenaka-Malmquist functions. the main advantage of the proposed approach to the selection of poles is better approximation accuracy in the chosen frequency adequacy range as well as in the time domain of finite-length implementation of the Takenaka-Malmquist-base fractional-order difference. the proposed Takenaka-Malmquist-based difference implementation can also be applied to model fractional-order integrators and non-commensurate state-space systems.

关键词： Time-frequency analysis Accuracy automation Approximation algorithms Time-domain analysis Robots

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Identification of the thermal Model Parameters of Industrial Supercapacitors

Identification of the Thermal Model Parameters of Industrial...

引用

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

作者： Ryszard Kopka Rafał Stanisławski Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the results of determining thermal model parameters of the supercapacitors used in industrial applications. the energy losses inside the supercapacitor were determined based on measured current and voltage during the charging and discharging cycles. Based on them and measured temperatures, the thermal resistances of conduction and convection and the heat capacities were calculated. thermal model parameters were derived for different charging and discharging currents leading to supercapacitor heating. Results will allow the temperature of supercapacitor housing and terminals to be calculated, depending on the charging and discharging currents at a constant ambient temperature.

关键词： Temperature measurement Temperature dependence Analytical models Voltage measurement Current measurement thermal resistance Supercapacitors

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Model-Predictive Control of a Two-Switch Forward Converter

Model-Predictive Control of a Two-Switch Forward Converter

引用

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

作者： Shiv Prakash Rangoli Singh Sandip Ghosh Department of Electrical Engineering Indian Institute of Technology (BHU) Varanasi India

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

A forward converter is used for high-efficiency dc to dc converter applications. Modeling and control of a two-switch forward converter suitable for a wide range of input voltage applications is presented in this work. the third-order model for continuous conduction mode operation of the converter is considered for closed-loop operation for achieving output voltage regulation. the performance of a model-predictive controller vis-a-vis conventional proportional-integral and sliding-mode controllers is evaluated through simulation of the closed-loop forward converter with a voltage variation of 550V to 1000V as input and fixed output voltages of 15V and 24V.

关键词： Voltage fluctuations Fluctuations automation Predictive models Automatic voltage control Mathematical models Robots

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Robust GMVC algorithm undermining the employment of the Moore–Penrose inverse

Robust GMVC algorithm undermining the employment of the Moor...

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

作者： Paweł Majewski Wojciech P. Hunek Marek Krok Tomasz Feliks Emilia Helińska Dept. of Cntrl. Sci. and Engr. Opole University of Technology Opole Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In the paper, a set of new findings derived from the application of the nonunique $\sigma$-inverse into the generalized minimum variance control (GMVC) algorithm is given. In such a way, the robust instance of the discussed control strategy is proposed strictly devoted to the right-invertible LTI systems defined in the discrete-time transfer-function-originated framework. the alternative inverse-based control procedure clearly outperforms the classical one giving rise to the introduction of the generalized $\sigma$-inverse rather than the Moore-Penrose (MP) one. Two numerical examples address a huge impact of the so-called degrees of freedom at least in the minimum-energy considerations.

关键词： Linear systems automation Employment Numerical models Robots

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Minimax regret optimization for the Scheduling-Location problem

Minimax regret optimization for the Scheduling-Location prob...

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

作者： Mirosłow Ławrynowicz Jerzy Józefczyk Department of Computer Science and Systems Engineering Wrocław University of Science and Technology Wrocław Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, we propose novel algorithms for the Scheduling and Location problem (called ScheLoc problem) that combine fields of job scheduling with the makespan criterion on unrelated machines and machine deployment. this research’s fundamental aim and distinguishing feature is the application of robust (nondeterministic) optimization with interval data for the ScheLoc problem (deterministic problem with precisely defined input parameters). the minimax regret criterion is considered as the measure of robustness, and the release dates of jobs are represented as well-defined intervals. We show that the algorithms designed for the robust optimization problem with interval release dates determined based on the ScheLoc problem can achieve a lower makespan than a schedule obtained by the greedy algorithm intended for the deterministic ScheLoc problem.

关键词： Greedy algorithms Schedules automation Scheduling Robustness Optimization Robots

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AMCL hybrid localization through the incorporation of visual rectangular landmarks

AMCL hybrid localization through the incorporation of visual...

引用

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

作者： Germán Vega-Martínez Javier Laserna Moratalla Paloma De La Puente Universidad Politécnica de Madrid Madrid Spain Center for Automation and Robotics (CAR) Madrid Spain

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the increasing integration of robots into daily life requires enhanced autonomy capabilities and better levels of robustness. To address robot localization, this work proposes Hybrid AMCL, an extension of the original Adaptive Monte Carlo Localization (AMCL) algorithm, incorporating visual cues in the form of natural rectangles, usually present indoors, to overcome difficulties posed by scenarios lacking geometric features such as corridors. To this end, this work also introduces Rectangle Intersection-based Detector using Graphs and Elongation (RIDGE), a novel algorithm based on the idea of finding quadrilaterals in images, corresponding to real-world rectangles. the effectiveness of Hybrid AMCL is validated both in simulation using Isaac Sim and in a real-world environment. Our results show its potential for more accurate localization in challenging situations.

关键词： Location awareness Visualization Monte Carlo methods automation Accuracy Detectors Robustness

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Multilayer Extended Dynamic Mode Decomposition for Coupled Van der Pol Oscillators

Multilayer Extended Dynamic Mode Decomposition for Coupled V...

引用

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

作者： Tatsuki Hasebe Kenji Uchiyama Kai Masuda Department of Aerospace Engineering Nihon University Chiba Japan

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Extended dynamic mode decomposition (EDMD), which is the data-driven method based on the Koopman operator approach, is one of the valuable methods when treating nonlinear dynamical systems. However, the accuracy of linearization deteriorates when the technique is applied to a high-dimensional nonlinear dynamical system such as robots and flying vehicles. To overcome the problem, we propose the multilayer extended dynamic mode decomposition (MEDMD) for the high-dimensional nonlinear system divided into low-dimensional subsystems. the proposed method is applied to a mathematical system model that consists of subsystems in numerical simulation. the results show that MEDMD has good linear accuracy compared to conventional EDMD.

关键词： Accuracy Nonhomogeneous media Numerical simulation Mathematical models Nonlinear dynamical systems Numerical models Vehicle dynamics

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Robust Consensus Control for Linear Descriptor Multi-agent Systems using Output Information

Robust Consensus Control for Linear Descriptor Multi-agent S...

引用

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

作者： Arnab Pal Asim Kumar Naskar Dept. of Electrical Engineering National Institute of Technology Rourkela India

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this work addresses the issues of robust consensus in descriptor multi-agent systems. the interaction topology among agents is considered as a directed graph and the proposed distributed consensus protocol is output feedback-based. the robust consensus control problem is reformulated through a unified framework model into a robust stability problem for a single agent. the controller gain parameters are obtained by solving a set of linear matrix equality constraints and strict linear matrix inequality constraints. these constraints are derived from the bounded real lemma. the effectiveness of the proposed methodology is illustrated through a numerical example.

关键词： Uncertainty Network topology Robust stability Perturbation methods Consensus control Linear matrix inequalities Topology

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