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检索条件"任意字段=2nd International Symposium on Control Engineering and Robotics, ISCER 2023"

共 916 条记录，以下是101-110 订阅

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A Novel Adaptive Sliding Mode control for Quadrotor 2

A Novel Adaptive Sliding Mode Control for Quadrotor

引用

2nd international symposium on Aerospace engineering and Systems, ISAES 2023

作者： Jiang, Benqi Chen, Yong Liu, Zongcheng Dong, Zhenghao Lai, Yu Wang, Yuzhe Air Force Engineering University Aviation Engineering School Xi'an China

ISBN: (纸本)9798350303728

In this paper, a novel adaptive sliding mode control scheme is designed for quadrotor. The sliding mode functions for attitude subsystem and position subsystem are given, and the adaptive law is proposed considering the external disturbances. Meanwhile, this paper views the quadrotor as a variable-mass model, so the adaptive law is also designed for the mass of quadrotor. A rigorous stability analysis of the control method is provided in the sense of Lyapunov stability theorem under given conditions. A dual closed-loop PID controller is introduced and made to compare with adaptive sliding mode controller. The comparative simulations are conducted based on MATALB, the experimental results showing that the proposed control method can provide better flight control performance and improve robustness of the system despite external disturbances. © 2023 IEEE.

关键词： Sliding mode control

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control law design for localizer pre-capture based on integrated navigation 2

Control law design for localizer pre-capture based on integr...

引用

2nd international symposium on Aerospace engineering and Systems, ISAES 2023

作者： Zhang, Jiahao Meng, Fandong Zhou, Chao Gao, Zhiyuan School of Mechatronic Engineering and Automation Shanghai University Shanghai China Comac Aircraft Electronics Electrical and Control Integration Division Shanghai China

ISBN: (纸本)9798350303728

To enhance the performance of automatic landing systems for commercial aircraft, a control law of localizer pre-capture was developed based on the maximum pitch angle limit of the approach, the characteristics of the aircraft and localizer, and the fusion signals of the integrated navigation are used to delineate the approach paths and adjust the intercept angle. The modeling and simulation of the control law was implemented using MATLAB/Simulink. The simulation results show that the designed control law can guide the aircraft into the linear beam range of the localizer with appropriate intercept angle in various complex situations. The proposed method can provide a reference for further research of automatic flight control system for commercial aircraft. © 2023 IEEE.

关键词： Air navigation

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An Innovative Inverse Kinematics for Bionic Robot Arms Based on Directional Tangent Matrix 2

An Innovative Inverse Kinematics for Bionic Robot Arms Based...

引用

2nd international Conference on Automation, robotics and Computer engineering, ICARCE 2023

作者： Ju, Yiran Yu, Meng University of British Columbia Department of Electrical and Computer Engineering VancouverV6T 1Z4 Canada College of Astronautics Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (纸本)9798350308341

In this paper, we present an innovative inverse kinematics (IK) for Bionic Robot Arms using what we call Directional Tangent Matrix (DTM). We start by revisiting the concept of fixed-axis rotation, introducing the DTM as an alternative to the well-known direction cosine matrix (DCM). Then, the DTM is used for creating kinematic equations of general robot arms, simplifying these equations into a more manageable form: a second-order polynomial with four unknowns. We focus on solving these equations for robot arms with roughly parallel Joint Axes#3#4#5. The solutions we find are then applied in realtime to the actual robot arms using polynomial continuation method. Our approach offers a new way to develop and control Bionic Robot Arms, which could be more efficient and flexible compared to existing methods. © 2023 IEEE.

关键词： Inverse kinematics

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Knowledge Mapping of engineering Technology Talents Training Analysis 2

Knowledge Mapping of Engineering Technology Talents Training...

引用

2nd international Conference on Machine Learning, control, and robotics, MLCR 2023

作者： Zhu, Mingxuan Li, Cuixia Zhengzhou University School of Cyber Science and Engineering Zhengzhou China

ISBN: (纸本)9798350381245

The aim of the study is to analyse the emerging trends on engineering education in recent years by taking systematic review of literatures. By using the visualization tool named CiteSpace, we analyzed 657 articles on engineering education from the Web of Science database. In this study, the emerging trends such as STEM education, system planning, online teaching can be found by keywords clustering and evolution. Besides, authors map is given to find the relationship among them. The findings of the current study indicate that engineering education is developing and have numerous fields to carry on researches. The research trends and hotspots in the field of engineering education found in this study may be helpful to understand the overall development and future research directions. © 2023 IEEE.

关键词： engineering education

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Design and Implementation of A Three-Degree-of-Freedom Intelligent Logistics Robot 2

Design and Implementation of A Three-Degree-of-Freedom Intel...

引用

2nd international Conference on robotics, Artificial Intelligence and Intelligent control, RAIIC 2023

作者： Wang, Min Yan, Shiliang Li, Yunyang Lu, Dandan Southwest University of Science and Technology Engineering Technology Center Mianyang China Southwest University of Science and Technology School of Information Engineering Mianyang China

ISBN: (纸本)9798350328004

To solve the problems of waste of human resources and cost in the development of logistics industry, an intelligent robot is designed to carry out material handling tasks with simple operation and high efficiency. Based on the multi-sensor three-degree-of-freedom manipulator, combined with STM32, OpenMV, motor and drive modules, PID closed-loop control, image processing, data analysis, power electronics, mechanical principle and other technologies are used to design and implement it. The results show that the device has the advantages of simple operation, stable performance, intelligent grasping and placing, etc. It can meet the needs of intelligent life and further improve people's quality of life. © 2023 IEEE.

关键词： Intelligent robots

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Utilizing Lyapunov-Based Model Predictive control to Achieve Dynamic Positioning for the Haizhe Autonomous Underwater Vehicle 2

Utilizing Lyapunov-Based Model Predictive Control to Achieve...

引用

2nd international Conference on Automation, robotics and Computer engineering, ICARCE 2023

作者： Ji, Daxiong Ogbonnaya, Somadina Godwin Hussain, Ahmad Faraz Hussain, Sheharyar Ye, Zhangying Wang, Xinwei Institute of Marine Electronics and Intelligent Systems Ocean Collage Zhejiang University China Donghai Lab Zhoushan China College of Biosystems Engineering and Food Science Zhejiang University Hangzhou China Ocean Academy Zhejiang University Zhoushan China

ISBN: (纸本)9798350308341

This paper demonstrates the application of a Lyapunov-Based Model Predictive control (LBMPC) framework in achieving dynamic positioning (DP) using the Haizhe autonomous underwater vehicle (AUV) as a case study. Moreover, addressing the thrust allocation (TA) subproblem and optimizing DP control, LBMPC considers real-world restrictions. It makes use of a Proportional-Integral-Derivative (PID) controller, which ensures stability in the closed-loop system and continual feasibility within the system. Furthermore, attaining an extensive region of attraction, the contraction constraint improves stability. control theory and optimization techniques are integrated into the framework, enabling smooth online optimization integration for enhanced control performance. The success of this strategy is shown by simulation findings on the Haizhe AUV, which represents a breakthrough in underwater vehicle control. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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control Flexibility of Power Converters for Seamless Transition between Grid-Following and Grid-Forming Modes 2

Control Flexibility of Power Converters for Seamless Transit...

引用

2nd IEEE international Power Electronics and Application symposium, PEAS 2023

作者： Zhang, Zhe Yang, Yongheng College of Electrical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798350313765

To ensure the stability of the entire power grid, it is necessary for grid-connected power converter to flexibly change its operational mode upon demands to adapt to complex and varying operation conditions. This paper thus proposes a flexible control scheme for grid-connected converters to seamlessly switch between grid-following and grid-forming modes. In this scheme, the seamless transition is ensured by an integrator and a virtual admittance control (VAC) scheme, which can effectively suppress the fluctuations during the mode transition. Simulations have been performed, which verify the effectiveness of the proposed flexible mode control, in terms of fast dynamics and seamless transition. © 2023 IEEE.

关键词： Flexible mode control Grid-connected inverters Grid-following Grid-forming Power synchronization loop

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PMSM Vector control System Based on Improved Active Disturbance Rejection Speed controller 2

PMSM Vector Control System Based on Improved Active Disturba...

引用

2nd international Conference on robotics, Artificial Intelligence and Intelligent control, RAIIC 2023

作者： Deng, Jijie Chen, Yong Wang, Wei Tiangong University School of Control Science and Engineering Tianjin China Tiangong University School of Electronic & Information Engineering Tianjin China

ISBN: (纸本)9798350328004

The traditional ADRC speed regulator utilizes a fast optimal function known as the fal function. However, this function's derivative is discontinuous at segment points, leading to potential negative effects on the system's performance. In order to address this issue and optimize control effectiveness, the nonlinear function need to be enhanced to ensure continuity and differentiability throughout all segment points. Furthermore, ADRC requires adjustment of numerous parameters, which can be challenging. To alleviate this difficulty, a fuzzy controller is employed to adjust the non-linear error feedback link. This helps reduce the complexity associated with parameter tuning in ADRC. Simulation results demonstrate that the ADRC speed controller, incorporating the improved nonlinear function, achieves superior control performance compared to the original controller. Additionally, the fuzzy controller proves effective in easing the parameter adjustment process. © 2023 IEEE.

关键词： controllers

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Assessment of a Modular Upper-Limb Exoskeleton with Powered Assistance 2

Assessment of a Modular Upper-Limb Exoskeleton with Powered ...

引用

2nd international Conference on Automation, robotics and Computer engineering, ICARCE 2023

作者： Wu, Kaida Xiang, Peihao Ramon, Rodrigo Aravelli, Aparna Lagos, Leonel Bai, Ou Florida International University Department of Electrical and Computer Engineering MiamiFL United States Florida International University Applied Research Center MiamiFL United States

ISBN: (纸本)9798350308341

Upper extremity exoskeletons can provide support to workers for carrying tasks while reducing workers' muscle fatigue and the prevalence of work-related musculoskeletal disorders in workers' elbows. Nevertheless, current upper-limb exoskeletons suffer from issues like excessive weight, inconvenient wearability, high rigidity, poor human-machine interaction, and limited modularity. To address these issues, this study introduces a design for a lightweight, powered-assistive, and modular upper-limb exoskeleton. The research developed a prototype specifically tailored for the elbow joint. The experiment encompassed three control modes (Constant torque, Gravity compensation, and Impedance control) to assess the efficacy of the exoskeleton. Subjects engaged in 'pick-hold-drop' tasks with varying loads (4kg, 3kg, 2kg), simulating real load-bearing scenarios, performed five times. The experimental results indicate that the proposed design provided effective assistance to the subjects. During the 'hold' phase, the EMG Maximum Voluntary Contraction (MVC) values of the subjects' biceps muscles notably decreased, averaging a reduction of 9.29%. © 2023 IEEE.

关键词： Muscle

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Multi-Spacecraft Formation Attitude Coordinated control with Communication Delay 2

Multi-Spacecraft Formation Attitude Coordinated Control with...

引用

2nd international symposium on Aerospace engineering and Systems, ISAES 2023

作者： Zhou, Zhanjie Wang, Yan Harbin Institute of Technology School of Astronautics Harbin China

ISBN: (纸本)9798350303728

This paper proposes a novel approach to manage the attitude of spacecraft formation systems facing persistent communication delays. Communication delays can significantly impact the performance of attitude control systems. To tackle this issue, the proposed algorithm introduces an innovative technique that utilizes the theory of double-exponential control to accelerate the convergence of auxiliary variables constructed based on system errors. This approach effectively reduces the impact of communication delays and ensures stable attitude control. To establish the stability of the system, a Lyapunov-Krasovskii function is employed to derive stability conditions. Simulations are conducted to evaluate the effectiveness of the proposed approach. The simulation results demonstrate that the algorithm is highly effective in managing the attitude of spacecraft formation systems. © 2023 IEEE.

关键词： Time delay

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