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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111-120 订阅

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Stabilization and Setpoint Tracking for a Class of Systems with Matched and Unmatched Perturbations 2

Stabilization and Setpoint Tracking for a Class of Systems w...

引用

2nd international Conference on Mechatronics and Electrical engineering (MEEE)

作者： Dritsas, Leonidas ASPETE Elect & Elect Engn Educ Dept Athens Greece

ISBN: (纸本)9781665474450

This article is concerned with the robust control of a class of uncertain systems with linear nominal part and perturbations which are of two kinds: matched and unmatched. A specific variant of Integral Sliding Mode control (iSMC) is employed to systematically derive robust controllers for the specific class of systems for both stabilization and setpoint tracking objectives. The linear part of the composite controller employs mature linear control tools, while its nonlinear part is a nonlinear state feedback with "unit control" structure depending on the sliding surface and the uncertainty bounds. It is shown that an optimal selection of the sliding surface and the consequent selection of the nonlinear gain multiplying the "unit control" action, guarantee that sliding mode is achieved after a finite time interval despite the presence of unmatched perturbation. After entering sliding mode, the matched perturbations are fully rejected while the unmatched ones are non amplified. The numerical examples demonstrate the proposed methodologies on a single input nominally unstable plant.

关键词： control Automation and control Systems robotics And Mechatronics

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Semi-physical simulation of ADRC flight control system for flying wing UAV 2

Semi-physical simulation of ADRC flight control system for f...

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

作者： Shi, Jiayu Ma, Fei Chinese Flight Test Establishment Test Pilot School Xi'an China Chinese Flight Test Establishment Airborne Electronic Equipment Xi'an China

ISBN: (纸本)9798350303728

Based on the ADRC control theory, a semi-physical simulation system for ADRC control system of flying wing UAV with high aspect ratio was established in this study. The flight control performance of attitude and altitude was verified on its typical flight profile, and the nonlinear flight control performance under typical flight conditions in full envelope was evaluated. Some boundary flight conditions and typical interference are tested and analyzed whether the UAV can fly safely. The results of the semi-physical simulation show that the ADRC flight controller has good control performance and robustness in continuous flight in the full envelope with uncertainty of aerodynamic parameters and strong wind interference. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Research on Aerial Refueling Pressure control by Fuzzy PID Algorithm 2

Research on Aerial Refueling Pressure Control by Fuzzy PID A...

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

作者： Zhang, Jiatai Jiang, Junchang Avic the First Aircraft Institute Xi'an China

ISBN: (纸本)9798350303728

In view of the poor performance of traditional pressure control for aerial refueling, this paper proposes a pressure control technology for aerial refueling based on speed regulation, and designs a pump regulated refueling pressure control system using fuzzy PID control algorithm. Simulink software is used to build a simulation model of the pressure control system and carry out simulation analysis. At the same time, disturbance is added to the system to test its anti-interference ability. In order to verify the control performance of the fuzzy PID control algorithm, traditional PID and fuzzy PID control algorithms were compared with each other. By analyzing the simulation results, it has been proven that the use of fuzzy control algorithm in the refueling pressure control system based on speed regulation can better achieve the expected control effect. © 2023 IEEE.

关键词： Three term control systems

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Impedance Model Based Inverter control Parameter Optimization with Stability Limits 2

Impedance Model Based Inverter Control Parameter Optimizatio...

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

作者： Zhu, Yanping Hou, Wenhao Jiang, Haoyu Sun, Xiaofeng Qi, Lei Zhao, Wei College of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9798350313765

Optimizing control parameters is one of the measures to suppress oscillation in new power system. Firstly, a three-port impedance model with input characteristics is established for the grid connected inverter, and the optimal stability region of inner current control parameters considering AC side stability is given. Then the parameters of the control loop are optimized to form the optimal stability region, which is verified by simulation and experiment. © 2023 IEEE.

关键词： Grid connected inverter Optimal stability region Optimize control parameters Three-port impedance mode

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Synchronization analysis of stochastic Cohen-Grossberg neural networks driven by G-Brownian motion with inertial terms 2

Synchronization analysis of stochastic Cohen-Grossberg neura...

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

作者： Wang, Yaqian Yang, Jun Gou, Jinhao Xu, Shiqiang Southwest Minzu University College of Electrical Engineering Chengdu China

ISBN: (纸本)9798350328004

In this paper, the exponential synchronization (ES) of stochastic Cohen-Grossberg neural networks driven by G-Brownian motion with inertial terms (G-SCGNNIs) is studied. The original system is transformed into another system by variable substitution. Through establishing an appropriate Lyapunov function and using G-Itô formula, the exponential synchronization criterion of the system is discovered. Ultimately, a numerical simulation example is provided to validate the theoretical result. © 2023 IEEE.

关键词： Lyapunov functions

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Proposal and Simulation Analysis of a Centipede Type Robot Dynamically Adjusting Body Stiffness to Harness Favorable Environmental Effects for Navigation in Unknown 3D Environments 2

Proposal and Simulation Analysis of a Centipede Type Robot D...

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

作者： Xiao, Runze Osuka, Koichi Tsunoda, Yusuke Osaka University Department of Mechanical Engineering Osaka Japan

ISBN: (纸本)9798350308341

In navigating robots through intricate three- dimensional (3D) unknown terrains, traditional methods often require complex control and sensing systems to perceive and counteract the environment, treating them largely as 'obstacles'. Contrasting these conventional approaches, our study posits a novel perspective, viewing the environment as an 'assistant'. Building on this notion, we introduce a centipede-inspired robot with implicit control. Crucially, this robot dynamically adjusts its body stiffness, maximizing the beneficial influences of the environment for navigation. Using this distinctive strategy as our foundation, we carried out simulation experiments in the CoppeliaSim environment. Preliminary findings underscore that, by leveraging the stiffness adjustments, the proposed method achieves efficient navigation with simple controls, eliminating the need for intricate obstacle detection or path planning. © 2023 IEEE.

关键词： Navigation

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Real Time Violence Detection Using Autonomous Intelligent Surveillance Robot 2

Real Time Violence Detection Using Autonomous Intelligent Su...

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2nd international Conference on Advancements in Electrical, Electronics, Communication, Computing and Automation, ICAECA 2023

作者： Aishwarya, Shree J. Hari, Ram Karthik M. Richie, Soshan E. Sudhakar, R. Sri Ramakrishna Engineering College Robotics and Automation Engg. Coimbatore India

ISBN: (纸本)9798350306811

Intelligent surveillance robots dominate the entire world with its efficiency and accuracy helping in performing dangerous *** surveillance robot helps to survey the area. The violence keeps on growing day by *** paper presents an intelligent surveillance robot capable of detecting and preventing violence in two modes - motion-controlled and autonomous. The motion-controlled mode allows the user to manually control the robot's movement and camera orientation, while the autonomous mode allows the robot to navigate and monitor the environment independently. In both modes, the robot employs a deep learning algorithm taken from CNN and LSTM for accurately detecting violence and sending a notification through email with the image of the violent *** a authenticated dataset, the proposed concept has been examined, the outcomes looks promising in regards to accuracy and *** integration of motion control and autonomous operation modes makes the surveillance robot versatile and effective in a range of surveillance scenarios. Overall, this project demonstrates the potential of machine learning and robotics for enhancing security and surveillance measures. © 2023 IEEE.

关键词： Long short-term memory

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Autonomous Locomotion control Strategy for Quadruped Robot Based on Visual Lidar Fusion Terrain Recognition 2

Autonomous Locomotion Control Strategy for Quadruped Robot B...

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

作者： Cao, Jingxuan Chen, Teng Jiang, Han Lu, Guanglin Zhang, Guoteng Rong, Xuewen Li, Yibin School of Control Science and Engineering Shandong University Jinnan China

ISBN: (纸本)9798350308341

In comparison to other robot types, quadruped robots have greater flexibility and terrain adaptability for the special leg structure. To enhance their autonomy and intelligence in complex environments, a terrain perception integrated hardware system mixed lidar, camera and IMU, is developed for quadruped robots. The system utilizes FAST-LIO for localization, Globally Consistent Dense Elevation Mapping (GEM) for building local maps and maintaining global map consistency, and Efficient Residual Factorized Network (ERFNet) for terrain recognition. This allows for the classification of various terrains such as land, grass, curbs, and stairs. Adaptation strategies for step height and step frequency have been designed for various terrains. In the experimental section, the recognition effectiveness of different terrains was verified, and the feasibility of the perception system was demonstrated by combining control strategies. © 2023 IEEE.

关键词： Optical radar

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BIM Implementation Strategy- A proposal for KMRL 40

BIM Implementation Strategy- A proposal for KMRL

引用

40th international symposium on Automation and robotics in Construction, ISARC 2023

作者： James, Dona Sabu, Berlin James, Dyna Mar Athanasius College of Engineering Kothamangalam India

ISBN: (纸本)9780645832204

The implementation of Building Information Modelling (BIM) is a widely adopted pattern of revolution in the construction sector and the results gained through BIM adoption in multidisciplinary projects are well pronounced. Even though BIM is a widely accepted technique, its adoption in Kerala, especially for Kerala government projects is rare. Kochi Metro Rail Limited (KMRL) is one of the rapid transit systems serving the city of Kochi in Kerala and now its 2nd phase has obtained approval. Taking advantage of its current status, this research aims to develop an effective implementation strategy for BIM adoption in the 2nd phase of the Kochi Metro Rail project. This research also focuses to develop the key contents of the BIM Execution Plan (BEP) - which sets the standard for BIM execution by defining how, when and by whom the BIM processes should be carried out. The surveys conducted with KMRL project team members and BIM professionals for the smooth adaptation of BIM and framing BEP contents based on survey results are included in this study. © ISARC 2023. All rights reserved.

关键词： Rapid transit

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Compound control Method of ADRC and FTUSMC for Quadrotor UAV Attitude System 2

Compound Control Method of ADRC and FTUSMC for Quadrotor UAV...

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

作者： Yang, Yifan Fu, Jian Gao, Hongyu Zhang, Yuming Nanjing University of Science and Technology School of Energy and Power Engineering Nanjing China

ISBN: (纸本)9798350328004

To address the problem that the quadrotor UAV is affected by multiple sources of disturbances such as external environmental disturbances, internal parameter perturbation and unmodelled dynamics during actual flight, an attitude controller with a combination of Active disturbance rejection control and fast terminal unidirectional sliding mode is proposed. The Lyapunov stability theorem is used to prove that the designed attitude controller meets the stability requirements, and the proposed attitude controller is simulated in MATLAB/Simulink software. Simulation results show that the attitude controller has good robustness and disturbance resistance. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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