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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

共 3888 条记录，以下是91-100 订阅

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Trajectory Tracking control Strategy using Co-Reference for Rear-Steered Vehicle 3

Trajectory Tracking Control Strategy using Co-Reference for ...

引用

3rd international conference on control and robotics engineering (ICCRE)

作者： Pamosoaji, Anugrah K. Univ Atma Jaya Yogyakarta Fac Ind Technol Yogyakarta Indonesia

ISBN: (纸本)9781538666630

A trajectory tracking control strategy using a co-reference for a rear-steered non-holonomic vehicle is presented. Given a reference moving on a path, the vehicle has to track the reference and reduce the vehicle-to-reference distance to the minimum possible distance. In addition, the vehicle has to maintain the change rate of the vehicle-to-reference distance non-positive at the neighborhood of the reference from any initial configuration. A class of barrier Lyapunov Function (BLF) is utilized to analyze the stability of the proposed control strategy. The co-reference is used to guide the vehicle to enter the neighborhood of the reference from the rear side of the reference. The performance of the proposed control strategy is evaluated by simulations and the results are presented.

关键词： Trajectory tracking control automated guided vehicle distance reduction

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Min-Max Merged with Quadratic Cost for Repetitive control of Minimum Phase Systems 3

Min-Max Merged with Quadratic Cost for Repetitive Control of...

引用

3rd international conference on control and robotics engineering (ICCRE)

作者： Prasitmeeboon, Pitcha King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand

ISBN: (纸本)9781538666630

Repetitive control (RC) is an effective method to eliminate the effects of a periodic disturbance to a feedback control system. Applications of RC include an active vibration isolation mount in spacecraft, servomechanisms, and robotic manipulators. Previous work develops a repetitive controller design for non-minimum phase systems using optimization in frequency domain. The objective of the design is to minimize the maximum error merged with quadratic cost, formulated as quadratically constrained linear programming. This work studies how to make use of the Min-Max merged with quadratic cost design for minimum phase systems. An understanding of how to make design choices for the interchange between Min-Max and quadratic cost for each frequency range is developed. The performance of the proposed design choice evaluated by using a simulation of a commercial robot link shows that the design can produce an effective compensator design for minimum phase systems.

关键词： component Repetitive control Min-Max optimization Convex Programming

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Grey Wolf Algorithm with Borda Count for Feature Selection in Classification 3

Grey Wolf Algorithm with Borda Count for Feature Selection i...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Jitkongchuen, Duangjai Phaidang, Pongsak Dhurakij Pundit Univ Coll Innovat Technol & Engn Bangkok Thailand

ISBN: (纸本)9781538666630

This research applies the grey wolf optimization algorithm which includes the feature selection stage and implements borda count method to optimize the function selection problem in classification. The grey wolf optimization mimics the characteristics and movement of wolves which have more than one leader in a pack. The proposed algorithm presents the pack can have more than one pack which selects the most relevant features. The performance of proposed algorithm is compared with other classification techniques such as cAnt-Miner, C4.5 and PART. The experimental results show that the proposed algorithm is capable to optimized feature selection in classification problems.

关键词： classification feature selection grey wolf optimization algorithm borda count method

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Adaptive control for UAV Close Formation Flight against Disturbances 3

Adaptive Control for UAV Close Formation Flight against Dist...

引用

3rd international conference on robotics and Automation engineering (ICRAE)

作者： Yu, Wanming Lin, Defu Song, Tao Beijing Inst Technol Inst UAV Autonomous Control Beijing Peoples R China

ISBN: (纸本)9781538695944

In fixed-wing UAV close formation flight adopting the leader-follower configuration, the follower dynamics is affected by the leader-induced trailing vortex effect. This paper considers the trailing vortex effect as external disturbances, and proposes an adaptive control scheme for the follower in order to counteract the trailing vortex effect and achieve accurate formation stabilization control in the horizontal plane. Equations of the relative motion between the leader and the follower considering the trailing vortex effect are derived. Then, an adaptive control law for the follower is designed based on the relative motion model, and adaptation laws are proposed to estimate the trailing vortex disturbances. It is proved via Lyapunov theory that both the lateral and the forward distance errors of the relative motion converge to zero. The effectiveness and robustness of the proposed control scheme are verified through numerical simulations under trailing vortex disturbances.

关键词： trailing vortex close formation control adaptive control disturbance estimation

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The Electrical Effects of Iridium and Standard Spark Plug for Simple Spark Ignition Engine 3

The Electrical Effects of Iridium and Standard Spark Plug fo...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Chimpai, Natthapol Parnklang, Jirawath King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok Thailand

ISBN: (纸本)9781538666630

The purpose of this work was to compare the electrical characteristic of iridium spark plug with the standard spark plug in order to accord with the conditions of general control signal operation of the standard spark plug ignition system. The required voltage and spark duration time are used for analysis. The data of this study were defining by charging time of ignition coil since 0.5 - 6.0 ms and spark gap at the 0.7, 0.9 and 1.1 mm respectively. That operated under the normal atmosphere. The experimental results indicated that the required voltage of iridium spark plug is lower than the standard spark plug from fully saturated charging time. When it is applied in the general system, the advance angle should be adjusted more advance about 4% and the lower voltage requirement of one lengthens the spark duration, that is not suitable for engine speed more than 24000 rpm.

关键词： spark control signal required voltage spark duration

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Reliability Modeling for Integrated BPCS and ESD System Case Study: A two-phase gas-liquid separator process 3

Reliability Modeling for Integrated BPCS and ESD System Case...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Thepmanee, Teerawat King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok Thailand

ISBN: (纸本)9781538666630

This paper addresses the analytical models and statistical methods used to analyze reliability systems that form the basis for evaluation and prediction of the stochastic failure and nonrepairable behavior of complex process control systems, assembled using a variety of components. The reliability model design of a two-phase gas-liquid separator process has been conducted in this study. The quantitative fault tree analysis approach which has been proved to be acceptable and widely applied in many applications of modeling and methods supporting the system integrator and safety engineer not only to identify how subsystems and components could fail and what are the corresponding effects on the whole system, but also to quantify the reliability parameters for complex systems. The results obtained from our case study can be useful as the tools for justifying the design and implement of BPCS&ESD systems.

关键词： Reliability model BPCS ESD SIS FTA

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Machine Learning Comparison for Step Decision Making of a Bipedal Robot 3

Machine Learning Comparison for Step Decision Making of a Bi...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Kouppas, Christos Meng, Qinggang King, Mark Majoe, Dennis Loughborough Univ Comp Sci Loughborough Leics England Loughborough Univ Sports Biomech Loughborough Leics England Swiss Fed Inst Technol Comp Sci Zurich Switzerland

ISBN: (纸本)9781538666630

This paper(1) presents the results of several machine learning techniques for step decision in a bipedal robot. The custom developed bipedal robot does not utilize electric motors as actuators and as a result has the disadvantage of imprecise movements. The robot is inherently unstable and maintain its stability by making steps. The classifiers had to learn when and which leg must be moved in order to maintain stability and locomotion. Methods like: Decision tree, Linear/Quadratic Discriminant, SVM, KNN and Neural Networks were trained. The results of their performance/accuracy are noted.

关键词： Decision tree Linear/Quadratic Discriminant SVM KNN Neural Networks Bipedal Robot LSTM

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Performance Comparison of Bit-Level Median Filtering Circuits Based on Binary Search Algorithm 3

Performance Comparison of Bit-Level Median Filtering Circuit...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Wongjan, Anan Julsereewong, Amphawan Eguchi, Kei King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand Fukuoka Inst Technol Dept Informat Elect Higashi Ku Fukuoka Fukuoka 8110295 Japan

ISBN: (纸本)9781538666630

Implementing bit-level median filtering circuits based on binary search algorithm is one of powerful methods to provide simple and modular configurations. The aim of this paper is to compare the performances of four median filtering circuits utilizing binary search algorithm in terms of operation time and power consumption, which are major characteristics for signal and image processing in real time. These studied filtering circuits are implemented through the employment of existing logic control and majority voting modules. Two different configurations of logic control module as well as two different configurations of majority voting module for four possible circuit realizations are described. LabVIEW simulation results are employed for verifying the performances of the studied median filtering circuits.

关键词： median filtering circuit binary search algorithm logic control majority voting signal and image processing

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Stochastic Stability and Performance Analysis for Markovian Jump Systems Interconnected Over an Undirected Graph 3

Stochastic Stability and Performance Analysis for Markovian ...

引用

3rd international conference on control and robotics engineering (ICCRE)

作者： Xue, Xiaojuan Xu, Huiling Xu, Li Nanjing Univ Sci & Technol Sch Sci Nanjing 210094 Jiangsu Peoples R China Akita Prefectural Univ Dept Elect & Informat Syst Akita Japan

ISBN: (纸本)9781538666630

This paper considers the problems of stochastic stability and performance analysis for Markovian jump systems interconnected over an undirected graph is considered. A sufficient condition for the well-posedness, stochastic stability and contractive performance of such systems is presented in terms of linear matrix inequalities (LMIs), which gives a theoretical foundation for the further research. A numerical simulation is given to show the validity of the results.

关键词： Markovian jump systems Undirected graph Stochastic stability Contractive performance

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Integration of WirelessHART Devices Into Mitsubishi PLC For Plant Monitoring 3

Integration of WirelessHART Devices Into Mitsubishi PLC For ...

引用

3rd international conference on control and robotics engineering (ICCRE)

作者： Rerkratn, Apinai Laosuwan, Issara Tammaruckwattana, Sirichai Parnklang, Jirawath King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand

ISBN: (纸本)9781538666630

This paper presents a technique to integrate WirelessHART devices into Mitsubishi PLC for plant monitoring. The integration between WirelessHART devices and Mitsubishi PLC is based on OPC technologies. DASMTEthernet OPC and DASMBTCP OPC are used to communicate between WirelessHART devices, Mitsubishi PLC and SCADA software. Commercial WirelessHART devices and Mitsubishi PLC are used in experiment. The experimental testing with Pneumatic object moving plant shown the proposed system can monitor pressure and temperature of air compressor and stop the operation of Pneumatic object moving plant when the pressure and temperature of the air compressor are out of defined range. The experimental results illustrated here are useful people interested in the use of measuring multiple parameters for monitoring conditions of industrial plant controlled by Mitsubishi PLC including commercial PLC.

关键词： Industrial Wireless WirelessHART Mitsubishi PLC OPC software

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