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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161-170 订阅

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AUV Tunnel Tracking Method Based on Adaptive Model Predictive control 3

AUV Tunnel Tracking Method Based on Adaptive Model Predictiv...

引用

3rd international conference on Automation, control and robotics engineering (CACRE)

作者： Jia, Chenkai Chen, Zhou Zhang, Guocheng Shi, Lei Sun, Yushan Pang, Shuo Harbin Engn Univ Sci & Technol Underwater Vehicle Lab Harbin Heilongjiang Peoples R China Zhejiang Design Inst Water Conservancy & Hydroele Hangzhou Zhejiang Peoples R China

In this paper, a model predictive path tracking controller is designed for the path tracking of the autonomous underwater vehicle (AUV). Firstly, Serret-Frenet coordinate system is introduced, and the path tracking error system model is established in this coordinate system. Based on Lyapunov theory and Backstepping method, the forward heading of AUV is conversed to the target value. Then, a nonlinear model predictive control design constraint path following control law of the AUV based on rolling to solve constrained optimization problems, satisfy the constraint of extension control input, to hit the target heading control. In the end, AUV-T, an underwater robot developed by Harbin engineering university, was used to test the proposed control law. The results showed that the controller showed good tracking effect.

关键词： Autonomous underwater vehicles

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Formulation of the necessary conditions for optimality for a parameter dependent optimal control problem evolving on a principal fibre bundle 3

Formulation of the necessary conditions for optimality for a...

引用

3rd international conference on robotics, Automation and Artificial Intelligence (RAAI)

作者： Ekoru, John E. D. Madahana, Milka C., I Ngwako, Mohlalakoma T. Nyandoro, Otis O. T. Univ Witwatersrand Sch Elect & Informat Engn Johannesburg South Africa

ISBN: (纸本)9798350307573;9798350307566

The main objective of this research is the presentation of a maximisation of payload haulage by use of UAV for payload spraying purposes of a pesticide in a regular field. Optimal control from principles of calculus of variations is applied to formulate the maximisation problem. The variable payload models the parameter dependant UAV. The system evolves on a principle fibre bundle on a SE(3) x S-2 manifold necessitating a from principles calculus of variations optimal formulation which is the key contribution of this paper. An illustrative spraying example is used to demonstrate a maximal pesticide spraying problem. Future work will include the formulation of optimal control problems on the semi-direct function Manifold

关键词： Unmanned aerial vehicle Optimal control manifold pesticide spraying

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controller Design for Compound Pendulum with PID and MRAC Switch control 3

Controller Design for Compound Pendulum with PID and MRAC Sw...

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3rd international conference on Automation, control and robotics engineering (CACRE)

作者： Zhang, Shuang Dian, Songyi Sichuan Univ Dept Automat Coll Elect Engn & Informat Technol Chengdu Sichuan Peoples R China

Compound pendulum swings with the reference trajectory accurately so that we could get the motion states of it easily. To ensure the compound pendulum tracking performance, we propose a switch controller of PID and model reference adaptive controller (PID+MRAC). According to its equations of motion, we can establish a suitable model and obtain correspond adaptive reference rules. We determine a suitable threshold, then compare the error and threshold to choose PID control or MRAC control. The same output results could be obtained from reference model and plant model by adjusting the gain. Similarly, we compare the preference of PID controller, MRAC and PID+MRAC switch controller to evaluate which one is better. The results show that the switch control is the best one and the MRAC control is better than the PID control.

关键词： Three term control systems

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Design of a PID control System for a Wastewater Treatment Plant 3

Design of a PID Control System for a Wastewater Treatment Pl...

引用

3rd international conference on robotics, control and Automation engineering (RCAE)

作者： Figueroa Bados, Jhon Stalin Platero Morejon, Iralmy Yipsy Univ Continental Dept Mechatron Engn Huancayo Peru Univ Continental Dept Engn Huancayo Peru

ISBN: (纸本)9781728186382

This paper presents the design and control of a wastewater treatment plant with mechatronic systems. In this work, a control is developed for each level of treatment in order to optimize time and resources in construction. The development of the project shows that the application of a level sensor and a suction and exhaust pump is feasible in each of the treatment tanks. A heater was also added in the activated sludge treatment to increase the temperature and control the sludge faster. In addition, a reduction in the time for the system to stabilize can be visualized, including a PM control in all processes, managing not to cause overflows in the tanks and having a stable control. The optimal values obtained from the controller for the first system are 36, 0.00036, and 598450, for the second are 30, 0.02, 15 respectively. The implemented control will help to have a preventive and controlled maintenance of the entire system and avoid losses.

关键词： ID control wastewater treatment plant stable system mechatronic systems

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Consensus of Second-order Multi-agent Systems with Time Delays 3

Consensus of Second-order Multi-agent Systems with Time Dela...

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

作者： Chen, Chunyang Wang, Zhiguo Jin, Liqiang Yin, Yanyan Liu, Fei Jiangnan Univ Inst Automat Minist Educ Key Lab Adv Proc Control Light Ind Wuxi 214122 Peoples R China Curtin Univ Dept Math & Stat Perth WA 6102 Australia

ISBN: (纸本)9781538666630

This paper investigates the problem of consensus for second-order multi-agent systems with switching topologies and time-delays. The switching topologies and communication time-delays are described by Markov chains. By using a model transformation approach, sufficient conditions are established under which consensus is guaranteed. A numerical example is provided to verify the effectiveness of the proposed approach.

关键词： Multi-agent systems Consensus Markov jumping delay Switching topology Second order system

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Design and Prototype of Monolithic Compliant Grippers for Adaptive Grasping

Design and Prototype of Monolithic Compliant Grippers for Ad...

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

作者： Liu, Chih-Hsing Chiu, Chen-Hua Natl Cheng Kung Univ Dept Mech Engn Tainan Taiwan

ISBN: (纸本)9781538666630

This study presents the designs of monolithic compliant grippers made by silicon rubber for adaptive grasping applications. The proposed grippers are symmetric two-finger designs actuated by one linear actuator. An optimal design procedure including topology and size optimization methods is used to synthesize the rubber grippers with the objective to maximize mechanical advantage, which is defined as the ratio of output force to input force. Three grippers synthesized with different design parameters are prototyped. The best design is identified through the adaptability test, and a robotic gripper assembly is developed to demonstrate the effectiveness of the design through the test of grasping irregular objects. The maximum payload for the gripper assembly is identified as 2.5kg.

关键词： gripper compliant gripper compliant mechanism grasping topology optimization size optimization

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Position control of Electrohydraulic Actuator Using Triangular Position Signal in Open Loop control 3

Position Control of Electrohydraulic Actuator Using Triangul...

引用

3rd international conference on Emerging Frontiers in Electrical and Electronic Technologies, ICEFEET 2023

作者： Kumar, Gulshan Mandal, Nimai Pada National Institute of Technology Patna Department of Mechanical Engineering Patna India

ISBN: (纸本)9798350307399

Electrohydraulic actuation systems are widely used in a variety of industries, including robotics, manufacturing, mining, agriculture, and vehicle manufacturing. Some industries, such as agriculture and mining, require low or medium control accuracy, which can be achieved with an open-loop control strategy, whereas others, such as robotics and manufacturing, require higher control accuracy, which can be achieved with an advanced closed-loop control strategy. In this paper, an electrohydraulic actuation system with a novel experimental setup is used to control the actuator position using an open-loop control strategy. For this purpose, a triangular signal with an amplitude of 100 mm and frequencies of 0.05 Hz, 0.10 Hz, and 0.20 Hz is fed into the system, and the response of the actuator position is analyzed. To process the signals, the National instrument (NI) controller was used in conjunction with the LabVIEW program. Experiment results show that position tracking error is lowest, error evaluation parameter correlation coefficient is highest, and mean absolute error and root mean square error are lowest at lower frequencies (0.05 Hz) compared to higher frequencies (0.10 Hz and 0.20 Hz). © 2023 IEEE.

关键词： Errors

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Camera-Lidar-Based Terrain Multi-type Classification Using Both Spatial and Histogram Features of Lidars 3

Camera-Lidar-Based Terrain Multi-type Classification Using B...

引用

3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Lu, Zhen Wang, Mingyi Yu, Shuyang Wu, Yi Wang, You Li, Guang College of Control Science and Engineering Zhejiang University Hangzhou China College of Biosystems Engineering and Food Science Zhejiang University Hangzhou China

ISBN: (纸本)9781665492126

Terrain classification is a necessary and difficult task for all off-road robots. Most existing methods use images or proprioceptive sensors for recognition. However, while taking proprioceptive sensors as input requires more actual contact (which also means risks), images are susceptible to ambient light change. We also found that a combination of multiple optical channels in Lidars is quite useful for the identification of terrain types. In this paper, we designed a Lidar-camera fusion system fully utilizing information from Lidars and fusing depth to images to classify different types of terrain. The proposed network was tested on the dataset which includes asphalt, brick, cement, cobblestone, grass, and gravel. The accuracy achieves 99.471%, which shows its efficiency. © 2023 IEEE.

关键词： Optical radar

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Disturbance Observer-Based H∞control for Flexible Spacecraft Systems Under Deception Attacks 3

Disturbance Observer-Based H∞Control for Flexible Spacecraf...

引用

3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Chen, Boming Wang, Zipeng Beijing University of Technology Faculty of Information Technology Beijing Laboratory of Smart Environmental Protection Beijing Institute of Artificial Intelligence Beijing China

ISBN: (纸本)9798350360813

A disturbance observer-based H∞ composite control method under disturbances and deception attacks is addressed in this paper. Firstly, the control model is constructed. Secondly, a disturbance observer-based H∞ composite controller via linear matrix inequality (LMI) is developed based on a Lyapunov function. Finally, we present simulations to verify the validity of design method. © 2023 IEEE.

关键词： Linear matrix inequalities

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Extended State Observer and Kalman Filter Based control for DC-DC Buck Converter Subject to Disturbances and Noise 3

Extended State Observer and Kalman Filter Based Control for ...

引用

3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： You, Rui Chen, Yunjun Zhang, Lu Tiangong University School of Control Science and Engineering Tianjin China

ISBN: (纸本)9798350360813

Direct current-direct current buck converters are widely used in industrial fields. In practical applications, parameter uncertainty, external disturbances and measurement noise affect the control performance of DC-DC buck converter. To deal with external disturbances and measurement noise in DC-DC buck converter, a control strategy combining extended state observer (ESO) and Kalman filter (KF) is proposed in this paper. The extended state observer is used to estimate the lumped disturbance of the DC-DC buck converter system. However, in order to achieve fast convergence in the control process, the observer chooses a large control gain, which results in severe noise amplification. To this end, the Kalman filter is used to filter the noise. The composite control method proposed in this paper can improve the robustness and voltage tracking performance of DC-DC buck converter. Simulation results verify the effectiveness of the proposed control method. © 2023 IEEE.

关键词： Kalman filters

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