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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21-30 订阅

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Fault-Tolerant control for Delayed PDE-ODE Coupled Systems 3

Fault-Tolerant Control for Delayed PDE-ODE Coupled Systems

引用

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

作者： Shi, Xi-Dong Wang, Zi-Peng Yan, Xue-Hua Zhang, Xiao-Wei University of Jinan School of Electrical Engineering Jinan China Beijing University of Technology Faculty of Information Technology Beijing China Tiangong University School of Control Science and Engineering Tianjin China

ISBN: (纸本)9798350360813

This paper introduces a fault-tolerant control strategy for delayed PDE-ODE coupled systems. By using a Lyapunov functional (LF), a fault-tolerant control design is developed by space-dependent linear matrix inequality (SDL-MI) to ensure the exponential stability (ES) for the closed-loop delayed PDE-ODE coupled system. Finally, the effectiveness of the control approach is demonstrated through its application to a hypersonic rocket car (HRC). © 2023 IEEE.

关键词： Lyapunov functions

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Adaptive Sliding Mode Voltage control of DC/DC Buck Converters 3

Adaptive Sliding Mode Voltage Control of DC/DC Buck Converte...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Xu, Fachao Xiong, Jingjing College of Electrical and Mechanical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

This article investigates the problem of voltage tracking sliding mode control in DC/DC buck converters. To fix the problem of chattering and outside interference in sliding mode control, this paper proposes a fixed time sliding mode controller (FTSMC) based on radial basis function neural network (RBFNN). Using the proposed neural network based sliding mode controller, it can ensure that the buck converter accurately tracks the trajectory of the ideal value. Finally, the effectiveness of the proposed control method is validated through simulation. © 2024 IEEE.

关键词： Buck converter

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The Design of Robotic Arm Based on ROS 3

The Design of Robotic Arm Based on ROS

引用

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

作者： Zhu, Mingyi Lv, Xiaolong Zuo, Siyang Zhang, Xinyu College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China Undergraduate School Harbin Engineering University Harbin China

ISBN: (纸本)9781665492126

In this paper, the design of a ROS-based robotic arm is introduced from three aspects: structure, hardware and software. In order to reduce the mass of the entire robotic arm, the connecting rod of the robot arm is mainly made of carbon fiber material. Different loads lead to a decline in the control accuracy of the joint angle of the robotic arm. To solve this problem, we added a gravity compensation system to the control system of the robotic arm. In addition, we designed a software framework that can be widely used in various robotic arm systems. Finally, we carried out a test experiment on the robotic arm. © 2023 IEEE.

关键词： control systems

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Periodic Event-Triggered Containment control for Multirobot Systems 3

Periodic Event-Triggered Containment Control for Multirobot ...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Zhang, Shikun Liu, Dan Zhang, Bin Wang, Binrui Qin, Feifei College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

This paper aims to study the periodic eventtriggered (PET) containment control for multirobot systems (MRSs). To save communication resources, a PET mechanism is proposed to realize containment control. Different from the traditional event-triggered mechanisms where the triggering functions require to be monitored continuously, the proposed PET mechanism allows each robot to monitor the triggering function only at preset periodic sampling instants, thereby reducing the updates of controllers. Under this mechanism, all the followers are able to reach a convex hull formed by leaders. Finally, the obtained theoretical results are verified by a numerical simulation example. © 2024 IEEE.

关键词： Microrobots

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Dynamic-Memory Event-Triggered control Approach and Its Application to Linear Systems 3

Dynamic-Memory Event-Triggered Control Approach and Its Appl...

引用

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

作者： Yang, Jin Zhou, Xian Wang, Shihao Zhong, Qishui Shi, Kaibo Hua, Lanfeng University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu China Chengdu University School of Electronic Information and Electrical Engineering Chengdu China

ISBN: (纸本)9798350360813

The dynamic-memory event-triggered control problem for networked control systems is investigated in this paper. Firstly, a dynamic-memory event-triggered scheme (DMETS) is proposed to reduce the unnecessary data transmission. Then, a unified event-triggered control system model is established by applying the DMETS to linear system with time delay. Further, the asymptotic stability criteria are developed by constructing appropriate Lyapunov functional, and the design approach of controller is presented by using linear matrix inequality technology. Finally, the effectiveness of controller and the advantages of DMETS are verified by giving illustrative examples. © 2023 IEEE.

关键词： Time delay

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Research on Space High Stability Optical Scanning Servo System 3

Research on Space High Stability Optical Scanning Servo Syst...

引用

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

作者： Pengfei, Wu Zenghao, Chen Yutong, Zhu Zhenfeng, Fang Fengdan, Zu Shanghai Aerospace Control Technology Institute Shanghai Engineering Research Center of Inertial Shanghai China

ISBN: (纸本)9781665492126

To improve the low-speed stability of the space optical scanning servo system, a method to estimate speed using the least-squares fit based on FPGA was proposed. The multi-order least-squares polynomial is used to fit the position tracking curve, and the derivative was used to calculate the speed of the optical scanning mechanism. Through simulation and experiment, the stability of this method and the traditional M-method speed measurement method under low-speed working conditions were compared. Results show that the new method has improved accuracy while low-speed working conditions and improved stability by more than 4 arcsec (3σ). © 2023 IEEE.

关键词： Field programmable gate arrays (FPGA)

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3D Object Detection Based on Neighborhood Graph Search in Dense Scenes 23

3D Object Detection Based on Neighborhood Graph Search in De...

引用

3rd international conference on robotics and control engineering, robce 2023

作者： Chen, Liangji Wang, Zhiling Wang, Hanqi Zhou, Pengfei Hefei Institutes of Physical Science Chinese Academy of Sciences Anhui Hefei China University of Science and Technology of China Anhui Hefei China Anhui Engineering Laboratory for Intelligent Driving Technology and Application Anhui Hefei China

ISBN: (纸本)9781450398107

In the field of robotics and autonomous driving, achieving accurate 3D object detection is crucial for the perception of complex traffic environments. Most current research uses deep learning methods to extract object features from point clouds or images. However, these approaches often do not fully utilize the mutual positional information between objects, resulting in low detection accuracy in dense scenes. To address this issue, this paper proposes a frustum point cloud 3D target detection algorithm based on the fusion of camera and LiDAR data. We establish global connectivity of objects based on the degree of overlap between camera detection frames. Then, we design a neighborhood graph search algorithm based on constraint satisfaction to match the camera target detection results with LiDAR clustering results. Finally, the category and distance information of obstacles are displayed in bird's eye view (BEV). Evaluated on the KITTI benchmarks, our method achieves an average precision (AP) of 88.38% on the easy level, 87.64% on the moderate level, and 80.10% on the hard level in BEV detection. Compared to F-ConvNet, our method shows improvements of 5.49% on the moderate level and 7.33% on the hard level, significantly enhancing recognition accuracy in dense scenes. © 2023 Owner/Author.

关键词： Object detection

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Customized Touch UI Development for E-Cockpit in Automobile 3

Customized Touch UI Development for E-Cockpit in Automobile

引用

3rd international conference on Smart Technologies, Communication and robotics, STCR 2023

作者： Sivaraj, D. Rathika, P.D. Jayasree, D. Dwarkesh Psg College of Technology Department of Electronics and Communication Engineering Coimbatore India Psg College of Technology Department of Robotics and Automation Engineering Coimbatore India Psg Polytechnic College Department of Electronics and Communication Engineering Coimbatore India Psg College of Technology Department of Computer Science and Engineering Coimbatore India

ISBN: (纸本)9798350370867

In recent times, the automotive industry has made significant steps towards digitization by focusing on electronic cockpits (E-Cockpits) to enhance the driving experience, comfort and safety. The incorporation of Touch-Based User Interface (UI) technologies has played a crucial role in revolutionizing Driver-Vehicle interaction [10]. The project of E-Cockpit represents a concept that consolidates various internal car systems onto one unified digital platform, enabling seamless control and access to essential infotainment, safety features, and connectivity services [14]. For the realization of the complete potential of an E-Cockpit, it is important to develop an innovative and User-Friendly touch UI as this directly influences both user experience and safety concerns. © 2023 IEEE.

关键词： User interfaces

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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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A Comparative Study of Model-Based control Schemes for Contouring Accuracy Improvement of 3PRR Planar Parallel-Kinematics Manipulator 3

A Comparative Study of Model-Based Control Schemes for Conto...

引用

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

作者： Rosyid, Abdur El-Khasawneh, Bashar Khalifa Univ Mech & Nucl Engn Dept Abu Dhabi U Arab Emirates

ISBN: (纸本)9798350307573;9798350307566

The highly nonlinear coupled dynamics in a parallel-kinematics manipulator typically cannot be simply treated as disturbance. Model-based control schemes are usually used to address this issue. This paper presents the improvement of contouring accuracy of a planar 3PRR parallel-kinematics manipulator by applying two model-based control schemes namely decentralized PID control with centralized computed torque feedforward and centralized inverse dynamics control with feedforward. The simulation shows that both control schemes provide better contouring accuracy than decentralized PID control scheme. Furthermore, it is shown that the decentralized PID control with centralized computed torque feedforward outperforms the centralized inverse dynamics control with feedforward given an accurate dynamic model of the manipulator.

关键词： parallel manipulator contouring accuracy model-based control

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