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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41-50 订阅

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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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Efficient Path Planning and Cruise control Features In Self-Driving Cars Using ROS2 & Machine Learning 3

Efficient Path Planning and Cruise Control Features In Self-...

引用

3rd IEEE international conference on robotics, Automation, Artificial-Intelligence and Internet-of-Things, RAAICON 2024

作者： Hassan, Mumit Maliha, Mahmuda Haque Hossain, Jamil Talukder, Imnul Haque Ruman Hasan, Md. Mehedi Ahmed, Faisal Chittagong University of Engineering & Technology Department of Mechatronics & Industrial Engineering Chattogram4349 Bangladesh Chittagong University of Engineering & Technology Department of Electrical & Electronic Engineering Chattogram4349 Bangladesh Chittagong University of Engineering & Technology Department of Mechanical Engineering Chattogram4349 Bangladesh

ISBN: (纸本)9798331534400

This study proposes an integrated approach that uses machine learning and ROS2 as a combined tool to provide effective path planning and cruise control capabilities in self-driving cars. For object identification and environment perception, the suggested system makes use of Convolutional Neural Networks (CNN) and Haarcascade algorithm. As well as A∗ and Dijkstra algorithms are applied for finding optimal path and navigation through challenging situations such as T-junctions and cross intersections. Reliable autonomous navigation is demonstrated by the system's efficient integration of motion planning and lane assistance. The model can improve self-driving capabilities, leading to safer and more effective autonomous driving solutions, as demonstrated by experimental findings. © 2024 IEEE.

关键词： Convolutional neural networks

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Development of a Simple and Novel Digital Twin Framework for Industrial Robots in Intelligent robotics Manufacturing 20

Development of a Simple and Novel Digital Twin Framework for...

引用

IEEE 20th international conference on Automation Science and engineering (CASE)

作者： Xiang, Tianyi Li, Borui Pan, Xiaonan Zhang, Quan Xian Jiaotong Liverpool Univ Sch Adv Technol 111 Renai Rd Suzhou 215000 Peoples R China Univ Liverpool Dept Elect & Elect Engn Liverpool L69 7ZX Merseyside England

ISBN: (纸本)9798350358513;9798350358520

This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools. The framework can do real-time visualization and control of the entire work process, as well as implement real-time path planning based on algorithms executed in MATLAB. Results verify the high communication efficiency with a refresh rate of only 17ms. Furthermore, our developed web-based platform and Graphical User Interface (GUI) enable easy accessibility and user-friendliness in real-time control.

关键词： Smart manufacturing

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Cross-media control and parameter tuning for water-air amphibious multi-rotor vehicle 23

Cross-media control and parameter tuning for water-air amphi...

引用

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

作者： Li, Zhongguang Liang, Shuang Guo, Mingming Zhang, Hua Wang, Heng College of Information Engineering Southwest University of Science and Technology China College of Energy and Power Northwestern Polytechnical University China Faculty of Information Engineering Southwest University of Science and Technology China

ISBN: (纸本)9781450398107

In this paper, the cross-media control of the water-air amphibious multi-rotor vehicle is studied, and the ADRC method is proposed to build a controller for the water-air amphibious multi-rotor vehicle. Firstly, this paper establishes the cross-media dynamics and kinematics model of water-air amphibious multi-rotor vehicle and proposes a step-by-step vertical cross-media model. Based on this, a string-level controller is built using ADRC, and further, a particle swarm algorithm is introduced for controller parameter tuning. A comparison of the control effect with conventional PID and sliding mode controller (SMC) shows that:The introduction of particle swarm algorithm for controller parameter tuning can effectively improve the control performance, and the proposed string-level ADRC control strategy has stronger real-time and anti-interference capability. © 2023 ACM.

关键词： Sliding mode control

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Trajectory Tracking control of Uncertain Quadrotor UAV 3

Trajectory Tracking Control of Uncertain Quadrotor UAV

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Li, Qiming Shi, Ran Xiong, Jingjing College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

For the problem of external wind disturbances and model parameter uncertainties that quadrotor unmanned aerial vehicle (UAV) often face during flight in natural environments, an adaptive sliding mode control scheme via recurrent neural network is proposed. Firstly, the quadrotor dynamics system is considered by designing two subsystems, i.e., fully actuated one and underactuated one. Then, the recurrent neural network is used to effectively approximate or adaptively estimate their lumped terms from external wind disturbance and model uncertainty faced by the quadrotor UAV, and continuous feedback compensation sliding mode controllers are designed. Finally, simulation results are given to show the effectiveness of proposed method. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Research on Climbing Motion control of Snake-Shaped Robot for Variable Diameter Piles 3

Research on Climbing Motion Control of Snake-Shaped Robot fo...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Ye, Jinhu Zhang, Jie Sheng, Ouyang Luoding Polytechnic Guangdong China School of Automation Science and Engineering South China University of Technology Guangdong China

ISBN: (纸本)9798350367119

In this paper, the movement control of snake-shaped robot for pipeline clamber is studied, and a method based on neural network and Sigmoid joint decoupling is proposed to solve the adaptive problem of snake-shaped robot in pipeline climbing. By obtaining the angle information and angle change law of the snake-shaped robot, effectively Forecast the change law of the pipeline diameter parameters can be realized, so as to further estimate and predict the parameter adjustment law controlled by the snake-shaped robot, and realize the effective decoupling of the joint angle of the robot, thus improving the adaptability of the robot to climbing the pipeline. The effectiveness of the proposed method is verified by experiments and simulations. © 2024 IEEE.

关键词： Long short-term memory

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Particle Swarm Optimization Based control For a controlled Floating Space Robot 3

Particle Swarm Optimization Based Control For a Controlled F...

引用

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

作者： Chaudhary, David Murugan, Senthil Indian Inst Technol Madras Dept Aerosp Engn Aeroelectro Mech & Syst Lab I Chennai Tamil Nadu India

ISBN: (纸本)9798350307573;9798350307566

This paper explores Particle Swarm Optimization (PSO) based control of a morphing robot arm mounted on a controlled Floating Space Robot (CFSR). CFSR is a new study spacecraft model allowing controlled adjustments of the satellite base's pose. The dynamic model of the chaser spacecraft is derived relative to the target in an inertial frame, using the Clohessy-Wiltshire model or Hills equations for defining their relative motion. It is assumed that both spacecraft are in an Inplane-elliptical formation. The manipulator dynamics are obtained through Lagrangian formulation. The PSO algorithm optimizes controller gain values while a quintic polynomial trajectory is provided as input to the arm joints. Results show that the PSO-based controller effectively reduces tracking error and power requirements, and it is also compared with a conventional proportional-derivative (PD) controller.

关键词： morphing hills equations particle swarm optimization spacecraft

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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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Incremental Sliding-Mode control for Morphing Flight Vehicles Subject to Mismatched Uncertainties and Input Saturations 3

Incremental Sliding-Mode Control for Morphing Flight Vehicle...

引用

3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Hua, Siyu Wang, Xugang Wang, Zhongyuan Lee, Heow Pueh National University of Singapore School of Energy and Power Engineering Nanjing University of Science and Technology Department of Mechanical Engineering China School of Energy and Power Engineering Nanjing University of Science and Technology China National University of Singapore Department of Mechanical Engineering Singapore

ISBN: (纸本)9798331544546

This work focuses on a novel incremental sliding mode controller (ISMC), integrated with an anti-windup compensator (AW), for a morphing flight vehicle subject to uncertainties and input saturations. The ISMC consists of two loops based on a control-oriented model of the morphing vehicle with symmetric-sweep wings. Theoretical analysis shows that there is no need to apply chattering reduction methods as the ISMC itself is a continuous function without any approximation compared to conventional sliding mode control structures. The ISMC also has demonstrated enhanced robustness against matched uncertainties and, notably, mismatched uncertainties. Furthermore, it exhibits some anti-saturation capability. By incorporating the AW design, the system achieves improved robustness against uncertainties and input constraints with reduced model dependency. The advantages of ISMC-AW are validated through comparative simulations under multiple uncertainties. Compared with an adaptive sliding mode controller combined with an anti-saturation auxiliary system (ASMC-AS), the proposed ISMC-AW demonstrates smaller tracking errors, a higher convergence rate, and lower vibration amplitudes, and it can help the actuator exit the saturation region rapidly. © 2025 IEEE.

关键词： Sliding mode control

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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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