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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3776 条记录，以下是3411-3420 订阅

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Adaptive robust control for electro-hydraulic servo system of a projectile transfer arm 2019

Adaptive robust control for electro-hydraulic servo system o...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Li, Chengxi Chen, Hongbin School of Mechanical Engineering Nanjing University of Science and Technology Nanjing Jiangsu Province China

ISBN: (纸本)9781450371865

An adaptive robust control method is proposed to solve the problem of uncertain nonlinearity and parameter uncertainty in a kind of valve controlled asymmetric cylinder electro-hydraulic servo system of a projectile transfer arm. A backstepping method is applied to design the state feedback controller and robust control method is applied to compensate the influence of uncertain nonlinear term. An adaptive controller with a discontinuous projection algorithm is introduced to ensure boundedness of parameter estimation. the stability of the closed loop system is verified by the Lyapunov theory. A simulation is conducted on the model of the projectile transfer arm electro-hydraulic servo system. Compared with the simulation results of PID control method and backstepping robust control method, the result of adaptive robust control method has superiority in control precision and stability. © 2019 Association for Computing Machinery.

关键词： Projectiles

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Co-simulation of dynamic surface sliding mode control for elevation equilibrator electro-hydraulic system of truck-mounted howitzer 2019

Co-simulation of dynamic surface sliding mode control for el...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Yang, Shanping Yin, Qiang Yang, Liu School of Mechanical Engineering Nanjing University of Science and Technology Nanjing Jiangsu China

ISBN: (纸本)9781450371865

this paper proposes a DSSMC (dynamic surface sliding mode control) strategy to track the desired angle for one elevation equilibrator of truck-mounted howitzer. Dynamic surface control is introduced to solve the problem of nonlinearity, unmatched external loads, parameters uncertainty and differential explosion caused by backstepping method. the stability is proved by Lyapunov method and the performance of this control strategy is verified by the method of co-simulation with AMESim and MATLAB. the co-simulation results show that, compared with PID control strategy, DSSMC strategy has better tracking accuracy and rapidity. © 2019 Association for Computing Machinery.

关键词： three term control systems

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Stabilization control of underactuated unmanned surface vessels based on backstepping and Lyapunov direct method 2019

Stabilization control of underactuated unmanned surface vess...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Hu, Fangfang Zeng, Chao Zhu, Gang Li, Shiling Institute of electronic engineering China Academy of Engineering Physics Mianyang China

ISBN: (纸本)9781450371865

In this paper, a time-varying controller is proposed for the underactuated Unmanned Surface Vessels (USV) with non-diagonal inertia and damping matrices. By introducing a reference trajectory, the controller can guarantee global asymptotic convergence from any initial values at any moment. Firstly, with the method of global diffeomorphism equivalent and input transformation, the stabilization problem of underactuated USV can be transformed into the stabilization of two cascaded subsystems. Secondly, according to the characters of the cascaded subsystems, the stabilization problem can be reduced to the one of the second subsystem, a nonlinear time-varying controller is developed through backstepping and Lyapunov’s methods, stability analysis proves that all the states can be globally regulated to the origin. Finally, simulation results demonstrate the effectiveness of the proposed control approach. © 2019 Association for Computing Machinery.

关键词： Stabilization

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Attitude control of quadrotor aircraft based on internal model principle 2019

Attitude control of quadrotor aircraft based on internal mod...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Shi, Haibin Zou, Yuanbin Xu, Zhi Guo, Menghao College of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781450371865

this paper proposes an attitude regulation method for reduced-order control of four-rotor aircraft based on the principle of internal model. the servo compensating gain matrix feedforward controller is designed to obtain the control law and regulate the input signal to realize the zero steady error tracking of the input signal under the external disturbance signal. through the design of state observer, the detection link is simplified and the use of the sensor is reduced. At the same time, the disturbance signal is obtained by an external disturbance observer, and the disturbance signal is suppressed by a feedforward control design compensation channel. the simulation results show that the system has good steady-state characteristics and can realize the zero steady error tracking of the servo system when the external disturbance model is unmeasurable, and has strong robustness and engineering application value. © 2019 Association for Computing Machinery.

关键词： Aircraft

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Sim-to-real: Six-legged Robot control with Deep Reinforcement Learning and Curriculum Learning 4

Sim-to-real: Six-legged Robot Control with Deep Reinforcemen...

引用

4th international conference on robotics and Automation engineering, ICRAE 2019

作者： Qin, Bangyu Gao, Yue Bai, Yi Shanghai Jiao Tong University Dept. Automation Shanghai China Shanghai Jiao Tong University MoE Key Lab of Articial Intelligence Dept. of Automation Shanghai China

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147406

Six-Iegged robots have higher stability and balance, which helps them face more complex terrain conditions, such as sand, swamp, mine and so forth. therefore, it is necessary to study the gait planning of six-legged robot to adapt to complex terrain. In order to control six-legged robots to adapt to different terrains, we adopt the method of deep reinforcement learning (DRL) to plan the gait of six-legged robots. the main idea is training the robot through Actor-Critic network with proximal policy optimization (PPO), in which outputs are step length, step height and orientation of the robot. this is an end-to-end approach, which tries to make the robot learn by itself and finally achieve its safe arrival to the target point through complex terrains. In order to train a good model for our robots, simplified environment is adopted to accelerate the training process. We also use curriculum learning to speed up and optimize the training. then, we verify the reliability of the method in simulation platform and finally transfer the learned model to real robot. Our experiment shows the effectiveness of deep reinforcement learning for locomotion of six-legged robots, the acceleration of the training process by means of curriculum learning, and the improvement of the training effect. © 2019 IEEE.

关键词： Reinforcement learning

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Wireless Power Transmission System Based on Coreless Coils for Resource Reallocation Within Robot Group 1

引用

4th international conference on Interactive Collaborative robotics (ICR)

作者： Krestovnikov, Konstantin Cherskikh, Ekaterina Smirnov, Petr Russian Acad Sci St Petersburg Inst Informat & Automat Lab Autonomous Robot Syst 14 Th LiniaVI 39 St Petersburg 199178 Russia

ISBN: (数字)9783030261184

ISBN: (纸本)9783030261184;9783030261177

this paper analyzes modern solutions in wireless charging system development. the main energy transfer standards, prototypes and experimental assemblies and their characteristics are considered. We present circuits and engineering solutions of the transmitting and receiving parts of the developed wireless energy transfer system. the results of testing the prototype are discussed, as well as obtained dependencies of the efficiency from the transmitted power and characteristic curve for various energy transfer distances. the presented prototype ensures magnetic insulation and features energy transfer up to 76.47% and can be used in swarm robotic systems for balancing energy resources of swarm and wireless power transfer between agents of swarm and in other different robotic complexes.

关键词： Wireless charging system Energy transfer Synchronous rectifier Wireless transfer control system

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Optimal Design for Frequency Fluctuation control System with SMES Unit

Optimal Design for Frequency Fluctuation Control System with...

引用

international conference on robotics and Automation Sciences (ICRAS)

作者： Xuan Khoa Tran Yuepeng Chen Gia Tri Phan Duc Hoan Huynh School of Automation Wuhan University of Technology Wuhan 430070 China Faculty of Engineering and Technology Quy Nhon University Quynhon 59000 Vietnam

ISBN: (数字)9781728198576

ISBN: (纸本)9781728198583

Nowadays, frequency control is becoming more important due to complicated changes in the size increase and structural changes in the grid. To ensure the power demand, the effectiveness and reliability of the power system must be enhanced, resulting in requirements to maintain frequency and current control of the power system has a value close to the set value. With a modern power system, load frequency control (LFC) operates with a necessary role as a stable device and aids in the exchange and improve the electrical quality of suppliers. In this paper, the author focuses on designing the Fuzzy-PI controller for superconducting magnetic energy storage (SMES) unit to control the fluctuation of frequency due to abruptness changes of load in the single-area and two-area system. In which PI controller is the main controller with Ki and Kp parameters, which are adjusted online by Fuzzy controller. the simulation results show that the overshoot, set time, oscillation amplitude of the FL-PI controller are superior to the conventional PI controller.

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Nonlinear control Strategy of Hybrid Energy Storage System Based on Feedback Linearization

Nonlinear Control Strategy of Hybrid Energy Storage System B...

引用

conference on Vehicle control and Intelligence (CVCI)

作者： Zhangyu Lu Xizheng Zhang Yaonan Wang College of electrical and Information Engineering Hunan Institute of Engineering Xiangtan China School of Robotics Hunan University Changsha China

ISBN: (数字)9781728184975

ISBN: (纸本)9781728184982

In view of the nonlinear characteristics of the hybrid energy storage system (HESS), a nonlinear control strategy based on feedback linearization theory is proposed. the control objectives of the strategy are battery/super capacitor current and DC bus voltage. Firstly, by analyzing the state equation of the circuit, the affine nonlinear model of the circuit is established. then, the input-output feedback linearization and sliding mode surface are designed to realize the current tracking control of the battery and super capacitor. Finally, the classic voltage closed-loop control is used to realize the bus voltage stability. the simulation model is established on Simulink, and the simulation results show that the proposed control strategy is effective.

关键词： Software packages Capacitors Stability analysis Feedback linearization Mathematical model Voltage control Integrated circuit modeling

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Dynamic modeling of robot fish based on experiment 2019

Dynamic modeling of robot fish based on experiment

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Yu, Zhang Dongxing, Qin Yan, Shen School of Control Engineering Chengdu University of Information Technology Chengdu China

ISBN: (纸本)9781450371865

Basis of the large-amplitude elongated body theory, the equations of motion and rigid body dynamics model of robotic fish was set up. Dynamic model of robot fish was established by using the method of Fluid Dynamics. the interaction force between tail fin and Fluid, the additional stress produced by tail vortices, and the lift and Obstruction of fish body are fully analysed. As used in this paper, the effects of Deflection, amplitude and frequency on the model are studied by three groups of experiments. the results proved that the experimental data and the calculated value of the theoretical model established in this paper, has a good consistency, can be used for the study of BCF progression pattern. © 2019 Association for Computing Machinery.

关键词： Dynamic models

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Research of multi-path point tracking control method of submarine cable based on single neuron adaptive PID 2019

Research of multi-path point tracking control method of subm...

引用

4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Zhang, Hao Li, Rong Duan, Yubing Yao, Jinxia Su, Jianjun Wang, Meng Equipment Status Evaluation Center State Grid Shandong Electric Power Research Institute Jinan ShanDong China State Grid Shandong Electric Power Company Jinan ShanDong China Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781450371865

To solve the problem of submarine cable route tracking, a multi way-points tracking control approach was designed based on Single Neuron Adaptive Proportional-Integral-Derivative controller (SNA-PID). Dynamic model of Remotely Operated Vehicle (ROV) was set up and simplified according to its kinetic characteristics and the actual needs of oceanic engineering application. three SNA-PID controllers were used to control ROV’s heading, surge velocity and sway velocity. And the LOS (line of sight) was utilized to guide ROV motion to track predefined way-points. © 2019 Copyright is held by the owner/author(s).

关键词： Remotely operated vehicles

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