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检索条件"任意字段=7th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2017"

共 396 条记录，以下是231-240 订阅

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Dynamics and Nonlinear control of a Cable-driven Parallel Robot

Dynamics and Nonlinear Control of a Cable-driven Parallel Ro...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Leijie Jiang Bingtuan Gao Zhenyu Zhu School of Electrical Engineering Southeast University Nanjing China

this work presents dynamic control of a cable-driven parallel robot, which is composed of a moving platform and a fixed base connected by a column compression coil spring and three driving cables. the dynamic control of the system is mainly aimed at dampening the vibration of the system which is mainly caused by the flexible deformation of the spring. However, it is difficult to describe the dynamic deformation of the spring. To solve the problem, the deformation of lateral dynamic bends of the spring is depicted through the coupling of the plane rotary motion of a rigid body and the deformation of a flexible body. With the above approach being made, the assumed mode method (AMM) and Lagrange's equation are applied to derive the dynamic model of the system with negligible cable mass and diameter. then, system control design is studied by using the nonlinear control method. Finally, we provide the results of the experiment to validate the dynamic modeling of the system and the proposed control scheme.

关键词： Springs Strain Mathematical model Vibrations Robot kinematics Nonlinear dynamical systems

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Fixed-Time Sliding Mode Tracking control for Non-Cascade Strict-Feedback Nonlinear systems

Fixed-Time Sliding Mode Tracking Control for Non-Cascade Str...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Haijiao Yang Dan Ye School of Information Science and Engineering Northeastern University Shenyang China

this paper focuses on the fixed time tracking problem for non-cascade strict-feedback nonlinear systems. By using SMC method and dynamics surface control method, a novel sliding manifold and an improved first order filter are respectively constructed. Based on backstepping technique, a fixed-time sliding mode tracking control (FSMTC) method is developed for the considered system such that the required tracking performance is achieved within a fixed time. Stability analysis and simulation results prove the effectiveness of the proposed FSMTC scheme.

关键词： Sliding mode control Convergence Nonlinear dynamical systems Stability analysis Simulation Manifolds

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Adaptive Consensus control for Nonlinear Leader-following Multi-agent system Under Switching Topologies

Adaptive Consensus Control for Nonlinear Leader-following Mu...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Lingyi Xu Huijin Fan Yongji Wang Wei Wang National Key Laboratory of Science and Technology on Multispectral Information Processing Huazhong University of Science and Technology Wuhan China School of Automation Science and Electrical Engineering Beihang University Beijing China

this paper studies consensus control problem for a class of nonlinear leader-following multi-agent system under switching topologies with uncertain parameters of system matrix and nonlinear unknown terms existed. By parameterizing the unknown terms and uncertain parameters of system matrix, a distributed adaptive consensus algorithm is proposed for each follower. Under the jointly connected topology and the observer-based approach, the consensus analysis of the considered multi-agent system has been transformed to the stabilization of an error dynamic system. It is proved that the conseusus could be achieved based on the Lyapunov theory and the Riccati inequality. Numerical simulations are conducted to illustrate the theoretical result.

关键词： Topology Multi-agent systems Switches Network topology Protocols

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Modeling and control of a Hybrid three-terminal HVDC system

Modeling and Control of a Hybrid Three-terminal HVDC System

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Bingtuan Gao Zhichao Yang Chaopeng Xia Peipei Peng Southeast University Nanjing Jiangsu CN School of Electrical Engineering Southeast University Nanjing China China Electric Power Research Institute Nanjing China

With the continuous research of hybrid High Voltage Direct Current (HVDC), the conventional DC voltage control on Line Commutated Converter (LCC) side can not meet the requirements, so it is necessary to study DC voltage control on Voltage Source Converters (VSC) side. Firstly, this paper studies the topology and model of a hybrid three-terminal HVDC system, consisting of LCC and two parallel-connected VSC. Secondly, based on this model, DC voltage control on LCC side is adopted to realize voltage stability of DC system and ensure the stable operation of the system. the other strategy selects one VSC as the control terminal of DC voltage and adopts constant current control for other two terminals. Finally, the simulation is carried out to verify the effectiveness of this strategy by comparing to the conventional strategy, and the hybrid HVDC system which connected to the infinity grid can perform better under the adopted strategy.

关键词： HVDC transmission Voltage control Inverters Current control Power conversion control systems

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Intelligent Fuzzy control for Nonlinear Two-Link Robot system with Input Energy Constrained Disturbance Rejection and Pole Placement

Intelligent Fuzzy Control for Nonlinear Two-Link Robot Syste...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Wen-Jer Chang Hong-Yu Qiao Department of Marine Engineering National Taiwan Ocean University Keelung Taiwan R. O. C. Department of Marine Engineering Nantong Vocational Technical Shipping College Jiangsu China

ISBN: (纸本)9781538604915

An intelligent fuzzy control of a nonlinear two-link robot system is investigated with assigning all poles into a specified disk, while the disturbance rejection can be realized and the norms of control input are bounded. the considered nonlinear two-link robot system is represented by a Takagi-Sugeno fuzzy model. the sufficient conditions of stabilization and performance constraints are first derived in terms of linear matrix inequalities based on the Lyapunov theory. then, an intelligent fuzzy controller based on parallel distributed compensation technique is designed via solving the corresponding sufficient conditions. Employing this intelligent fuzzy controller, the closed-loop system can achieve multiple performance constraints including pole placement, disturbance rejection and bounded input energy. Finally, a computer simulation is provided to verify the applicability of the proposed method for controlling a nonlinear two-link robot system.

关键词： Robots Sufficient conditions Fuzzy control control systems Stability analysis Design methodology

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Design and Implementation of Chinese Speech Robot control system Based on Android Embedded Platform

Design and Implementation of Chinese Speech Robot Control Sy...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Guofei Zheng Sheng Bi Huaqing Min Kaihong Yang Yingjie Zhang School of Software Engineering South China University of Technology Guangzhou School of Computer Science & Engineering South China University of Technology Guangzhou

ISBN: (纸本)9781538604915

In this paper, we present the design of Chinese Speech Robot control system on Android Embedded Platform, in order to improve the application of service robot in the Chinese environment. With using this software system, we can have the intelligent dialogue with users in daily life by a wireless network based on Android Programming and ROS (Robot Operating system). Furthermore, after collecting user speech message by the Embedded system, the Android client can achieve Semantic Understanding, Voice Wakeup, Speech Synthesis and other services functions. Forward the speech message to robot ROS network through a wireless network, users can control the robot motion by inputting different speech commands. Experiments show that the user not only can communicate with the robot through a good human-computer interaction, in addition to the robot direct dialogue but also can have good performance in the room through the mobile side to the robot emergency motion control.

关键词： Speech recognition Androids Humanoid robots Smart phones Monitoring Semantics

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Distributed Emergency Power Dispatch based on Averaged Voronoi Partition

Distributed Emergency Power Dispatch based on Averaged Voron...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Lizhi Wang Chaoyong Li Donglian Qi College of Electrical Engineering Zhejiang University Hangzhou Zhejiang China

ISBN: (纸本)9781538604915

Power dispatch is an important problem in smart grid, but problems with emergency are difficult to analyze and solve. this paper proposes a systematic approach to handle the distributed emergency power dispatch (EPD) problem. To achieve this, a distributed algorithm based on averaged Voronoi partition is designed to dispatch power under the condition of imbalance between the loads and photovoltaic generators (PVs) in autonomous microgrid, we consider that the optimal generation power of each unit dose not reach its upper or lower bounds. Finally, the method is evaluated over some cases via simulation. the results show that the system performs are desired, even if loads demand fluctuate significantly and PVs break off suddenly.

关键词： Microgrids Generators Partitioning algorithms Fluctuations Optimization Decentralized control Smart grids

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FPGA Based Adaptive Sliding Mode control of a Piezoelectric-Driven Micropositioning system

FPGA Based Adaptive Sliding Mode Control of a Piezoelectric-...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Quangwei Wang Qingsong Xu Department of Electromechanical Engineering University of Macau Taipa Macau China

the design and implementation of a novel adaptive terminal sliding mode controller (ATSMC) for precise position control of a piezo-driven positioning system is presented in this paper. the proposed ATSMC scheme needs the output feedback only and does not depend on observer, which reduces the heavy burden of controller algorithm implementation. Nonsingular terminal sliding surface is introduced to achieve fast and finite-time convergence for the trajectory tracking, and also to remove the singularity phenomenon in traditional terminal sliding mode method. An adaptive law is proposed to modify the controller switching gain online, which provides stable and chattering free control quality. the stability of the developed control scheme has been theoretically proved. the proposed controller is implemented on a field programmable gate array (FPGA) platform for experimental investigation, and its performance and advantages are shown by comparison experimental study.

关键词： Switches Hysteresis Uncertainty Adaptive systems Sliding mode control Convergence Friction

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State Feedback controller Design for General Polynomial-Fuzzy-Model-Based control systems

State Feedback Controller Design for General Polynomial-Fuzz...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Dan Ye Xiehuan Li Nana Diao College of Information Science and Engineering Shenyang Liaoning

ISBN: (纸本)9781538604915

this paper studies state feedback controller design for polynomial-fuzzy-model-based (PFMB) control system, which contains a polynomial fuzzy model (PFM) and a polynomial fuzzy controller (PFC) to show a nonlinear plant. A polynomial Lyapunov function candidate relying on any system states is chosen to prove the PFMB control system that has different membership functions and fuzzy rules between PFM and PFC, which produce more diversification in design and less conservative stability conditions. the provided novel sum of squares (SOS) optimization method is used to solve the non-convex conditions by describing the nonlinear terms as semi-definite programming (SDP) problem and making the optimal value is zero. To have a better stability analysis, a relaxation matrix that considers the information of the membership function product is proposed. the exported SOS-based conditions combined with Lyapunov stability theorem are added into the stability analysis, which guarantee that the system is stable. the numerical simulation example gives a good proof of the validity of the introduced approach.

关键词： Lyapunov methods Numerical stability State feedback Stability criteria Linear matrix inequalities

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Research on Motion Planning system of Service Robot Based on ROS

Research on Motion Planning System of Service Robot Based on...

引用

ieee international conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Cunfeng Li Lina Hao Hongtai Cheng Xin Nie School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning China

ISBN: (纸本)9781538604915

In view of the mobile service robot, a motion planning scheme was implemented based on ROS. Initially, the architecture of the system was introduced, which includes the module of planning-SMACH, the function module, the visual display module-RViz and the storage module designed to save the motion planning results of manipulator and chassis, and also, the function module is made up of four parts, which are the M_target_pub, the N_target_pub, the MoveIt! and the Navigation. then, a simplified robot description file-URDF was derived by using the plugin of sw2urdf in SolidWorks. Finally, the finite state machine was built with SMACH in ROS, which integrates the motion planning of the manipulator and the chassis. As an example, a simulation experiment was carried on the 6-DOF mobile service robot with two arms. the results show that the robot can accurately target a task, reach the specified position and save the planning results, which will lay a solid foundation for the following study of motion controlling about the robots.

关键词： conferences Automation control systems Intelligent systems Manganese

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