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检索条件"任意字段=8th International Conference on Control and Robotics Engineering, ICCRE 2023"

共 1836 条记录，以下是21-30 订阅

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An Assessment of Predictive control Strategies for Lateral Stability control of 4-Wheels Drive Electrical Vehicle 8

An Assessment of Predictive Control Strategies for Lateral S...

引用

8th international conference on control and robotics engineering (iccre)

作者： Hassan, Ahmed D. Frejo, Jose Ramon Maria Maestre, Jose Univ Seville Dept Syst & Automat Cairo Egypt Univ Seville Dept Syst & Automat Seville Spain

ISBN: (纸本)9798350345650

Distributed electric drive vehicles offer convenience and maneuverability, but distributing torque to all four wheels to ensure stability under various driving conditions can be a challenge. this paper presents a novel control strategy for torque vector control using both linear and nonlinear model predictive control (MPC) as an optimal way to generate additional yaw moment, which improves handling stability while also maintaining accuracy in trajectory tracking. this strategy combines handling, lateral stability, and ride comfort. the MPC and nonlinear MPC controllers are designed to follow reference values and improve handling and lateral stability by calculating the total required torque while minimizing tracking errors in sideslip and yaw angle. the torque for each wheel is then determined based on yaw moment and longitudinal force using low-level torque vector synthesis. the optimized control sequence is then sent to the actuator. Simulations in different road conditions for path-following scenarios were conducted in MATLAB/Simulink, and the proposed nonlinear MPC method was found to be superior to the ordinary MPC-based direct yaw method.

关键词： Nonlinear Model Predictive control (NMPC) Direct yaw moment (DYM) In-hub wheel motor (IWM) Model Predictive control (MPC) Root mean square error (RMSE)

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Optimization-based Predictive Iterative Learning control for Deformable Mirrors 9

Optimization-based Predictive Iterative Learning Control for...

引用

9th international conference on control and robotics engineering (iccre)

作者： Zhang, Shaoze Chen, Jian Tong, Junze Xu, Rui Wang, Yutang Tian, Dapeng Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys Changchun Peoples R China Univ Chinese Acad Sci Beijing Peoples R China

ISBN: (纸本)9798350372694;9798350372700

As a wavefront corrector, the deformable mirror serves as a core component of adaptive optical systems. Its performance directly affects the bandwidth of the overall system. Nevertheless, the control precision is limited by the coupling crosstalk between actuators and the nonlinear characteristics of deformable mirrors. To address this, an optimization-based predictive iterative learning control method is proposed. this method enhances the performance of the deformable mirror, while reducing control output variations, preventing saturation, and minimizing stress-induced mirror damage. Consequently, the lifespan of DMs is expected to be extended. Simulation studies are performed to evaluate both the static and dynamic performance of the proposed method. And it achieves a 48% reduction in root mean square error when compared to the least mean square method in a closed-loop system with a more reasonable voltage distribution of the actuators under static wavefront.

关键词： iterative learning control adaptive optics deformable mirror

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Development of a Cuboidal Fitting Module for Automated Substation Maintenance robotics 9

Development of a Cuboidal Fitting Module for Automated Subst...

引用

9th international conference on control and robotics engineering (iccre)

作者： Vohra, Mohit Panda, Amrut Subramaniam, Prashanth Tarek, Mahmoud Karunamurthy, Jayakumar Vandavasi Dubai Elect & Water Author 4IR Robot Dubai U Arab Emirates Dubai Elect & Water Author 4IR AI Dubai U Arab Emirates Dubai Elect & Water Author 4IR Lead Dubai U Arab Emirates

ISBN: (纸本)9798350372694;9798350372700

this paper presents an innovative method for automating the inspection of electrical substations, with a specific focus on precise boundary detection for rectangular enclosures within substations. the proposed approach utilizes cuboidal primitives to approximate object boundaries, incorporating RGBD sensor data and YOLOv8 object detection. the process involves extracting point cloud data and employing a two-step procedure for orthogonal axis determination, followed by the extraction of key points for approximating the objects with cuboidal primitive. Visual results showcase the method's adaptability across diverse box configurations. While demonstrating robust performance in straightforward scenarios, challenges in complex environments serve as inspiration for future enhancements. the proposed pipeline, designed with potential ROS integration, lays the foundational framework for advancing systems dedicated to efficient substation maintenance.

关键词： Cuboidal shape fitting Image Segmentation Point Cloud sub-station monitoring robotics

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Performance Evaluation of an Adaptive Sigmoid Friction Compensation for Pneumatic Trajectory 8

Performance Evaluation of an Adaptive Sigmoid Friction Compe...

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8th international conference on control and robotics engineering (iccre)

作者： Kamaludin, K. N. Abdullah, L. Salim, S. N. S. Jamaludin, Z. Chiew, T. H. Kamarudin, M. N. Aras, M. S. M. Rahmat, M. F. Univ Tekn Malaysai Melaka Fac Mfg Engn Melaka Malaysia Univ Tekn Malaysia Melaka Fac Elect & Elect Engn Technol Melaka Malaysia Tunku Abdul Rahman Univ Management & Technol Fac Engn & Technol Kuala Lumpur Malaysia Univ Tekn Malaysia Melaka Fac Elect Engn Melaka Malaysia Univ Teknol Malaysia Sch Elect Engn Fac Engn Skudai Johor Malaysia

ISBN: (纸本)9798350345650

Trajectory tracking is a challenging task in pneumatics due to the classification of the actuator as a nonlinear system. In addition to the said factor, nonlinear disturbances occur within the system, such as valve-dead zone, air compressibility, air density, internal valve and actuator friction. Actuators' internal friction is one of the most critical disturbances. For a near-zero velocity motion of an actuator, many scholars have designed and improved dynamic friction models for modeling and friction compensation. However, compensation using the dynamic model is complex and computationally exhaustive in real-time. Owing to this factor, a modified adaptive friction estimator and compensator are presented in this research. the adaptive sigmoid friction (FASF) function is designed to compensate both the pre-sliding and sliding regimes of the friction force. the function is coupled with a nonlinear hyperbolic PID (NPID+FASF) controller. the performance of the compensator was evaluated based on maximum tracking error (MTE), root mean square error (RMSE) and fast Fourier transform (FFT) error. the proposed NPID+FASF is observed to reduce all errors strategically. the improvement of MTE to the basic PID is up to 45.75%, RMSE of 27.88% and FFTE of 38.91%. To further improve the trajectory tracking performance, a 'tracking differentiator' has been proven to increase

关键词： servo pneumatic adaptive friction compensation trajectory tracking nonlinear control

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Economical Precise Manipulation and Auto Eye-Hand Coordination with Binocular Visual Reinforcement Learning 9

Economical Precise Manipulation and Auto Eye-Hand Coordinati...

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9th international conference on control and robotics engineering (iccre)

作者： Chen, Yiwen Guo, Sheng Liu, Zhiyang Zhou, Lei Zhang, Zhengshen Zhao, Ruiteng Ang, Marcelo H., Jr. Natl Univ Singapore Adv Robot Ctr Singapore Singapore

ISBN: (纸本)9798350372694;9798350372700

Precision robotic manipulation tasks (insertion, screwing, precise pick, precise place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require tedious calibration or expensive sensors. 3D/RGB-D cameras and torque/force sensors add to the cost of the robotic application and may not always be economical. In this work, we aim to address these issues by only 2 low-cost webcams, and minimize the reliance on manual eye-hand calibration. We propose Binocular Alignment Learning (BAL), which could automatically learn the eye-hand coordination and points alignment capabilities to solve the four tasks. Our work focuses on working with unknown eye-hand coordination and proposes different ways of performing eye-in-hand camera calibration automatically. the algorithm was trained in simulation and used a practical pipeline to achieve sim2real and test it on the real robot. Our method achieves a competitively good result with minimal cost on the four tasks. the video link of our work: https://***/gfcsGtT8IoU

关键词： Reinforcement Learning robotics Manipulation robotics Vision

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Model Predictive control of Permanent Magnet Synchronous Motor Based on Optimal Switching Frequency 9

Model Predictive Control of Permanent Magnet Synchronous Mot...

引用

9th international conference on control and robotics engineering (iccre)

作者： You, Zhou Bian, Yongming Zhang, Yifan Chen, Li Tongji Univ Sch Mech Engn Shanghai Peoples R China Tongji Univ Sch Automot Studies Shanghai Peoples R China

ISBN: (纸本)9798350372694;9798350372700

With the advancement of electrified drive systems, model predictive control for permanent magnet synchronous motors has become a focus of research. However, existing algorithms have issues such as motor operational losses due to frequent power device switching. To tackle these challenges, this study introduces the MPC algorithm for PMSM, incorporating optimal switching frequency principles and integrating a penalty function into the MPC framework. Leveraging upon this foundation, through the manipulation of the penalty factor, the PMSM's dq-axis current performance can be tracked even at low switching frequency. Remarkably, employing an OSF-MPC switching frequency of 864.8hz leads to a 38.3% reduction in current ripple ((Delta)iRMS) and a substantial 59.8% decrease in current harmonic (I-thD). Additional observations from PMSM operation in an alternative working scenario show that as the motor speed drops to 10rpm and then stabilizes, compared to the MPC algorithm, the OSF-MPC algorithm succeeds in reducing speed fluctuations by 66.8%. the above findings highlight the significant improvement provided by the OSF-MPC algorithm regarding PMSM operational efficiency and control system robustness. the OSF-MPC algorithm has promising application potential in the progressively expanding landscape of electrification.

关键词： Permanent Magnet Synchronous Motor (PMSM) Model Predictive control (MPC) Optimal Switching Frequency (OSF) electric drive system

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A Teleoperation Framework for Upper Limb Rehabilitation Based on Improved Dynamic Movement Primitives and Hybrid control 8

A Teleoperation Framework for Upper Limb Rehabilitation Base...

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8th international conference on robotics and Automation Sciences (ICRAS)

作者： Shi, Zhixuan Luo, Jing Wuhan Univ Technol Sch Automat Wuhan Peoples R China

ISBN: (纸本)9798350352511;9798350352504

To achieve efficient rehabilitation training for hemiplegic limbs of stroke patients conducted by therapists in the teleoperation environment, we propose a robot skill learning method based on improved dynamic movement primitives (DMPs) and virtual fixture (VF) based on a hybrid control strategy in this paper. To overcome the noise problems faced by traditional DMPs when learning from a single trajectory, Gaussian Mixture Model Gaussian Mixture Regression (GMM-GMR) is introduced. this approach extracts the main movement features from multiple demonstration trajectories, facilitating autonomous training for the patient without the real-time guidance of a therapist. In addition, the hybrid control method utilizes the muscle activation obtained from the surface electromyography signal processing. It incorporates variable stiffness control reflecting the patient's control intention on top of position error-based proportional-derivative control, thus helping patients train interactively under therapist-driven training. Finally, the experiments conducted with a Sawyer robot and a Touch device have confirmed the effectiveness of the proposed methods.

关键词： Teleoperation Dynamic Movement Primitives (DMPs) Virtual Fixture (VF) Gaussian Mixture Model (GMM) Surface Electromyography (sEMG) Variable Stiffness control

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Coupled Output Synchronization for Leader-Follower Vehicle Platooning 8

Coupled Output Synchronization for Leader-Follower Vehicle P...

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8th international conference on robotics and Automation engineering, ICRAE 2023

作者： Sinha, Pallavi Dutta, Maitreyee Srikant, Sukumar Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

ISBN: (纸本)9798350327656

A novel framework in multi-agent system networks is introduced and analyzed in this article, namely coupled output synchronization over directed graph topologies. Under assumptions of a rooted spanning tree, we design a distributed control law for synchronization of Laplacian coupled outputs of double integrator dynamics. the analysis of the closed-loop systems communicating over digraphs is carried out via Lyapunov methods. the vehicle platooning problem is demonstrated as a direct application of our results on coupled output synchronization. the control is distributed and independent of the knowledge of eigenvalues of the graph Laplacian. Simulations verify the performance of the controller with and without disturbance. © 2023 IEEE.

关键词： Multi agent systems

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Vibration Suppression control System for High-Speed Transfer-Robot with Adjustable Length Loading Arm

Vibration Suppression Control System for High-Speed Transfer...

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IEEE international conference on control and robotics engineering (iccre)

作者： Yuichiro Yamamoto Takahito Yamashita Yusuke Kumagai Ryosuke Tasaki YMG Corporation Limited Toyohashi Japan Mechanical Engineering Aoyama Gakuin University Sagamihara Japan

To develop high-speed transport system using gantry loaders that performs transfer tasks in the factories. the transfer velocity is designed using IPC for the loader motion. In addition to the conventional horizontal movement, the loading arm is assumed to be extended during transfer. Experiments using a lab-scale transfer system and a flexible pillar of the gantry loader will validate the effectiveness of the proposed method.

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A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot 8

A Comparison of Local Planner Algorithms for a ROS-based Omn...

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8th international conference on robotics and Automation engineering, ICRAE 2023

作者： Imamoglu, Mehmed Rafi Sumer, Ecem Temeltas, Hakan Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey

ISBN: (纸本)9798350327656

the topic of local planner algorithms applicable to omnidirectional mobile robots is yet to thoroughly investigated. this study investigates the performance of the most commonly implemented local planner algorithms for omnidirectional mobile robots by conducting a comparative analysis between the Dynamic Window Approach (DWA) and the Timed Elastic Band (TEB) algorithms. the evaluation was conducted within real-world settings, specifically targeting the challenges of parking maneuvers, dynamic obstacle avoidance and turning maneuvers. Performance metrics, tailored to each scenario, were employed to assess the algorithms. the results demonstrate that the TEB method outperforms the DWA in the tested conditions. © 2023 IEEE.

关键词： Mobile robots

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