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

共 1837 条记录，以下是31-40 订阅

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A Fault Handling Scheme for Remote Guidance of Autonomous Quick Rendezvous and Docking 8

A Fault Handling Scheme for Remote Guidance of Autonomous Qu...

引用

8th international conference on Automation, control and robotics engineering, CACRE 2023

作者： Changqing, Chen Yongchun, Xie Qiang, Zhang Hao, Zhang Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9798350302776

A phase modulation method for remote guidance faults in autonomous and quick rendezvous and docking is proposed. According to position and attitude navigation information, ground fault judgment instructions, various fault modes corresponding to different autonomous quick rendezvous and docking fault conditions are given. the chaser spacecraft is guided to the frozen orbit behind the target spacecraft by using the two impulses orbit change strategy for typical fault modes. After the fault is removed, new rendezvous and docking can be achieved by guidance from ground for one or two days according to the current phase angle. © 2023 IEEE.

关键词： Electric grounding

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Research on ADRC for Flapping Wing Micro Air Vehicles 8

Research on ADRC for Flapping Wing Micro Air Vehicles

引用

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

作者： Wang, Yixiong Deng, Huichao Xiao, Shengjie Sun, Yuhong Fang, Zhifei Ding, Xilun Mechanical Engineering Beihang University Robotics Institute Beijing China

ISBN: (纸本)9798350327656

the flapping wing micro air vehicle (FWMAV), with its advantages in maneuverability, safety, and energy efficiency, holds significant potential for various applications. However, the FWMAV faces challenges due to their strong coupling, nonlinearity, high dimensionality, and multiple delays. this study commences by examining the fundamental principles of the Active Disturbance Rejection controller (ADRC), selecting a superior tracking differentiator controller and a PD-form nonlinear combination, and the two are combined with an extended state observer. We proceed to model and simulate the control system, investigating its response performance to step signals. through careful debugging on the experimental platform, we identify appropriate control parameters. the results indicate that both the ADRC and the cascade PID demonstrate comparable control effectiveness for FWMAVs, while the ADRC exhibits smoother control performance and a higher convergence rate. Furthermore, flight tests are conducted to validate and showcase the exceptional performance of the ADRC in attitude control for FWMAVs. © 2023 IEEE.

关键词： controllers

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Finite-time Containment control for Autonomous Underwater Vehicles with Prescribed Performance 8

Finite-time Containment Control for Autonomous Underwater Ve...

引用

8th international conference on Automation, control and robotics engineering, CACRE 2023

作者： Song, Zilong Wu, Zheyuan Wang, Qing Xie, Miaomiao Huang, Haocai Zhejiang University Ocean College China

ISBN: (纸本)9798350302776

this paper proposes a finite-time prescribed performance containment control method for multiple autonomous underwater vehicles (AUVs) with uncertainty and disturbance. the control law is designed based on the conversion error derived from the prescribed performance control (PPC) framework. A new finite-time performance function, instead of exponential decay function, is used for error transformation, which enables the containment error converges in a finite time. the model uncertainty is approximated using the radial basis function neural networks (RBFNN), and the external disturbance is compensated with the unknow boundary being estimated using the adaptive approach. the simulation results confirm the validity of the proposed control protocol. © 2023 IEEE.

关键词： Multi agent systems

来源：评论

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Mobile Robot Model Predictive control Approach: Case Study of an Irrigation Canal

Mobile Robot Model Predictive Control Approach: Case Study o...

引用

IEEE international conference on control and robotics engineering (iccre)

作者： Roza Ranjbar Javier G. Martin Jose M. Maestre Lucien Etienne Eric Duviella Eduardo F. Camacho Department of Systems and Automation Engineering University of Seville Seville Spain Department of CERI Digital Systems IMT-Nord-Europe Lille France

We propose a stochastic model predictive control (SMPC) in combination with a mobile robot to address a control problem for an irrigation canal with uncertain dynamics. We impose tightened constraints over the sampling time of the prediction horizon to make the controller calculate the best route for the robot to gather new measurements for the MPC controller. this MPC strategy with a robot in the loop is validated using a numerical model of an ASCE Test Canal as a case study.

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Adaptive Multi-Dimensional Taylor Network Tracking control for Stochastic Nonlinear Systems with Full-State Constraints and Input Saturation 8

Adaptive Multi-Dimensional Taylor Network Tracking Control f...

引用

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

作者： Zheng, Xiao-Yi Yan, Hong-Sen Ministry of Education School of Automation Southeast University Key Laboratory of Measurement Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9798350327656

In this study, an adaptive tracking controller using multi-dimensional Taylor network (MTN) is presented for state-constrained nonlinear stochastic systems with saturated input, in which MTN is implemented to model the unknown nonlinear functions. Firstly, the barrier Lyapunov function (BLF) and backstepping technique are combined under a unified framework to eliminate the impact of full-state constraints. then, the effect raised by saturated input is solved by introducing an appropriate auxiliary system. Furthermore, by employing the Lyapunov stability theorem, the designed adaptive controller could ensure that all closed-loop signals are bounded in probability, the output signal can track the desired signal successfully, the tracking error is bounded by the expected bound, and the system state constraints are never violated. Finally, the efficiency of the suggested control methodology is confirmed by providing an example. © 2023 IEEE.

关键词： Lyapunov functions

来源：评论

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Walking synchronization control of mining straddle bolting rig 8

Walking synchronization control of mining straddle bolting r...

引用

8th international conference on Electrical, Mechanical and Computer engineering, ICEMCE 2024

作者： Ren, Zhijie Song, Tao Shanxi Tiandi Coal Machinery Co. Ltd Taiyuan Institute Taiyuan030006 China China Coal Technology and Engineering Group Co Taiyuan030006 China National Engineering Laboratory for Coal Mining and Excavation Machinery Equipment Taiyuan030006 China

ISBN: (纸本)9798331506230

In this paper, with a type of mine straddle bolting rig as the research object, the mechanical model and the traveling hydraulic circuit model of the crawler traveling device are established. Due to the inadequacy of the load-sensitive system in controlling the synchronization of the bolting rig, the dual-motor synchronization control technique combined with fuzzy PID was introduced through co-simulation. It was discovered that the application of cross-coupled fuzzy PID for load-sensitive synchronization control significantly reduces speed fluctuations and walking deviations during the operation of the straddle bolting rig. © 2024 IEEE.

关键词： robotics

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Supercapacitor Based STATCOM for Enhancing Power Quality in Grid-Connected Photovoltaic Systems 8

Supercapacitor Based STATCOM for Enhancing Power Quality in ...

引用

8th IEEE international conference on Distributed Computing, VLSI, Electrical Circuits and robotics, DISCOVER 2024

作者： Padole, Nivedita S. Kadu, Akshay D. Tendolkar, Vaishali D. Yeshwantrao Chavan College of Engineering Department of Electrical Engineering Nagpur India Datta Meghe College of Nursing Nagpur India

ISBN: (纸本)9798350350593

this paper presents an analysis of a Supercapacitor-Based Feedforward control Static Synchronous Compensator (STATCOM) designed to enhance power quality in grid-connected photovoltaic (PV) systems. the study emphasizes on employing the Feedforward Management technique for STATCOM operation in order to reduce harmonics and regulate reactive power in electrical transmission systems. By using instantaneous system current values for feedback control the Feedforward control methodology confirms a prompt and accurate reaction, in contrast to the more straightforward but less responsive indirect control approaches. the proposed STATCOM and its controller were simulated using MATLAB/SIMULINK. the results confirm that the Feedforward control technique is a useful technique for reducing total harmonic distortion (thD) and increasing power quality. © 2024 IEEE.

关键词： Feedback control

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Ants-inspired non-gradient based navigation of non-holonomic robots for environmental extremum seeking and tracking hidden paths 8

Ants-inspired non-gradient based navigation of non-holonomic...

引用

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

作者： Matveev, Alexey Minuk, Elizaveta Gusev, Sergey Shepeljavyi, Alexander 'Sirius University' Mathematical Robotics Science Division Sirius City Russia

ISBN: (纸本)9798350327656

A Dubins-car like robot travels within an area in which an unknown scalar field exists. Only sensors that measure the field value at the current location are available. We present a biologically inspired navigation law that drives the robot to the set of the field maximizers and if they constitute a whole curve, also endows the robot with the capacity of tracking this curve. these are justified by mathematically rigorous non-local convergence results and are confirmed via computer simulations. the proposed algorithm does not use gradient estimation and is non-demanding with respect to computation and motion. © 2023 IEEE.

关键词： control theory

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Automatic Docking of Drone Using Machine Learning for Power Line Inspection 8

Automatic Docking of Drone Using Machine Learning for Power ...

引用

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

作者： Aiswarya, A. Kiran, R. College of Engineering Robotics and Automation Dept of Ece Kerala Trivandrum India College of Engineering Department of Electronics and Communication Kerala Trivandrum India

ISBN: (纸本)9798350327656

Unmanned aerial vehicles (UAVs) have gained sig-nificant attention in the field of power line inspection due to their ability to access challenging locations and capture high-resolution imagery. However, the manual control and landing of UAVs on power line structures pose risks and operational challenges. To address these issues, we proposes a machine vision based automatic docking system for drones, specifically designed for power line inspection. A specially engineered gripper module enables the system to securely dock onto a power line. the proposed system incorporates a machine learning-based model that detects and tracks the power line using onboard cameras, enabling the drone to align itself accurately with the power line. Experimental evaluations demonstrate the effectiveness and fea-sibility of the automatic docking system, showcasing its potential to streamline power line inspection processes. Utilizing machine learning for automatic drone docking in power line inspections is driven by the pursuit of safety, as drones eliminate human exposure to high-risk situations commonly encountered during manual inspections. this approach is time-efficient and cost-effective, offering the capability for real-time, highly accurate data analysis. the scalability of machine learning models enables consistent inspections over vast power line networks. As machine learning models continually refine themselves with more data and serves as a testament to modernization and safety. © 2023 IEEE.

关键词： Drones

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Generalized Linear Extended State Observer based Trajectory Tracking control for Continuum Robots with Unmatched Uncertainties 8

Generalized Linear Extended State Observer based Trajectory ...

引用

8th international conference on Automation, control and robotics engineering, CACRE 2023

作者： Zhu, Yuqi Dian, Songyi You, Xingxing Zhong, Xuke Xiong, Yuxing Hu, Hailong Sichuan University College of Electrical Engineering Chengdu China

ISBN: (纸本)9798350302776

this work presents a proposed controller based on a generalized linear extended state observer (GLESO) for continuum robots (CR) facing unmatched uncertainties in trajectory tracking. the complex structure of CRs makes accurate modeling difficult, especially when operating in unknown environments. Internal and external uncertainties further impact the control performance, particularly the unmatched uncertainties. To address this, the GLESO is employed to observe and compensate for the unmatched uncertainties. Additionally, a tailored slide mode controller (SMC) is introduced to achieve stabilized control. Numerical simulations are conducted to validate the effectiveness of the proposed method. © 2023 IEEE.

关键词： controllers

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