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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是171-180 订阅

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Reliable Energy Management Optimization in Consideration of Battery Deterioration for Plug-In Intelligent Hybrid Vehicle 14th

Reliable Energy Management Optimization in Consideration of ...

引用

14th international conference on informatics in control, automation and robotics (icinco)

作者： Kamal, Elkhatib Adouane, Lounis Menoufia Univ Fac Elect Engn Dept Ind Elect & Control Engn Menoufia 32952 Egypt CNRS UMR 6602 UCASIGMA Inst Pascal Innovat Mobil Smart & Sustainable Sol F-63000 Clermont Ferrand France

ISBN: (纸本)9783030112929;9783030112912

this chapter proposes an intelligent energy management for hydraulic-electric hybrid vehicle in order to minimize its total energy consumption while ensuring a better battery life. It proposes first to model the total energy consumption of the vehicle and investigate the minimization of an expended energy function, formulated as the sum of electrical energy provided by on-board batteries and consumed fuel. More precisely, it is proposed in this chapter an intelligent hierarchical controller system which shows its capabilities of increasing the overall vehicle energy efficiency and therefore minimizing total energy consumption, permitting to increase the distance between refueling. the proposed strategy consists of fuzzy supervisory fault management at the highest level (third), that can detect and compensate the battery faults, regulate all of the possible vehicles operation modes. In the second level, an optimal controller is developed based on artificial intelligence to manage power distribution between electric motor and engine. then, in the first level, there are local fuzzy tuning proportional-integral-derivative controllers to regulate the set points of each vehicle subsystems to reach the best operational performance. TruckMaker/MATLAB simulation results confirm that the proposed architecture can satisfy the power requirement for any unknown driving cycles and compensate battery faults effects.

关键词： Artificial intelligence Battery management system Fuzzy observer Hybrid electric vehicles Power management strategy Sensor faults Takagi-Sugeno fuzzy model

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Application of Sensory Body Schemas to Path Planning for Micro Air Vehicles (MAVs) 12

Application of Sensory Body Schemas to Path Planning for Mic...

引用

12th international conference on informatics in control automation and robotics (icinco)

作者： Enikov, Eniko T. Escareno, Juan-Antonio Univ Arizona Dept Aerosp & Mech Engn 1130 N Mt Ave Tucson AZ 85721 USA Inst Polytech Sci Avancees IPSA Directorate Res & Innovat DRII 7-9 Rue Maurice Grandcoing F-94200 Ivry France

ISBN: (纸本)9789897581496

To date, most autonomous micro air vehicles (MAV-s) operate in a controlled environment, where the location of and attitude of the aircraft are measured be dedicated high-power computers with IR tracking capability. If MAV-s are to ever exit the lab and carry out autonomous missions, their flight control systems needs to utilize on-board sensors and high-efficiency attitude determination algorithms. To address this need, we investigate the feasibility of using body schemas to carry out path planning in the vision space of the MAV. Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. this paper presents a numerical experiment of generating landing trajectories of a miniature rotor-craft using the notion of body and image schemas. More specifically, we demonstrate how a trajectory planning can be executed in the image space using a pseudo-potential functions and a gradient-based maximum seeking algorithm. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the rotor-craft position/attitude and the output of its vision sensors. Numerical simulations of the landing performance of a physical model is also presented, the resulting trajectory tracking errors are less than 8 %.

关键词： Micro-Air Vehicles Artificial Neural Network Path Planning Body Schema Cognitive robotics

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Fractional-order PI speed control for permanent magnet synchronous motor

Fractional-order PI speed control for permanent magnet synch...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Wang, Ruiping Pi, Youguo Department of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781467312776

Fractional order controller for a permanent magnet synchronous motor (PMSM) speed control system is proposed in this paper. the detailed systematic controller design procedures are discussed. Simulation and experimental results including transient responses, load disturbance responses, and tracking responses of sinusoidal-wave and triangular-wave commands are discussed and compared. the simulation and experimental results validate the theoretical analysis. © 2012 IEEE.

关键词： Transient analysis

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Quantifying Robotic Swarm Coverage 15th

Quantifying Robotic Swarm Coverage

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15th international conference on informatics in control, automation and robotics (icinco)

作者： Anderson, Brendon G. Loeser, Eva Gee, Marissa Ren, Fei Biswas, Swagata Turanova, Olga Haberland, Matt Bertozzi, Andrea L. Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA Univ Calif San Diego Dept Math San Diego CA 92093 USA Cornell Univ Ctr Appl Math Ithaca NY 14853 USA Univ Calif Berkeley Ind Engn & Operat Res Berkeley CA 94720 USA Univ Edinburgh Sch Math Edinburgh EH9 3FD Midlothian Scotland Inst Adv Study Sch Math Princeton NJ 08540 USA Cal Poly BioResource & Agr Engn San Luis Obispo CA 93407 USA Univ Calif Los Angeles Dept Math Los Angeles CA 90095 USA

ISBN: (纸本)9783030319939;9783030319922

In the field of swarm robotics, the design and implementation of spatial density control laws has received much attention, with less emphasis being placed on performance evaluation. this work fills that gap by introducing an error metric that provides a quantitative measure of coverage for use with any control scheme. the proposed error metric is continuously sensitive to changes in the swarm distribution, unlike commonly used discretization methods. We analyze the theoretical and computational properties of the error metric and propose two benchmarks to which error metric values can be compared. the first uses the realizable extrema of the error metric to compute the relative error of an observed swarm distribution. We also show that the error metric extrema can be used to help choose the swarm size and effective radius of each robot required to achieve a desired level of coverage. the second bench-mark compares the observed distribution of error metric values to the probability density function of the error metric when robot positions are randomly sampled from the target distribution. We demonstrate the utility of this benchmark in assessing the performance of stochastic control algorithms. We prove that the error metric obeys a central limit theorem, develop a streamlined method for performing computations, and place the standard statistical tests used here on a firm theoretical footing. We provide rigorous theoretical development, computational methodologies, numerical examples, and MATLAB code for both benchmarks.

关键词： Swarm robotics Multi-agent systems Coverage optimization Central limit theorem

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Nonlinear trajectory tracking controller design for flight control with disturbance rejection capability

Nonlinear trajectory tracking controller design for flight c...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Wang, Qi Wu, Wenhai Xu, Li Qingdao Branch Naval Aeronautical Engineering Institute Qingdao Shandong 266041 China

ISBN: (纸本)9781467312776

this article presents the equation of motion for the aircraft in the turbulence. Based on these equations, a trajectory tracking controller is designed using the nonlinear dynamic inverse. In order to reject the disturbance influence, the nonlinear disturbance observer is compensated for the design of the trajectory tracking controller. Simulation results show that the trajectory tracking controller with the nonlinear disturbance observer has a better control performance. © 2012 IEEE.

关键词： Equations of motion

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Rate-dependent modeling and control of GMA based on Hammerstein model with Preisach operator

Rate-dependent modeling and control of GMA based on Hammerst...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Guo, Yongxin Mao, Jianqin Zhou, Kemin School of Automation Science and Electrical Engineering University of Beihang Beijing 100191 China Department of Electrical and Computer Engineering Louisiana State University Baton Rouge LA 70803 United States

ISBN: (纸本)9781467312776

In this paper, a Hammerstein model with Preisach operator is proposed to model the rate-dependent hysteresis nonlinearity of a Giant Magnetostrictive Actuator (GMA). the Preisach operator is used to represent the nonlinear block of this model. the model's validity is verified by experimental data. Based on this model, a PID feedback controller combined with an inverse compensation in the feed-forward loop is proposed for tracking control. Experimental results show that the control method is effective. © 2012 IEEE.

关键词： Actuators

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Adaptive control for synchronous machine

Adaptive control for synchronous machine

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Ritonja, Jožef Dolinar, Drago Grčar, Bojan Cafuta, Peter Faculty of Electrical Engineering and Computer Science University of Maribor Smetanova 17 2000 Maribor Slovenia

ISBN: (纸本)9781467312776

the paper examines the synchronous machine oscillations. the linearized model of the synchronous machine was used for the eigenvalue analysis. the analysis shows that it is reasonable to apply adaptive stabilizer. the adaptive controller based on the model reference adaptive control theory is presented. Simulation and experimental results show the applicability of the presented approach. © 2012 IEEE.

关键词： Model reference adaptive control

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Integrated guidance and control for dual-control missiles against ground fixed targets

Integrated guidance and control for dual-control missiles ag...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Yan, Han Ji, Hai-Bo Department of Automation University of Science and Technology of China 230027 Hefei Anhui China

ISBN: (纸本)9781467312776

A scheme of integrated guidance and control (IGC) is proposed for missiles steered by both canard and tail controls against ground fixed targets. the attack angle and pitch rate commands are generated by a guidance law that makes the missile hit the target accurately with a desired terminal attitude angle. then an IGC law is designed based on generalized small-gain theorem to enforce the commands, and it can be shown that the law enables to maintain stability and performance of the overall system. the numerical simulation confirms the effectiveness of the proposed design approach. © 2012 IEEE.

关键词： Electronic guidance systems

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control for ball and plate system based on RBF-ADRC

Control for ball and plate system based on RBF-ADRC

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Duan, Huida Han, Kyong Won Zhang, Yinghui Tian, Yantao School of Communication Engineering University of Jilin Changchun Jilin Province China School of Electric and Information Engineering University of Beihua Jilin Jilin Province China

ISBN: (纸本)9781467312776

Aiming at multiple input uncertainty high-order nonlinear ball and plate system, a control strategy of cascade control with multiple auto-disturbance- rejection controls is proposed. To improve the adaptive ability of the ADRC, RBF neural network is used in the parameters optimization. the simulation experiments show that the proposed control method can effectively solve the problems of coupling and uncertainty. the trajectory tracking effect is satisfactory. © 2012 IEEE.

关键词： Radial basis function networks

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Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots

Switching feedback controllers based on the maximal CPI sets...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Yamamoto, Ko Nakamura, Yoshihiko Department of Mechanical Science and Engineering Tokyo TECH 2-12-1 Oookayama Megutro-ku 152-8552 Tokyo Japan Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-ku 113-8656 Tokyo Japan

ISBN: (纸本)9781424445882

Humanoid robots should be able to stand and walk despite reasonable external disturbances. this paper addresses the robustness of a humanoid robot to unknown disturbances. Although there are control methods to absorb the disturbances based on the COG-ZMP inverted pendulum model, they do not consider the physical constraint on ZMP. In this paper, the authors enable the control law to consider the physical constraint explicitly with the maximal CPI set. Furthermore, the switching control framework is applied to a COG-ZMP inverted pendulum model, allowing for an improved robustness to external disturbances. the validity of the proposed method is verified with both of simulation and experiment. ©2009 IEEE.

关键词： Anthropomorphic robots

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