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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201-210 订阅

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Research on depth control based on output disturbance observer for UUVs maneuvering near the surface

Research on depth control based on output disturbance observ...

引用

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

作者： Zhang, Hong-Han Wu, Di Li, Cong-Cong Yan, Zhe-Ping Department of Automation Harbin Engineering University Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Frequent changes of depth caused by the ocean wave generate lots of problems in the motion control of Unmanned Underwater Vehicles (UUVs) when operated near the surface, such as wear and tear of the motors, consumption of energy and so on. In order to solve these problems, this paper have tried to eliminate the disturbance of depth signal through estimating it according to nonlinear output disturbance observer based on the model of ocean wave. then the stability of the observer was proved by Lyapunov theory. At last, the observer was implemented in the simulation of the depth control system and the results show the effectiveness and practical significance of the method. © 2012 IEEE.

关键词： Water waves

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Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

Easy control hydraulic rotary self-servo reconfigurable deco...

引用

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

作者： Jiang, Lin Zhao, Jie Wu, Wenchao Xiang, Xianbao Chen, Xinyuan Zhao, Hui Zeng, Liangcai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Key Laboratory of Metallurgical Equipment and Its Control Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China

ISBN: (纸本)9781467312776

Aiming at the problems in hydraulic rotary self-servo, a easy control hydraulic rotary self-servo technology was proposed. the problems in hydraulic rotary self-servo were just as follows: the hydraulic servo valve radial force is imbalance, the hydraulic spool clamping force and friction are large, and the dynamic properties of the spool become deterioration. Based on easy control hydraulic rotary self-servo technology, the reconfigurable decoupling hydraulic joint was designed. And the decoupling properties of this new joint were analysed. this new joint has reconfigurable performance, omni-directional work space and movement decoupling performance. the omnidirectional work space and movement decoupling performance were verified by simulation experiment. © 2012 IEEE.

关键词： Reels

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Linear Discrete-Time Systems - ∞ Dynamic Output-Feedback control with Preview 15th

Linear Discrete-Time Systems - ∞ Dynamic Output-Feedback Co...

引用

15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Gershon, Eli Holon Israel Tel Aviv University Tel Aviv Israel

ISBN: (纸本)9783030319922

the theory of preview tracking control is applied for the solution of the dynamic output-feedback control problem of linear discrete-time systems for both: finite-horizon and stationary cases. Based of the solution of the state-feedback control problem and a specially devised version of the bounded real lemma for systems with tracking signals, three preview patterns are explored. the latter include the simplest case where the tracking signal is measured on line and two additional cases where the tracking signal is either previewed in a fixed interval ahead or it is perfectly known in advance along the finite horizon interval given in the system. the principle method of solution for all the latter three preview patterns is that the controller plays against nature which chooses the initial condition and the energy-bounded disturbances. © 2020, Springer Nature Switzerland AG.

关键词： State feedback

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Switching fuzzy observers for periodic TS systems

Switching fuzzy observers for periodic TS systems

引用

IEEE international conference on automation, Quality and Testing, robotics

作者： Lendek, Zs. Lauber, J. Guerra, T. M. Univ Valenciennes & Hainaut Cambresis LAMIH UMR CNRS 8201 F-59313 Le Mt Houy 9 Valenciennes France Tech Univ Cluj Napoca Dept Automat Cluj Napoca 400114 Romania

ISBN: (纸本)9781467307024

this paper considers the design of observers for periodic Takagi-Sugeno fuzzy models. the observer employed is also a periodic one. To develop the design conditions, a switching Lyapunov function defined at the time instants when the subsystems switch is used. Using the developed conditions we are able to design observers for TS models where the local models or even the subsystems are unstable. the application of the conditions is illustrated on numerical examples.

关键词： fuzzy observer Observers SUB-SYSTEM Periodic application conditions transport stream Liapunov function Periodic system switching design condition

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A homogenous CPG-network for multimode locomotion control of modular self-reconfigurable robot

A homogenous CPG-network for multimode locomotion control of...

引用

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

作者： Cui, Xindan Zhu, Yanhe Wang, Xiaolu Tang, Shufeng Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A self-reconfigurable (SR) robot is a cellular robot that is capable of adapting its shape and functions to changing environments and demands, and the "cellular" in which can rearrange their mutual mechanical connection to change the robot's outward features. this paper first introduces a new self-reconfigurable robotic system UBot. For the variability characteristics of the self-reconfigurable system, combined with the biological central pattern generator (CPG), a locomotion control method has been proposed which can control multimode locomotion for different configurations through the self-excited oscillation via different coupled modes of CPG network. the oscillators in the CPG network are homogenous with the same models and parameters, only the connection relations change for different configurations. the simulation and experiment of quadruped walking and snake-type wiggling controlled by CPG network have been successfully completed on the platform of UBot modular self-reconfigurable system. © 2012 IEEE.

关键词： Modular robots

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A stochastic state prediction in AFM based nanomanipulation

A stochastic state prediction in AFM based nanomanipulation

引用

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

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai Hou, Jing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781467312776

the reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two problem to be solved: one is how to describe state uncertainties at every different sample times;the other is how to deduce the next state uncertainty according to the current one. this paper provides a method to construct a stochastic predictive model to covering those problems. In the concrete, the predictive model uses Gaussian and Beta distribution as well as Mont Carlo Method to describe and deduce the state uncertainties respectively. the method is also applied to the process of pushing a nano-particle using AFM. © 2012 IEEE.

关键词： Stochastic systems

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Fuzzy sliding mode control for a gyroscope system

Fuzzy sliding mode control for a gyroscope system

引用

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

作者： Kuo, Chao-Lin Yau, Her-Terng Lin, Chia-Hung Tsui, Chien-Kuo Institute of Maritime Information and Technology National Kaohsiung Marine University Kaohsiung Taiwan Department of Electrical Engineering National Chin-Yi University of Technology Taichung Taiwan Department of Electrical Engineering Kao-Yuan University Kaohsiung Taiwan

ISBN: (纸本)9781467312776

the gyroscope system is widely applied in various areas of engineering. From the state response of the gyroscope system, it is shown that the gyroscope system have highly nonlinearity and chaotic characteristic. In this paper, a novel scheme which use fuzzy sliding mode control (FSMC) is proposed for a gyroscope system. the proof of Lyapunove function is used to verify the error states trajectory of the gyroscope system is converges to zero. the numerical simulation results are shown that the effective and feasibility of the proposed control method. © 2012 IEEE.

关键词： Fuzzy systems

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Energy-Based Functional Modelling for control Architecture Design: An Application to Energy Management for a Hybrid Electric Vehicle 14th

Energy-Based Functional Modelling for Control Architecture D...

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

作者： Mokukcu, Mert Fiani, Philippe Chavanne, Sylvain Taleb, Lahsen Ait Vlad, Cristina Godoy, Emmanuel Sherpa Engn R&D Dept F-92250 La Garenne Colombes France Univ Paris Saclay Univ Paris Sud Cent Supelec CNRSL2SUMR 8506 3 Rue Joliot Curie F-91192 Gif Sur Yvette France

ISBN: (纸本)9783030112929;9783030112912

the increasing complexity of energy systems leads to a growing interest in energy management that is actively studied using modelling methods and simulation tools capable to represent the re system's behavior. In this study, a functional energetic modelling method is proposed to design the control architecture for the management of the energy flow. this method relies on local control loops, a decision manager (DM) and basic equations. When the functional level of abstraction is used to model a complex system, the evaluation of the model accuracy (from an energetic point of view) and the validation of energy management strategies are simplified by fast simulations due to low model complexity. Even if the functional model allows a first-stage validation of the energy allocation within the system, the energy management strategies have to be tested using a more precise model, which is the multi-physical model of the system. the multi-physical modelling level has its own local controllers and global resource manager (GRM) to handle the energy allocation between the different components. the second-stage in the validation is completed by adapting the functional model in order to obtain the high-level controller (i.e. the GRM) for the multi-physical level. the development of the control architecture of the multi-physical model based on the functional model requires two steps: (i) adjusting the functional elements' parameters and (ii) proposing a method to interconnect the models at both levels of representation (functional and multi-physical levels). the modelling and the parametrization of the functional elements are demonstrated on a hybrid electric vehicle (HEV). the GRM design is detailed and the simulation results of the HEV system at multi-physical level are illustrated to validate the system architecture, the component sizing and the energy management strategy. the fuel consumption is evaluated in comparison to the HEV's design specifications.

关键词： control design Energy management Complex systems Modelling Integrated design Systems modelling Interconnected systems System-level design System verification Automotive engineering System architecture

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Improved station keeping strategy of spacecraft flying around Sun-Earth libration point

Improved station keeping strategy of spacecraft flying aroun...

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

作者： Chu, Hanyue Zhang, Tao He, Yingzi Hu, Shaochun Department of Automation School of Information Science and Technology Tsinghua University Beijing 100084 China Department of Control Theory and Engineering China Academy of Space Technology Beijing 100094 China

ISBN: (纸本)9781467312776

Considering the unstable of spacecraft trajectories around the Sun-Earth liberation points, a new station keeping strategy based on variable time intervals is presented and simulated in this paper. With this method, three different kinds of optimization strategies are conducted and a new performance measure form based on errors is also proposed to obtain a better control strategy which can minimize the system sensitivity of various types of uncertainty. Simulation results are introduced to demonstrate the effectiveness of the proposed methods. © 2012 IEEE.

关键词： Orbits Trajectory Optimization Equations Mathematical model Space vehicles Extraterrestrial measurements

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Dynamic analysis, optimal planning and composite control for aerial arm-operating with a multi-propeller multifunction aerial robot

Dynamic analysis, optimal planning and composite control for...

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

作者： Ding, Xilun Yu, Yushu Robotics Institute School of Mechanical Engineering and Automation Beijing University of Aeronautics and Astronautics Beijing 100191 China

ISBN: (纸本)9781467312776

the multi-propeller multifunction aerial robot with two manipulators has the potential to deal with arm-operating in the air. However, the interaction between the main-body and manipulator subsystems make the robot be difficult to accomplish the task of arm-operating. this paper investigates the modeling, planning, and control problem of the robot for arm-operating purposes. the paper presents the dynamic analysis of the aerial robot not contacting with the environment. the dynamics of the whole system are partitioned into several meaningful parts: the main-body dynamics, the manipulator dynamics, and the interaction dynamics. Furthermore, an optimal planning strategy which can minimize the interaction between main-body subsystem and manipulator subsystem is proposed. the paper also investigates a simple composite controller that is composed of main-body controller and manipulator controller. Each subcontroller is designed based on the partitioned dynamics. the simulation results validate the dynamic model, the benefit of the optimal planning approach, and the effectiveness of the composite controller. © 2012 IEEE.

关键词： Manipulators

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