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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211-220 订阅

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A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach

A fault tolerant control strategy for quadrotor UAVs based o...

引用

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

作者： Jiang, Hao Yu, Yushu Ding, Xilun Zhu, J. Jim Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Department of EECS Ohio University Athens OH United States

Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle9;s performance in the presence of benign faults, and even save the ... 详细信息

ISBN: (纸本)9781467312776

Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle's performance in the presence of benign faults, and even save the vehicle and valuable payload in case of severe faults. this paper presents a new fault tolerant control strategy based on Trajectory Linearization control approach with a special method of transformation from quadrotor mode to tri-rotor mode, and an introduction of extra control DOF. Meanwhile, control command saturation is considered in the proposed fault tolerant control strategy. the maximum fault tolerant capacity for the nominal controller is estimated and specific control strategies are presented according to fault classification. Simulations in the SIMTJLINK/MATLAB environment are presented to verify the control strategy. © 2012 IEEE.

关键词： Trajectories

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Modeling and adaptive control of a quadrotor

Modeling and adaptive control of a quadrotor

引用

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

作者： Schreier, Matthias Institute of Automatic Control and Mechatronics Control Theory and Robotics Lab. TU Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

ISBN: (纸本)9781467312776

In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive controller (MIAC) is proposed in terms of combining a recursive least-squares estimator with exponential forgetting with an integral discrete-time state space controller. Furthermore, a continuous-time Model Reference Adaptive control (MRAC) scheme based on Lyapunov theory is applied to the simplified dynamics of a quadrotor, which guarantees global asymptotic stability for at least linear overall systems. the effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. the results are compared to a designed nonadaptive integral state space controller. © 2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

引用

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

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

the cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. the desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Expert system for trace direction control of the amphibious air cushion vehicle

Expert system for trace direction control of the amphibious ...

引用

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

作者： Fu, Mingyu Zhang, Lina Wang, Jianqin Liang, Yuan Department of Automation University of Harbin Engineering Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

As the nonlinearity, uncertainties and other features of Hovercraft, the application of traditional control method is difficult to obtain good control results. During hovercraft navigation, the safety of navigation to a large extent depends on the level of the driver's manipulation and proficiency, expert system provides a good means for such empirical, nonlinear and uncertain systems, and therefore putting up with the expert system to solve the problem hovercraft's trace direction. the rule-based knowledge base is established according to the literature, the experiment and trace direction maintaining data, adaptive backstepping controller is as the underlying controller of an expert system. Based on the above methods simulation is made, the simulation results show that the trace direction control based expert system is effective. © 2012 IEEE.

关键词： Expert systems

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Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles

Faster and smoother trajectory generation considering physic...

引用

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

作者： Lee, Geon Kim, Doik Choi, Youngjin Reaction and Robotics Research Center Korea Institute of Science and Technology Seoul Korea Republic of Department of Electronics Electrical Control and Instrumentation Engineering Hanyang University Seoul Korea Republic of

ISBN: (纸本)9781467312776

this paper suggests a trajectory generation method using convolution operation. the proposed trajectory method always generates differentiable S-curve shape regardless of irregular time intervals, even when a new target is inputted before the trajectory does not reach to the previous target, or when a target is lost due to the communication problems. Also, the proposed method generates a trajectory considering physical system limits, for instance, maximum velocity, acceleration, and jerk, through the successive digital convolution that can reduce computational load, by using a recursive form of convolution operation. the effectiveness of the proposed method is shown through simulations. © 2012 IEEE.

关键词： Convolution

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People tracking with body pose estimation for human path prediction

People tracking with body pose estimation for human path pre...

引用

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

作者： Ratsamee, Photchara Mae, Yasushi Ohara, Kenichi Takubo, Tomohito Arai, Tatsuo Division of Systems Science and Applied Informatics Graduate School of Engineering Science Osaka University Japan Faculty of Systems Science and Applied Informatics Osaka University Japan

ISBN: (纸本)9781467312776

Prediction and observation of human motion are essential functions for robots co-existing with humans in everyday environments. We propose a people motion tracking and prediction approach by using the advantage of detailed 3D information about the positions of body joints. Using the shoulder position displayed in a geometrical skeleton diagram of a human's upper body part, the body pose from the proposed human kinematic model is estimated. Human motion tracking and path prediction are achieved via the extended Kalman Filter. the proposed method is verified in an indoor environment where humans pass by each other. Experiment results demonstrate that walking people and their body pose are robustly tracked and predicted accurately, with less occlusions compared to traditional human tracking. © 2012 IEEE.

关键词： Kalman filters

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Stance control of the SLIP hopper with adjustable stiffness of leg spring

Stance control of the SLIP hopper with adjustable stiffness ...

引用

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

作者： Yu, Haitao Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, a stance control strategy of the Spring Loaded Inverted Pendulum (SLIP) hopper with adjustable stiffness of leg spring is proposed. Due to the lack of a closed form analytic solution of SLIP dynamics, a novel perturbation method is developed to obtain the approximate analytic solution of the SLIP dynamics in stance phase, based on which the apex return map is also established. To compensate the energy variation between the current apex state and the desired apex state, a stiffness adjustment of leg spring in stance phase is presented. the deadbeat controller of the angle of attack is designed to track the regulated apex height and horizontal velocity in a single stride. Moreover, we illustrate through simulations that the SLIP hopper applied the proposed stance controller reveals high tracking accuracy and rapidly converges to regulated apex state. this work will benefit in both structure and adaptive controller design of legged bio-inspired robot. © 2012 IEEE.

关键词： controllers

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A mobile robot self-localization approach based on unidirectional vision

A mobile robot self-localization approach based on unidirect...

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

作者： Wang, Ke Huo, Guanglei Zhao, Lijun Li, Ruifeng Wang, Wei Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China Research Center of Information and Control Dalian University of Technology Dalian Liaoning Province 116024 China

ISBN: (纸本)9781467312776

this paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. the proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques. © 2012 IEEE.

关键词： Mobile robots

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SEMG control of an upper limb rehabilitation robot based on boosting of neural networks

SEMG control of an upper limb rehabilitation robot based on ...

引用

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

作者： Li, Qingling Song, Yu School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312776

this paper presents a surface electromyography (sEMG) control strategy for robot-assisted upper limb rehabilitation after stroke which can make the rehabilitation robot follow the patient's intention. A new method for feature extraction is proposed aiming at non-stationary feature of sEMG firstly. And then, an ensemble classification method based on BP base classifier is brought forward to discriminate upper limb motions. Experimental results verify that the feature extraction method is superior to traditional ones with respect to recognition rate and convergence speed of classifier, and the ensemble classifier have stronger generalization ability and higher recognition accuracy than single neural network classifier. © 2012 IEEE.

关键词： Feature extraction

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Kinematics analysis and sensor calibration of a wormlike crawling robot

Kinematics analysis and sensor calibration of a wormlike cra...

引用

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

作者： Wang, Weiqiang Zhu, Xinglong Gao, Longqin Zhang, Ying College of Mechanical Engineering Yangzhou University Yangzhou Jiangsu Province China Department of Mechanical and Electrical Engineering College of Nantong Agricultural Vocational Technology Nantong Jiangsu Province China

ISBN: (纸本)9781467312776

the first generation wormlike crawling robot has 8 ropes providing pulling force to change relative position of segments and to accomplish crawling movements. In order to solve problems of rope breaking, force control and length control of ropes appear in trails, the characteristic of pure rolling is studied and kinematics equations are established firstly. the relationship of length and force of rope is described in the kinematics equations, which lays a theoretical foundation for the control of force sensor. Proper force sensor is selected. Moreover, the software and hardware of calibration system are designed. Finally, the trail result of force sensor validates the feasibility of force feedback control system. © 2012 IEEE.

关键词： Adaptive control systems

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