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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251-260 订阅

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the error loop and robust closed-loop stability

The error loop and robust closed-loop stability

引用

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

作者： Canuto, Enrico Acuña-Bravo, Wilber Jimenez, Andrés Molano Montenegro, Carlos Perez Dipartimento di Automatica e Informatica Politecnico di Torino Torino 11029 Italy

ISBN: (纸本)9781467312776

the paper formulates the error loop as a tool for designing robust stability control systems in front of structured and unstructured uncertainties. the error loop indicates that a tool for accommodating such uncertainties is the noise estimator, which is the unique feedback channel from plant to control. It is shown that causality constraint in cancelling causal uncertainties (unknown disturbance) makes control law to play a role, offering a further degree of freedom. Employing asymptotic expansions of the closed-loop transfer functions, simple and explicit design formulae derive from stability inequalities: they relate closed-loop eigenvalues to model parameter and requirements. A simple example is provided from a ball and beam plant. © 2012 IEEE.

关键词： Robust control

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Backstepping based all states trajectories tracking for strict-feedback systems

Backstepping based all states trajectories tracking for stri...

引用

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

作者： Liu, Youxin Cheng, Chunhua Liu, Xinwei Naval Aeronautical Engineering Academy Qingdao Branch Qingdao Shandong Province China Department of Control Engineering Naval Aeronautical and Astronautical University Yantai Shandong Province China

ISBN: (纸本)9781467312776

In this letter, we address all states trajectories tracking problem, in which the reference trajectories can be selected arbitrarily. Moreover, the relation between the amounts of reference trajectories and that of states is analyzed. then, based on backstepping method, we offer the systematic procedure for designing proper controllers for strict feedback form nonlinear systems with all states available. the advantage of this approach is that global exponential tracking is achieved. Moreover it can quickly track any reference trajectory. Simulation results are provided to validate the effectiveness of the approach. © 2012 IEEE.

关键词： Backstepping

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A LMI approach to H∞ output feedback control for polytopic linear parameter-varying systems

A LMI approach to H∞ output feedback control for polytopic ...

引用

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

作者： Li, Hui Han, Jingmei Yin, Zhide Beijing Electro-Mechanical Institute Beijing 100074 China

ISBN: (纸本)9781467312776

this paper reviews the problem of H∞, output feedback control for polytopic linear parameter-varying systems. It is different from those approaches which some matrices describing the system must be assumed to be constant and/or must satisfy structural constraints. In this paper, all the system matrices are assumed to be in a polytope and be affected by the parameters measured online, and there are no structural constraints. By employing the definition of Quadratic H∞ Performance, sufficient conditions in terms of linear matrix inequalities are presented for the existence of the desired controller for the continuous linear parameter-varying system. the conditions guarantee that the closed-loop system is quadratically stable and with a prescribed H∞ attenuation level. the proposed approach is potentially less conservative than previous ones for the plants without structural constraints. the numerical examples illustrate the effectiveness of the proposed approach. © 2012 IEEE.

关键词： Linear matrix inequalities

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Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation

Motion control of an underactuated spherical robot: A hierar...

引用

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

作者： Liu, Baoyin Yue, Ming Liu, Rong School of Automotive Engineering Dalian University of Technology Dalian Liaoning Province 116024 China School of Electronic and Information Engineering Dalian University of Technology Dalian Liaoning Province 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

the inner suspension of a spherical robot undergoes an underactuated state which will be difficult for the underactuated system control, when the robot is rolling ahead. To resolve this underactuated control problem, an adaptive hierarchical sliding mode control scheme is proposed. the spherical robot system is separated as shell subsystem and inner suspension subsystem according to the movement. then a pair of first layer sliding surfaces is defined for each subsystem, by which the equivalent control law is derived to ensure states of each subsystem approaching to their own sliding mode surface. Based on the first layer sliding surface, a second layer surface is defined correspondingly, through which a total control law is given to make sure that all states can converge to their desired value via Lyapunov stability theorem. Meanwhile, considering the unavoidable and uncertain disturbance in the unstructured exploration environment, an adaptive hierarchical sliding mode control scheme is adopted to estimate the uncertain disturbances in real-time. Finally, the simulation results demonstrate the controller's adaptability and validity. © 2012 IEEE.

关键词： Spheres

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Power system control strategy for hybrid excavator based on equivalent fuel consumption

Power system control strategy for hybrid excavator based on ...

引用

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

作者： Gong, Jun He, Qinghua Zhang, Daqing Zhang, Yunlong Liu, Xinhao Zhao, Yuming Liu, Changsheng College of Mechanical and Electrical Engineering Central South University Changsha Hunan Province China Sunward Intelligent Equipment Co. Ltd. Changsha Hunan Province China

ISBN: (纸本)9781467312776

In order to enhance fuel economy of hybrid excavator system, a control strategy based on equivalent fuel consumption is introduced. Efficiency of motor and ultra-capacitor is converted to fuel consumption of engine, which is used to establish the equivalent fuel consumption function of the whole system and further to optimize the power distribution. A compensation function is introduced to ensure the ultra-capacitor working in the safe state of charge (SOC) by the way of modifying the result of optimization. A simulation is performed and the results show that the control strategy based on equivalent fuel consumption can effectively optimize the power distribution and improve fuel economy while the SOC of ultra-capacitor is maintained at reasonable range. © 2012 IEEE.

关键词： Fuel economy

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Study on the pre-estimated algorithm with self-adaption in teleoperation system

Study on the pre-estimated algorithm with self-adaption in t...

引用

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

作者： Chen, Ting Ye, Xiufen Xue, Nan College of Automation Harbin Engineering University Harbin Heilongjiang 150001 China School of Electrical and Electronic Engineering University of Science and Technology Harbin Heilongjiang China

ISBN: (纸本)9781467312776

In this paper, a method is proposed to reduce the impact of delay time and packet loss, because they have serious effects on serviceability of the remote operation mechanical system. the stability of a nonlinear bilateral teleoperation system with force feedback which has the similar combination of structure is discussed, and the system stability conditions are studied. the self-adaptive algorithm is designed by the relations of sampling time, delay time and the variable procedure of the data transfer in the nonlinear discrete teleoperation system. through the experiment, this method is confirmed to be able to reduce data error and increase accuracy effectively, while it also assures the stability of the system. © 2012 IEEE.

关键词： Remote control

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Design of system for high performance navigation computer system based on DSP

Design of system for high performance navigation computer sy...

引用

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

作者： Gao, Wei Wang, Guochen Zhang, Guangtuo College of Automation Harbin Engineering University China Tianjin Institute of Navigation Instrument Tianjin China

A kind of navigation computer based on DSP (TMS320C6747) and FPGA was proposed, using TI9;s newly developed DSP chip TMS320C6747 as computer core. DSP is used primarily for solution of navigation information, the F... 详细信息

ISBN: (纸本)9781467312776

A kind of navigation computer based on DSP (TMS320C6747) and FPGA was proposed, using TI's newly developed DSP chip TMS320C6747 as computer core. DSP is used primarily for solution of navigation information, the FPGA is mainly used for data acquisition and system-level processing and timing control, and a new DSP and FPGA communication is given. After setting up hardware platform the underlying driver is developed, and complete programming of strapdown inertial navigation system software using the modular design method. In practice, the navigation computer performance stability, well-run with high real-time performance and precision of navigation. © 2012 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Development of a self-balance dual-arm robot for inspection of high-voltage power transmission lines

Development of a self-balance dual-arm robot for inspection ...

引用

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

作者： Dian, Songyi Wen, Xuefeng Dong, Hang Weng, Tao Department of Automation School of Electrical Engineering and Information Technology Sichuan University Chengdu Sichuan Province 610065 China

ISBN: (纸本)9781467312776

this paper proposes a climbing robot for inspection of high-voltage power transmission lines. the robot is based on a self-balance dual-arm mechanism. It has the capability of avoiding dampers, spacers, suspension clamps and strain clamps, spanning between lines and climbing on much steep cable. It is dedicated for the inspection of single cable, double bundle cables and four bundle cables whether the cables are powered on or not. this paper mainly demonstrates the mechanical design, the principle of robot altitude control and the driving technique of the joints. the simulation results based on ADAMS confirm that the mechanical design is reasonable. the practical model of the robot which could be manipulated by a remote controller is also mentioned in this paper. © 2012 IEEE.

关键词： Inspection

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An adaptive GPC algorithm for a vectored water-jet-based spherical underwater vehicle

An adaptive GPC algorithm for a vectored water-jet-based sph...

引用

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

作者： Li, Xiaoqiong Li, Minghuan Dong, Enzeng Beijing Institute of Technology School of Life Science 100081 Beijing China Tianjin University of Technology School of Electrical Engineering Department of Automation 300384 Tianjin China Faculty of Engineering Kagawa University Takamatsu 761-0396 Kagawa Japan

ISBN: (纸本)9781467312776

All kinds of interferences have enormous negative impacts on accomplishing the control of underwater vehicle, especially for small one, the influences of turbulences are more fiercely and complicate. this paper proposed a generalized predictive control algorithm that can track position along the X-Y planes by controlling the propulsion vector, which can be used to a small underwater vehicle. the algorithm adopted the online system identification and changing variables over time which were verified based on a designed vectored water-jet-based spherical underwater vehicle. Based on the established objective model, the Simulations show the virtues that can track the position and resist the white noises very well. © 2012 IEEE.

关键词： White noise

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Design and implementation of detecting instrument for an airborne gun fire control computer

Design and implementation of detecting instrument for an air...

引用

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

作者： Chen, Danqiang Cao, Guohua Fan, Huilin Wang, Dapeng Department of Mechanical and Electronic Engineering Changchun University of Science and Technology Changchun Jilin Province China Aviation Ordnance Department Aviation University of Air Force Changchun Jilin Province China

ISBN: (纸本)9781467312776

this paper proposes a detecting instrument for an airborne gun fire control computer. Shooting system is a typical opened loop control system, whose most important part is fire control computer. the state of fire control computer directly effects shooting precision of airborne gun, therefore it's necessary to detect faults in cycle. Based on analysing interface characteristic of fire control computer, the paper proposed a testing scheme of in-situ detection and ex-situ detection, introduced testing principle, designed hardware and software of the detecting instrument, analysed testing precision and data. After application in the army, it is proved that the detecting instrument has high precision and speed, supports training and combat effectively. the design idea and realizing technique is a useful reference for detecting navy gun servo system. © 2012 IEEE.

关键词： Fire control systems

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