In this paper, a polydyne cam with translated roller follower over a range of speeds are analyzed. There is a clearance between the follower and the guide. The dynamic simulation is investigated taking into account th...
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ISBN:
(纸本)9780791851906
In this paper, a polydyne cam with translated roller follower over a range of speeds are analyzed. There is a clearance between the follower and the guide. The dynamic simulation is investigated taking into account the impact and the friction. The simulation has been done by using Solidworks program. The effect of follower guides' clearances on roller follower non-periodicity is considered based on Lyapunov exponent technique. Rosenstein method is used to calculate largest Lyapunov exponent for different angular velocities of the cam. The experimental setup has been implemented by using OPTOTRAK/3020 through a 3-D infrared markers to track follower motion. The power spectrum analysis of Fast Fourier Transform and phase plane contour are examined roller follower non-periodicity.
This work describes a new procedure for dynamic optimization of controllable Linear time-invariant (LTI) systems. Unlike the traditional approach, which results in 2n first order differential equations, the method pro...
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ISBN:
(纸本)9780791854754
This work describes a new procedure for dynamic optimization of controllable Linear time-invariant (LTI) systems. Unlike the traditional approach, which results in 2n first order differential equations, the method proposed here yields a set of m differential equations, whose highest order is twice the controllability index of the system p. This paper generalizes the approach presented in a previous work [1] to any controllable LTI system.
This paper proposes a robust filtered basis functions approach for feedforward tracking of linear time invariant systems with dynamic uncertainties. Identical to the standard filtered basis functions (FBF) approach, t...
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ISBN:
(纸本)9780791851913
This paper proposes a robust filtered basis functions approach for feedforward tracking of linear time invariant systems with dynamic uncertainties. Identical to the standard filtered basis functions (FBF) approach, the robust FBF approach expresses the control trajectory as a linear combination of user-defined basis functions with unknown coefficients. The basis functions are forward filtered using a model of the plant and their coefficients are selected to minimize tracking errors. The standard FBF and robust FBF approaches differ in the filtering process. The robust FBF approach uses an optimal robust filter which is based on minimization of a frequency domain based error cost function over the dynamic uncertainty, whereas, the standard FBF approach uses the nominal model. Simulation examples and experiments on a desktop 3D printer are used to demonstrate significantly more accurate tracking of uncertain plants using robust FBF compared with the standard FBF.
In this paper, we present an online adaptive model predictive control (MPC) method for the robot driver speed control problem. The control structure contains three essential components: a regularized least square meth...
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ISBN:
(纸本)9780791851890
In this paper, we present an online adaptive model predictive control (MPC) method for the robot driver speed control problem. The control structure contains three essential components: a regularized least square method to identify a time varying state space model for the vehicle system;a Kalman Filter (KF) to identify the internal states of the model;and a model predictive controller (MPC) to generate the control input based on properly constructed optimization objective and constraints. We cast the robot driver speed tracking problem as an acceleration tracking problem which we solve as an optimization problem with time varying constraints that are dependent on vehicle speed and acceleration. Simulation results on the FTP city drive cycle shows that the proposed approach has good speed tracking capability with minimal calibration efforts. and the controller is adaptive to variation on vehicle weight without degrading control performance.
There has been a recent increase in research related to supernumerary robotic arms. A challenge with supernumerary robotic arms is how to operate them effectively. One solution is to use the foot to teleoperate the ar...
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ISBN:
(纸本)9780791851913
There has been a recent increase in research related to supernumerary robotic arms. A challenge with supernumerary robotic arms is how to operate them effectively. One solution is to use the foot to teleoperate the arm. That frees the person to use their arms for other tasks. However, unlike hand interfaces, it is not known how to create effective foot control for robotic teleoperation. This paper presents an experiment to compare position and rate control methods for foot interfaces. A foot interface is presented that can be used for both position and rate control. A human subject experiment uses 2D positioning tasks to evaluate the effectiveness of each control method. These same tasks are tested with a hand interface to provide a baseline for comparison. Results show that, similar to the hand, position control performs faster than rate control when using the foot.
A trust-based switching impedance control strategy for human-robot cooperative manipulation is proposed. The robot behavior switches between the proactive and reactive modes based on the estimated trust of human in ro...
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ISBN:
(纸本)9780791851890
A trust-based switching impedance control strategy for human-robot cooperative manipulation is proposed. The robot behavior switches between the proactive and reactive modes based on the estimated trust of human in robot. The robot estimates the human desired trajectory. A history-based probabilistic trust model for human-robot cooperative manipulation tasks is proposed. Trust is modeled as a dynamic Bayesian network. In the proactive mode, the robot estimates the human desired trajectory and plans accordingly while in the reactive mode, the robot only reacts to the human input. A simulation of the trust-based switching impedance control strategy is presented.
This paper presents an open-loop, minimum-energy control law for attitude maneuver of a solar-sail. The proposed control law utilizes the magnetic torques and reaction wheels to reorient the solar-sail for near-earth ...
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ISBN:
(纸本)9780791851913
This paper presents an open-loop, minimum-energy control law for attitude maneuver of a solar-sail. The proposed control law utilizes the magnetic torques and reaction wheels to reorient the solar-sail for near-earth missions. Using the calculus of variations and Pontryagin's minimum principle, the necessary and sufficient conditions were derived for the nonlinear model of the solar-sail. Then the optimal control problem was formulated as a two-point boundary-value problem and solved via the Shooting method. The computed control law can be utilized in a flight computer and in a sampled-data feedback closed-loop system which can compensate for disturbance torques.
Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. This paper addresses a the interaction between the human drive...
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ISBN:
(纸本)9780791851906
Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. This paper addresses a the interaction between the human driver and automation system in a haptic shared control framework using a non-cooperative model predictive game approach. In particular, we focused on a scenario in which both human and automation system detect an obstacle but select different paths for avoiding it. For such a scenario, the open-loop Nash steering control solution is derived and the influence of the human driver's impedance and path following weights on the vehicle trajectory are investigated. It is shown that by modulating the impedance and the path following weight the control authority can be shifted between the human driver and the automation system.
Understanding of human/bicycle interaction is crucial not only for enhancing human/bicycle safety but also for designing new bicycle-based robotic device. We present a dynamic modeling and balance control of human/bic...
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ISBN:
(纸本)9781424480302
Understanding of human/bicycle interaction is crucial not only for enhancing human/bicycle safety but also for designing new bicycle-based robotic device. We present a dynamic modeling and balance control of human/bicycle systems. The dynamic models of human/bicycle systems are based on previously developed modeling of riderless autonomous motorcycles. We consider the human body as a point-mass connected to the bicycle platform. For balancing control of human/bicycle systems, we propose a hierarchical sliding-mode control approach in which multiple coupled sliding surfaces are designed. The human body action is considered as an unknown disturbance and a nonlinear disturbance observer (NDOB) is used to estimate its value. The stability of the combined control and NDOB systems is guaranteed. The performance of the controlsystems is demonstrated through simulation results.
A model predictive control (MPC) based robust energy management strategy for power-split hybrid electric vehicles (HEVs) is proposed in this paper which can guarantee charge sustaining constraint satisfaction in prese...
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ISBN:
(纸本)9780791851906
A model predictive control (MPC) based robust energy management strategy for power-split hybrid electric vehicles (HEVs) is proposed in this paper which can guarantee charge sustaining constraint satisfaction in presence of uncertainty in future torque demand and vehicle velocity. The proposed method utilizes robust backward reachability analysis to pre-compute a robust set from where control solutions exist that ensure charge sustaining constraint satisfaction despite the uncertainty. This set is then used as the terminal set constraint of the MPC problem followed by tightening of state constraints for robust constraint satisfaction. An equivalent convex optimal control is then formulated which is solved in a receding horizon fashion. Simulation results show the efficacy of the proposed control strategy in robust constraint satisfaction.
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