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Active suspension control scheme for vehicles without measurements of tire deflection

Active suspension control scheme for vehicles without measur...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Katsuhiro Okumura Masahiro Oya Masashi Nagae Hidetaka Ota Hideki Wada Department of Fukuoka Industrial Technology Center Japan Kyushu Institute of Technology Japan Shin Nippon Nondestructive Inspection Company Japan

ISBN: (纸本)9781424448081

In this paper, a new active suspension control scheme is proposed in which the tire deflections are not required. The controller has good property that we can specify a location where the ride comfort becomes best. To achieve this end, a combined ideal vehicle is designed. In the ideal vehicle, the location where ride comfort becomes best can be moved by setting only one design parameter. Next, to force the real vehicle track the motion of the combined ideal vehicle, a robust tracking controller is proposed.

关键词： Vehicles Tires Tracking Robust control Force control Motion control Acceleration control systems Wheels Character generation

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New fuzzy-based anti-swing controller for helicopter slung-load system near hover

New fuzzy-based anti-swing controller for helicopter slung-l...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Hanafy M. Omar AeroSpace Engineering Department King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

ISBN: (纸本)9781424448081

In this paper, a new fuzzy based anti-swing controller for helicopter slung load system near hover flight is proposed. The output from this controller is additional displacements that are added to the helicopter trajectory in the longitudinal and lateral directions. Hence, its implementation is simple and it just needs small modification to the software of helicopter position controller. The rules of the anti-swing controller are derived based on the time-delayed feedback of the load swing angles. The simulation results show the effectiveness of the proposed controller in suppressing the swing of the suspended load and stabilizing the system.

关键词： control systems Helicopters Aerodynamics Automatic control Equations Cables Motion control Feedback Displacement control Landmine detection

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Hill climbing algorithm of an inverted pendulum

Hill climbing algorithm of an inverted pendulum

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Howon Lee Junseok Lee Jangmyung Lee Intelligent Robot Laboratory Department of Electrical Engineering Pusan National University Busan South Korea Pusan National University Kumjeong-ku KR

ISBN: (纸本)9781424448081

This research aims at the control of the inverted pendulum attached on the top plate of a mobile robot. Especially, when the mobile robot is climbing up the hill, the stable control of the inverted pendulum is a challenging problem. Considering the gravity of the pendulum according to the inclined angle, the mobile robot motion is controlled to keep the inverted pendulum upright while the mobile robot is changing the location. For this purpose, the dynamics of the mobile robot and inverted pendulum have been derived and utilized with the PID control algorithm to keep the inverted pendulum upright. Through the real experiments, the range of disturbance which can be overcome by the controller has been shown. And also the effectiveness and validity the derived dynamics have been shown with various disturbances.

关键词： Mobile robots Equations Gravity Motion control Acceleration Force control Robot control Three-term control control systems Centralized control

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Acquisition of shared symbols in multi-agent cooperative tasks

Acquisition of shared symbols in multi-agent cooperative tas...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Siavash Kayal Abdol Hossein Aminaiee Caro Lucas Center of Excellence Control and Intelligent Processing ECE Faculty College of Engineering University of Tehran Iran Center of Excellence Control and Intelligent Processing ECE Faculty College of Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781424448081

In this paper a novel mechanism for acquiring shared symbols in multi-agent cooperative task is introduced. Inspired by human communication, a technique is suggested in which learning the behaviors and learning how to communicate are decomposed. Decomposing the shared symbol acquisition into two separate learning phases not only simplifies the learning algorithm but also it speeds up the process. Moreover, utilizing the gained information about the environment in the behavior learning phase, agent communication is learned easily. A couple of simulations are conducted to support the idea. Simulation results show that agents could assign meaning to symbols and transfer information among themselves using the learned symbols. Roughly speaking, they could form a language.

关键词： Humans computational modeling Artificial intelligence Protocols Process control Communication system control Intelligent agent Intelligent control Educational institutions Data mining

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Embedding intelligent agents to enable physical robotic and sensor organizations

Embedding intelligent agents to enable physical robotic and ...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Eric T. Matson Department of Computer and Information Technology Purdue University West Lafayette IN USA

ISBN: (纸本)9781424448081

The integration of multiagent systems (MAS) with organizations creates a platform to solve a number of real world problems. Extending the use of multiagent organizations to work with physical sensors and robotic systems synergizes the control ability of agents with the ability to monitor and affect physical phenomena. This research effort examines the use of agents, which are embedded into microprocessor boards, to control sensor and robotic systems. The concept introduced is the agent-on-a-chip(AOC) which integrates the capabilities of agents, MAS, and physical systems to create a real, fieldable application to attack a great number of real world domain problems.

关键词： Intelligent agent Robot sensing systems Intelligent robots Intelligent sensors Sensor phenomena and characterization Sensor systems control systems Multiagent systems Monitoring Microprocessors

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Gain-scheduled Takagi-Sugeno fuzzy PI control methodology for LPV systems

Gain-scheduled Takagi-Sugeno fuzzy PI control methodology fo...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Joabe Silva Ginalber Serra Science and Technology IFMA Federal Institute of Education Sao Luis Brazil

ISBN: (纸本)9781424448081

This work proposes a theoretical approach of gain-scheduled fuzzy PI control design based on gain and phase margins specifications for LPV (linear and parameters varying) systems, in the continuous time domain. A mathematical formulation from the Takagi-Sugeno fuzzy model structure as well as the PDC (parallel distributed compensation) strategy is developed. Analytical formulas are deduced for the PI subcontrollers parameters, in the robust fuzzy controller rules base, according to the fuzzy model parameters of the LPV plant to be controlled. Results of the necessary and sufficient conditions for the fuzzy controller design, from the proposed robust methodology, with one Axiom and two Theorems are also presented.

关键词： Takagi-Sugeno model Fuzzy control Fuzzy systems Pi control Robust control Educational technology Process control Uncertainty control engineering education Mathematical model

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Exploration and mapping for unstructured robot teams

Exploration and mapping for unstructured robot teams

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Adrian Martin M. Reza Emami Institute of AeroSpace Studies University of Toronto Toronto ONT Canada Space Mechatronics Group Institute of AeroSpace Studies University of Toronto Toronto ONT Canada

ISBN: (纸本)9781424448081

As the applications of mobile robot teams become more complex, the impracticality of designing custom solutions is becoming increasingly obvious. A new approach to control system design is required to facilitate the development of modular and scalable systems. control ad libitum is an approach that decouples the software and hardware design of robot teams, allowing the system to adapt to changing hardware and simplifying the process of adding functionality to the control system. The ¿Host, Avatar, Agent¿ control architecture was developed utilizing this approach and preliminary experimental results from an exploration and mapping scenario are presented here. The experimental results demonstrate the viability of the architecture, specifically in the areas of modularity and scalability, and provide some insights into how such a system could work for real-world applications.

关键词： Robot kinematics control systems Mobile robots Hardware Avatars Contracts Communication system control Scalability Distributed processing Distributed databases

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Bilateral teleoperation systems using genetic algorithms

Bilateral teleoperation systems using genetic algorithms

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Byeong-Yeon Kim Hyo-Sung Ahn Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

ISBN: (纸本)9781424448081

This paper presents a synchronization scheme of bilateral teleoperation systems with time delay using genetic algorithms. In general, bilateral teleoperation systems have two main goals: stability and transparency. The system can be destabilized by time delay in the communication channel between the master and the slave. Also, transparency can be degraded by time delay. However, it is not easy to determine control gains to achieve these goals. In this work, we use genetic algorithms to choose optimal control gains for synchronization control law. Consequently, position and force tracking problem in free and contact motion is solved in a synchronized manner. Simulation results are presented to verify the effectiveness of proposed methods.

关键词： Genetic algorithms Master-slave Delay effects Stability Humans Scattering Communication system control Optimal control Robots Orbital robotics

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Force control in multi-degree-of-freedom flexible systems — Sensorless technique

Force control in multi-degree-of-freedom flexible systems —...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Islam S. M. Khalil A. T. Naskali Asif Sabanovic Faculty of Engineering and natural Sciences Sabanci University Tuzla Istanbul Turkey

ISBN: (纸本)9781424448081

This paper presents a novel sensorless force control algorithm for Multi-degree-of-freedom flexible systems which enables controlling the interaction forces with the environment without using force sensors. The coupled nature of flexible system dynamics makes it possible to estimate externally applied forces or torques that arise due to system's interaction with the environment. Disturbance and flexibility are simultaneously utilized to estimate system parameters, dynamics and externally applied forces or torques. The interaction torque estimate is then used to accomplish sensorless torque control assignment. This paper attempts to keep the flexible plant free from any measurement while performing a torque control assignment. However, actuator's parameters and variables are assumed to be available.

关键词： Force control Force sensors Sensorless control Actuators Frequency control systems Parameter estimation Torque control Electric variables control Force feedback

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Adaptive control of systems with input saturation: A scheme using output derivatives of order up to relative degree

Adaptive control of systems with input saturation: A scheme ...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Natsuki Takagi Masahiro Oya Qiang Wang Toshihiro Kobayashi Department of Mechanical and Control Engineering Kyushu Institute of Technology Fukuoka Japan Department of Systems Design and Informatics Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9781424448081

In this paper, the main attention is focused on transient property of control input signal, we propose a novel adaptive controller for time-continuous single-input single-output linear systems with an input saturation in which i-th derivatives of the output signal (i = 1, ···, relative degree) are available. To improve the control performance, a novel estimator using an observer for the tracking error signals is proposed. Using the estimator, it is shown theoretically that the tracking error between the controlled object output and the reference model output can converge to zero when the initial value of the tracking error satisfies a condition.

关键词： Adaptive control control systems Error correction Programmable control Linear systems Closed loop systems Stability Equations Aging Convergence

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