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Passive impedance control with time-varying impedance center

Passive impedance control with time-varying impedance center

引用

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

作者： Y. Kishi Zhi Wei Luo F. Asano S. Hosoe Department of Electronic-Mechanical Engineering School of Engineering University of Nagoya Japan Environment Adaptive Robotic Systems Laboratory Bic-mimetic Control Research Center Japan Motor Systems Control Theory Laboratory Bio-mimetic Control Research Center Riken Department of Electronic-Mechanical EngineeringSchool of Engineering University of Nagoya Japan

Humans can perform skillful tasks adaptively and safely while interacting with uncertain dynamic environment. With respect to the adaptation ability, it was pointed out that impedance control could play a center role in the human motor control mechanism. Related with safety, it was reported in robotics that the arm's passivity as seen from its environment or manipulated object is very important. In this paper, we study the passivity of impedance control with time varying impedance center. We propose a novel energy-based control method to adjust the impedance center so that the robot arm can realize passive impedance. We verify the effectiveness of our approach by computer simulations.

关键词： Impedance Human robot interaction control systems Adaptive systems Programmable control Adaptive control Motor drives Safety Computer simulation Force control

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Group robots forming a mechanical structure-development of slide motion mechanism and estimation of energy consumption of the structural formation

Group robots forming a mechanical structure-development of s...

引用

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

作者： N. Inou K. Minami M. Koseki Department of Mechanical and Control Engineering Tokyo Institute of Technology Japan Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Japan

This study deals with group robots forming a mechanical structure. The group robots consist of identical cellular robots with same mechanical structure and information processing. To realize the group robots in hardware, we propose a slide motion mechanism that supports a large mechanical loading. We report the performance test, and energy consumption required for transformation of the cellular robot under various configurations. This paper also discusses the shortest route with minimum energy in transformation when an initial configuration and a final one are given.

关键词： Motion estimation Energy consumption Mobile robots Hardware Orbital robotics Wheels Concrete control engineering Information processing Testing

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Adaptive CMAC model reference control system for linear piezoelectric ceramic motor

Adaptive CMAC model reference control system for linear piez...

引用

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

作者： Ya-Fu Peng Rong-Jong Wai Chih-Min Lin Department of Electrical Engineering Yuan-Ze University Taiwan

ISBN: (纸本)0780378660

In this study, we present a design method for a model reference control structure using a cerebellar model articulation controller (CMAC). Since the dynamic characteristics and motor parameters of the linear piezoelectric ceramic motor (LPCM) are highly nonlinear and time-varying. An adaptive CMAC model reference control system is proposed to control the position of the moving table of the LPCM to achieve high-precision position control with robustness. In order to guarantee the convergence of tracking error for periodic commands tracking, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning-rate parameters of the CMAC. Accurate tracking response and superior dynamic performance can be obtained because of the powerful on-line learning capability of the CMAC. Finally, the effectiveness of the proposed adaptive CMAC model reference control system is verified by experimental results in the presence of uncertainties.

关键词： Programmable control Adaptive control control system synthesis Ceramics Design methodology Nonlinear dynamical systems Position control Robust control Convergence Lyapunov method

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Adaptive neural network control system inspired from the cerebro-cerebellar network for manipulation

Adaptive neural network control system inspired from the cer...

引用

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

作者： M. Dufosse A. Kaladjian A.A. Frolov S. Bensmail F.B. Ouezdou INSERM U483 Université Pierre et Marie Curie Paris France Institute of Higher Nervous Activities and Neurophysiology Russian Academy of Science Moscow Russia LIRIS CNRS FRE-2508 Université Versailles Saint-Quentin-en-Yvelines France

The present neural network approach for controlling any arbitrary nonlinear plant is based on a model of the cerebro-cerebellar interaction during learning of the new visuomotor transformation. Four main prerequisites are required: the columnar organization of the cerebral cortex, the Marr-Albus-Ito theory of cerebellar learning, the equilibrium point theory of motor control and the differential neurocontroller theory. The convergence of the learning procedure is proved for the linear plant, and is confirmed for nonlinear plants by computer simulation for arm reaching movements in the horizontal plane.

关键词： Adaptive systems Programmable control Adaptive control Neural networks control systems Brain modeling Cerebral cortex Motor drives Neurocontrollers Convergence

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Intelligent sequence adjusting algorithm based on general satisfaction function for air traffic arrival flow management

Intelligent sequence adjusting algorithm based on general sa...

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

作者： Peng Cheng Zhengping Ma Deguang Cui Rui Geng Chen Chen Department of Automation Tsinghua University Beijing China

ISBN: (纸本)0780378660

Before handing over command of arrival flights to terminal controller, en route air traffic controller should adjust arrival flight queue as an appropriate sequence since air traffic flows aggregate at the entrance of air-corridor near airports. A good adjustment needs to consider such target as ensuring safe separation of adjacent flights by issuing adjustment commands as less as possible. This paper introduces a concept of approach adjustment and presents the mathematical description of the problem of approach sequence adjustment, which integrates both human experience and precise computing model. An intelligent sequence-adjusting algorithm is also discussed, which is based on general satisfaction function consisting of three factors: safety, capacity and equilibrium. Tested on practical data, the algorithm has good effectiveness.

关键词： Air traffic control Traffic control Airports Humans Air safety Automatic control Decision support systems automation Air transportation Navigation

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NN-compensator with fuzzy based switching for controlling 3-DOF underactuated manipulator

NN-compensator with fuzzy based switching for controlling 3-...

引用

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

作者： K. Watanabe L. Udawatta K. Izumi K. Kiguchi Graduate School of Science and Engineering Saga University Saga Japan

A novel control algorithm for controlling underactuated robot manipulators using fuzzy based switching with an NN-compensator is presented. One fundamental feature of this approach is to employ elemental controllers in order to fulfill the ultimate control objective, without performing rigorous linearizations or any other augmentation methods to the original nonlinear system. Parameters of both antecedent and consequent parts of a fuzzy indexer and the compensator are optimized off-line by using evolutionary computation. Such parameters are trained for different initial configurations of the manipulator and the common rules can be brought into the online operation of underactuated manipulators. The effectiveness of the proposed method is demonstrated using a computer simulation.

关键词： Fuzzy control control systems Nonlinear control systems Fuzzy logic Manipulator dynamics Nonlinear systems Mobile robots Orbital robotics Nonlinear dynamical systems Vehicle dynamics

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Design of sliding mode power system stabilizer via genetic algorithm

Design of sliding mode power system stabilizer via genetic a...

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

作者： Tsong-Liang Huang Chih-Han Chang Ju-Lin Lee Hui-Mei Wang Department of Electrical Engineering Tamkang University Taipei Taiwan

ISBN: (纸本)0780378660

This paper proposes a new approach for combining genetic algorithm and sliding mode control to design the power system stabilizers (PSS). The design of a PSS can be formulated as an optimal linear regulator control problem. However, implementing this technique requires the design of estimators. This increases the implementation and reduces the reliability of control system. These reasons, therefore, favor a control scheme that uses only some desired state variables, such as torque angle and speed. To deal with this problem, we use the optimal reduced models to reduce the power system model into two state variables system by each generator. We use the genetic algorithm to find the switching control signals and use sliding mode control to find control signal of the generator. The advantages of the proposed method are illustrated by numerical simulation of the multi-machine power systems.

关键词： Algorithm design and analysis Power systems Genetic algorithms Sliding mode control Power system modeling Power system reliability Power system simulation Power system control Regulators Optimal control

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A novel design and control of robotic wheeled blimp for tele-guidance

A novel design and control of robotic wheeled blimp for tele...

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

作者： Sungchul Kang Mihee Nam Bongsuk Kim T. Tsubouchi S. Yuta Korea Institute of Science and Technology Seoul South Korea University of Tsukuba Tsukuba Japan

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. The wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

关键词： Robot control Mobile robots control systems Position control Torque control Land vehicles Road vehicles Wheels Indoor environments Vehicle dynamics

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Genetic design of decentralized controllers for 5dof robotic manipulator

Genetic design of decentralized controllers for 5dof robotic...

引用

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

作者： F. Cupertino V. Giordano D. Naso L. Salvatore B. Turchiano Dipartimento di Elettrotecnica ed Elettronica Politecnico di Bari Bari Italy

Decentralized PID control is a widespread solution for trajectory tracking control of robotic manipulators in industrial contexts, because it provides a good trade-off between ease of implementation and performance. However, in many cases the final tuning of the independent controllers relies on exhaustive trial-and-error procedures, which are time-consuming, and may lead to globally sub-optimal configurations. In this paper, we describe an automatic and simultaneous tuning procedure for the linear controllers of a 5dof robotic manipulator based on Genetic Algorithms. The preliminary results described in this paper, obtained on a detailed model of an industrial manipulator developed within the SimMechanics Matlab environment, show the effectiveness of the evolutionary design procedure. The decentralized controllers can hold satisfactory performances over a wide range of operating conditions, including unknown load disturbances.

关键词： Robot control Manipulators Service robots Automatic control Robotics and automation Three-term control Trajectory Industrial control Genetic algorithms Mathematical model

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control of dual acting magnetic bearing actuator system using fuzzy logic

Control of dual acting magnetic bearing actuator system usin...

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

作者： M.K. Habib J.I. Inayat-Hussain School of Engineering and Science Monash University Malaysia Selangor Darul Ehsan Malaysia

In this paper, a fuzzy logic scheme is developed to improve the performance of a magnetic bearing control system. The developed fuzzy logic strategy is utilized in the non-linear control of a dual-acting magnetic bearing actuator system. The mathematical model of a dual acting magnetic bearing axis has been developed. The non-linearity in this system is due to the relationship between the forces generated in the electromagnetic actuator and the coil current and the air gap between the rotor and the stator. Non-linearities in magnetic bearing systems limit the control effectiveness and the region of stable performance. The model is used for dynamic simulation purposes and it is not directly used in the fuzzy controller design. Active magnetic bearing with adaptive fuzzy control showed a good improvement in step response compared to a linear PID or a steady state controller. With the presented fuzzy logic based strategy, nonlinear controllers for nonlinear applications can be designed with little effort.

关键词： control systems Magnetic levitation Actuators Fuzzy logic Fuzzy control Nonlinear control systems Mathematical model Electromagnetic forces Coils Rotors

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