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Cascade control of hydraulic actuators during contact tasks

Cascade control of hydraulic actuators during contact tasks

引用

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

作者： P. Sekhavat N. Sepehri Department of Mechanical & Industrial Engineering University of Manitoba Winnipeg MAN Canada

Due to the complex interactions between hydraulic components, the contact task control of hydraulic manipulators is a challenging problem. In this paper, a controller is proposed which incorporates the nonlinear hydraulic effects and actuator-environment dynamics into the control procedure. The approach allows partitioning the hydraulics control from the actuator-environment interaction control so that, a different control algorithm could be applied to each part. The communication between the two parts is performed through an appropriate input-output arrangement. In this paper, a proportional control with feedforward compensation is applied to the hydraulic portion of the system and a bounce-less contact controller is applied to the actuator-environment interaction. Simulation and experimental results demonstrate that the proposed controller remains stable following contact with the environment.

关键词： Hydraulic actuators Communication system control Force control Fluid flow control Manipulators Proportional control control systems Contacts Automatic control Partitioning algorithms

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Systematic design of switched reluctance motor drive based on the intelligent computational software package

Systematic design of switched reluctance motor drive based o...

引用

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

作者： H. Chen X. Meng D. Zhang Department of Automation China University of Mining and Technology Xuzhou China

The principles for the design of the switched reluctance motor drive are presented using a three-phase 12/8 structure switched reluctance motor drive for the robot joint as a example. The design can be done from the systematic point of view, considering the motor, power converter and control strategy as a whole. The output equation relating to the relationship between the structure parameters and the electric loads is derived. The equation of the turn numbers of the phase winding is also considered. The design procedure is given. Some of the interfaces of the intelligent computational software package used for the Windows 9/spl times/ (in English) are given. The design is checked by the prototype. The accuracy is checked by the experimental measurement of the developed prototype. It is shown that the design has the advantages in practice and high precision.

关键词： Reluctance motors computational intelligence Software packages Stator cores Intelligent robots Inductance Induction motors Torque Rotors Robotics and automation

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An improved design procedure of Lyapunov feedback control

An improved design procedure of Lyapunov feedback control

引用

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

作者： Q. Wu P. Sekhavat S. Peles R.F. Abo-Shanab N. Sepehri Department of Mechanical and Industrial Engineering University of Manitoba Winnipeg MAN Canada Department of Physics University of Manitoba Winnipeg MAN Canada

An improved procedure of Lyapunov feedback control is developed. The procedure includes two parts. First, a discontinuous controller is designed. The extended Lyapunov stability theory is used for the stability analysis of the resulting non-smooth control system. Next, the discontinuous terms in the controller are replaced with continuous functions. This weakens the stability but avoids the chattering of the controller. The trade-off in the stability is analyzed using the concept of Lyapunov exponents. We demonstrate the effectiveness of the design procedure by stabilizing a two-link base-excited inverted pendulum system around the upright position. We believe that our improved design procedure makes the Lyapunov feedback control more applicable.

关键词： Feedback control Stability analysis control systems Lyapunov method control design Robots Industrial engineering Physics Performance analysis Nonlinear systems

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Learning for cooperation in multirobot team competitions

Learning for cooperation in multirobot team competitions

引用

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

作者： Kai-Tai Song Chih-Ching Tang Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan

We propose a learning architecture for cooperation in multirobot team competitions. This is a fully distributed, behavior-based software architecture, which facilitates flexible and reliable coordination of a team of robots performing tasks that may be subverted by another team of robots. Through the use of genetic algorithms, the robot team learns from past task execution experiences and improves its cooperation between the robots. The team performance in a game competition can be effectively improved. The feasibility of this architecture is demonstrated through simulation and practical experiments on a team of robots performing 3-on-3 robot soccer game.

关键词： Robot kinematics Game theory Computer architecture Software architecture Decision making Multirobot systems control engineering Genetic algorithms Motion planning Motion control

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Combining deliberation, reactivity, and motivation in the context of a behavior-based robot architecture

Combining deliberation, reactivity, and motivation in the co...

引用

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

作者： A. Stoytchev R.C. Arkin Mobile Robot Laboratory College of Computing Georgia Institute of Technology Atlanta GA USA

Describes a hybrid mobile robot architecture that addresses three main challenges for robots living in human-inhabited environments: how to operate in dynamic and unpredictable environments, how to deal with high-level human commands, and how to be engaging and fun for human users. The architecture combines three components: deliberative planning, reactive control, and motivational drives. It has proven useful for controlling mobile robots in man-made environments. Results are reported for a fax delivery mission in a normal office environment.

关键词： Mobile robots Computer architecture Sonar detection Educational institutions Roentgenium Robot control Production facilities Human robot interaction Research and development Humanoid robots

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Planar spline trajectory following for an autonomous helicopter

Planar spline trajectory following for an autonomous helicop...

引用

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

作者： K. Harbick J.F. Montgomery G.S. Sukhatme Robotic Embedded Systems Laboratory Robotics Research Laboratories Department Of Computer Science University of southern California Los Angeles CA USA

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system. which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight, experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable.

关键词： Spline Helicopters Robots Global Positioning System Aircraft navigation Application software Fuels Computer architecture Reconnaissance control systems

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A novel non-time based tracking controller for nonholonomic mobile robots

A novel non-time based tracking controller for nonholonomic ...

引用

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

作者： E. Hu S.X. Yang Ning Xi School of Engineering University of Guelph Guelph ONT Canada Department of Electrical Engineering Michigan State University East Lansing MI USA

Event based controller design was first proposed by Xi (1993), where a suitable non-time motion reference is introduced to represent the desired and measurable system output. It has been successfully applied to many areas such as robot motion control, multi-robot coordination, force and impact control, robotic teleoperation and manufacturing automation. In this paper, a non-time based tracking controller for a nonholonomic mobile robot is proposed by combining the conventional event based control technique with a biologically inspired additive model first proposed by Grossberg (1982). The proposed control algorithm can generate the smooth and continuous velocity control commands, which remove the small tracking error constraints in the conventional non-time based controllers. The stability of the control system and convergence of the tracking errors are guaranteed. The effectiveness of the proposed controller is demonstrated by simulation and comparison studies.

关键词： Mobile robots Automatic control Motion control Robot control Force control Velocity control control systems Biological control systems Error correction Motion measurement

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Decoupled adaptive fuzzy sliding-mode control

Decoupled adaptive fuzzy sliding-mode control

引用

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

作者： Do-woo Kim Hai-won Yang Ji-sup Yoon Hong-pil Kim Department of Elec. Eng. Hanyang University South Korea KAERI South Korea Department of Elec. Eng. Kyungil University South Korea

We propose a decoupled adaptive fuzzy sliding-mode control scheme for a class of fourth-order nonlinear systems. The system is decoupled into two second-order systems, where each subsystem has a separate control purpose expressed in terms of a sliding surface. Then, using the information from the secondary target conditions, the main target generates a control action to make both subsystems move toward their sliding surfaces, respectively. Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target. The membership functions of the THEN-part, which is used to construct a suitable equivalent control of SMC (sliding mode control), are changed according to the adaptive law.

关键词： Programmable control Adaptive control Fuzzy control Sliding mode control control systems Fuzzy systems Fuzzy sets Stability Error correction Nonlinear systems

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A model for time-delays for teleoperation over the Internet

A model for time-delays for teleoperation over the Internet

引用

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

作者： T. Mirfakhrai S. Payandeh Experimental Robotics Laboratory Simon Fraser University Burnaby BC Canada

The stochastic nature of the communication delay in teleoperation systems makes it hard to predict the behavior of such systems. Although achieving a general-purpose model for the Internet is not easy, if possible at all, stochastic models for specific cases enable us design predictors, which can help in stabilizing the teleoperation systems. In this paper we have developed an initial notion to create an autoregressive model for delays over the Internet. By probing the system behavior at different times of the day for a period of time, the general behavior of the delay can be comprehended and so partially predicted. Introducing a predictor in the teleoperation system can improve the system behavior through for example gain scheduling at the master controller.

关键词： Internet Delay effects Predictive models Robots Stochastic systems Manipulators Laboratories Communication system control control systems Roads

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Developing auditory skills by the SAIL robot

Developing auditory skills by the SAIL robot

引用

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

作者： Yilu Zhang Juyang Weng Department of Computer Science and Engineering Michigan State University East Lansing MI USA

Motivated by the autonomous developmental process of higher animals and humans from infancy to adulthood, the objective of our SAIL developmental robot project is to investigate how to enable a robot to develop its cognitive and behavioral skills through online, real-time interactions with the environment. In other words, our goal is to enable a robot to learn autonomously from real-world experiences. The work presented here focuses on the development of its auditory behaviors. Both simulation results and experiments on real robot are reported.

关键词： Robot sensing systems Human robot interaction Cognitive robotics Robotics and automation Training data Computer science Animals Design engineering Robot control Grounding

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