This is an overview on the models used to control fleets of road vehicles. In general, simplified vehicle models are used and their coupling features are introduced through the (individual) controllers. The robustness...
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ISBN:
(纸本)9789897584428
This is an overview on the models used to control fleets of road vehicles. In general, simplified vehicle models are used and their coupling features are introduced through the (individual) controllers. The robustness and precision of motion control needs geometric, kinematic and dynamic descriptions. We propose a modeling methodology for robots platooning to introduce specific features in the platoon behavior. This overview proposes reference models to link the fleet vehicles and assign a character to the group independent from control.
In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dim...
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ISBN:
(纸本)9789897585227
In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.
Different improvements have been developed in regards to the stability and the control of two-by-two non linear systems of conservation laws, and in particular for the Saint-Venant equations and the control of flow an...
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Different improvements have been developed in regards to the stability and the control of two-by-two non linear systems of conservation laws, and in particular for the Saint-Venant equations and the control of flow and water level on irrigation channel. One stability result based on the Riemann coordinates is presented here and sufficient conditions are given to insure the Cauchy convergence. Another result still based on the Riemann approach is presented too, in the linear case, to improve the feedback control based on the Riemann invariants.
The aim of this paper is to propose an optimal control strategy to face the propagation effects of a virus outbreak on a network;a recently proposed model is integrated and analysed. Depending on the specific model ca...
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ISBN:
(纸本)9789897583803
The aim of this paper is to propose an optimal control strategy to face the propagation effects of a virus outbreak on a network;a recently proposed model is integrated and analysed. Depending on the specific model caracteristics, the epidemic spread could be more or less dangerous leading to a virus free or to a virus equilibrium. Two possible controls are introduced: a test on the computers connected in a network and the antivirus. In a condition of limited resources the best allocation strategy should allow to reduce the spread of the virus as soon as possible.
This work considers (deep) artificial feed-forward neural networks as parametric approximators in optimal control of discrete-time switched linear systems with controlled switching. The proposed approach is based on a...
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ISBN:
(纸本)9789897585227
This work considers (deep) artificial feed-forward neural networks as parametric approximators in optimal control of discrete-time switched linear systems with controlled switching. The proposed approach is based on approximate dynamic programming and allows the fast computation of (sub-)optimal discrete and continuous control inputs, either by approximating the optimal cost-to-go functions or by approximating the optimal discrete and continuous input policies. An important property of the approach is the satisfaction of polytopic state and input constraints, which is crucial for ensuring safety, as required in many control applications. A numeric example is provided for illustration and evaluation of the approaches.
The paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in r...
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The paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in recent device programmer industry;programming density have been constantly fast growing from lowvolume to high-volume programming for all kinds of non-volatile flash memory devices such as NOR flash, NAND flash, and MMC cards, SD flash cards, serial flash device, serial flash cards, flash-based microcontrollers and flash disks as high performance M-systems DiskOnChip. Device programming mode is more demanding an automatic programming than manual operation mode. It drives the creation and implementation of a high-performance automated programming robotic systems. This paper shows how this proposed advanced Fuzzy self-tuning PID controllers work on these automated programming robotic automation systems.
The paper develops a unified kinematics modelling, optimization and control for hybrid robots. These robots combine two or more modes of operations, such as a combination of walking and rolling, or rolling and manipul...
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ISBN:
(纸本)9789897583803
The paper develops a unified kinematics modelling, optimization and control for hybrid robots. These robots combine two or more modes of operations, such as a combination of walking and rolling, or rolling and manipulation. The equations of motion are derived in compact forms that embed an optimization criterion. These equations are used to obtain various useful forms of the robot kinematics. Using the developed modelling, actuation and control equations are derived that ensure the robot to track a desired path closely while maintaining balanced operations and tip-over avoidance. Various simulation results are provided for a hybrid rolling-walking robot traversing uneven terrain, which demonstrate the capabilities and effectiveness of the developed methodologies.
This work is concerned with the existence of asymptotically stable 2-D (2-dimensional) systems by means of a feedback control model represented by the system of partial difference equations and their Lagrange solution...
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ISBN:
(纸本)9789897581984
This work is concerned with the existence of asymptotically stable 2-D (2-dimensional) systems by means of a feedback control model represented by the system of partial difference equations and their Lagrange solutions. Thus, the goal is to establish a controller that provides a feedback control system with state variables depending solely on its Lagrange solution in the sense that the solution to the variable state is not a linear combination of other Lagrange solutions. Roughly speaking, the results showed that, to achieve such a control system, the controller has to diagonalize the block matrices of the matrices composing the system description model. Finally, a numerical example is presented to show how the controller is designed in order to generate a stable feedback control with given Lagrange solutions.
This paper describes a collaborative control scheme that governs the dynamic behavior of an articulated mobile robot with several degrees of freedom (DOF) and redundancies. These types of robots need a high level of c...
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ISBN:
(纸本)9789728865832
This paper describes a collaborative control scheme that governs the dynamic behavior of an articulated mobile robot with several degrees of freedom (DOF) and redundancies. These types of robots need a high level of coordination between the motors performance to complete their motions. In the employed scheme, the actuators involved in a specific task share information, computing integrated control actions. The control functions are found using a stochastic reinforcement learning. technique allowing the robot to automatically generate them based on experiences. This type of control is based on a modularization principle: complex overall behavior is the result of the interaction of individual simple components. Unlike the standard procedures, this approach is not meant to follow a trajectory generated by a planner, instead, the trajectory emerges as a consequence of the collaboration between joints movements while seeking the achievement of a goal. The learning of the sensorimotor coordination in a simulated humanoid is presented as a demonstration.
The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configura...
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ISBN:
(纸本)9789898111319
The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configuration and obstacles. This problem can be solved using kinematically redundant robots. Due to the circular shape of the grinding disc, the robot becomes kinematically redundant. This task redundancy was efficiently handled using Virtual mechanism approach, where the tool is described as a serial mechanism.
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