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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

共 1447 条记录，以下是161-170 订阅

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Real-time Robust Trajectory control for Vehicle Platoons: A Linear Matrix Inequality-based Approach 18

Real-time Robust Trajectory Control for Vehicle Platoons: A ...

引用

18th international conference on informatics in control, automation and robotics (icinco)

作者： Bozzi, Alessandro Zero, Enrico Sacile, Roberto Bersani, Chiara Univ Genoa DIBRIS Dept Informat Bioengn Robot & Syst Engn Genoa Italy

ISBN: (纸本)9789897585227

This paper proposes a solution to dynamically adjust vehicle platoon trajectories. The goal of the control algorithm is to keep the optimal interdistance between adjacent vehicles proceeding at cruising speed on a straight road. After a proposal of the interdistance required between neighboring vehicles, a robust decentralized controller based on a linear control law provides the speed profile for each component of the platoon. Its objective is to minimize the divergence in space in respect to the planned trajectories while assuring a safe span between adjacent members of the platoon. The results on a limited instance demonstrate the effectiveness of the proposed approach.

关键词： Robust control Trajectory Planning Linear Matrix Inequality Vehicle Platooning

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Hierarchical spline path planning method for complex environments

Hierarchical spline path planning method for complex environ...

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4th international conference on informatics in control, automation and robotics

作者： Saska, Martin Hess, Martin Schilling, Klaus University of Wuerzburg Germany Informatics VII Robotics and Telematics Wuerzburg 97074 Am Hubland Germany

ISBN: (纸本)9789728865832

Path planning and obstacle avoidance algorithms are requested for robots working in more and more complicated environments. Standard methods usually reduce these tasks to the search of a path composed from lines and circles or the planning is executed only with respect to a local neighborhood of the robot. Sophisticated techniques allow to find more natural trajectories for mobile robots, but applications are often limited to the offline case. The novel hierarchical method presented in this paper is able to find a long path in a huge environment with several thousand obstacles in real time. The solution, consisting of multiple cubic splines, is optimized by Particle Swarm Optimization with respect to execution time and safeness. The generated spline paths result in smooth trajectories which can be followed effectively by nonholonomic robots. The developed algorithm was intensively tested in various simulations and statistical results were used to determine crucial parameters. Qualities of the method were verified by comparing the method with a simple PSO path planning approach.

关键词： path planning mobile robots PSO spline path hierarchical approach

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Analysis of Input Delay Systems using Integral Quadratic Constraint 13

Analysis of Input Delay Systems using Integral Quadratic Con...

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Szabo-Varga, Gabriella Roedoenyi, Gabor Hungarian Acad Sci Comp & Automat Res Inst Syst & Control Lab Budapest Hungary

ISBN: (纸本)9789897581984

The L-2-gain computation of a linear time-invariant system with state and input delay is discussed. The input and the state delay are handled separately by using dissipation inequality involving a Lyapunov-Krasovskii functional and integral quadratic constraints. A conic combination of IQCs is proposed for characterizing the input delay, where the coefficients are linear time-invariant systems. The numerical example (a vehicle platoon) confirm that using this dissipativity approach a more effective method for L-2-gain computation is obtained.

关键词： Time-delay Systems Lyapunov-Krasovskii Functional Integral Quadratic Constraints Vehicle Platoon

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A Generation Method of Speed Pattern of Electric Vehicle for Improving Passenger Ride Comfort 13

A Generation Method of Speed Pattern of Electric Vehicle for...

引用

13th international conference on informatics in control, automation and robotics (icinco)

作者： Fuse, Hidetake Kawabe, Tohru Kawamoto, Masayuki Chiyoda Corp Yokohama Kanagawa 2208765 Japan Univ Tsukuba Fac Engn Informat & Syst Div Informat Engn Tsukuba Ibaraki 3058573 Japan Univ Tsukuba Int Innovat Interface Org Tsukuba Ibaraki 3058550 Japan

ISBN: (纸本)9789897581984

This paper deals with the passenger ride comfort of electric vehicle. A generation method of speed pattern is proposed for improving the ride comfort against the longitudinal acceleration/deceleration. The speed pattern generated using proposed technique is based on the general optimal control theory with evaluating the acceleration and the jerk which is time derivative of the acceleration. The effectiveness of the present method is demonstrated through numerical experiments.

关键词： Ride Comfort Speed Pattern Optimal control Acceleration/Deceleration Jerk

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Experimental Results of Trajectory Tracking control of Robot Manipulator using Time Varying Sliding Mode controller 13

Experimental Results of Trajectory Tracking Control of Robot...

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Mutoh, Yasuhiko Kogure, Nao Sophia Univ Dept Engn & Appl Sci Chiyoda Ku 7-1 Kioicho Tokyo Japan

ISBN: (纸本)9789897581984

The author et al. proposed the design method of the sliding mode controller for the trajectory tracking control problem of nonlinear systems. This controller consists of the conventional sliding mode control and the pole placement controller for the the linear time varying approximate model of the nonlinear system around the desired trajectory. In this paper, this controller is applied to the trajectory tracking control of the actual 2-link robot manipulator, and, experimental results are shown.

关键词： Sliding Mode control Time-varying Pole Placement control Trajectory Tracking control Nonlinear System Linear Time Varying System

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Estimating the Frequency of the Sinusoidal Signal using the Parameterization based on the Delay Operators 18

Estimating the Frequency of the Sinusoidal Signal using the ...

引用

18th international conference on informatics in control, automation and robotics (icinco)

作者： Tung Nguyen Khac Vlasov, Sergey Iureva, Radda ITMO Univ Fac Control Syst & Robot Kronversky Pr 49 St Petersburg 197101 Russia

ISBN: (纸本)9789897585227

The article presents an algorithm for estimating the frequency of an offset sinusoidal signal. Delay operators are applied to the measured signal, and a linear regression model is constructed containing the measured signals and the constant vector depending on unknown frequency. For the vector regression model, the method cascade reduction is used. A reduction procedure is proposed that allows the original model to be reduced to a reduced one containing a smaller number of unknown parameters. Finally, using the classical gradient method was used to compare the efficiency of the proposed method.

关键词： Estimation Parameters Identification Algorithms Frequency Sinusoidal Signal Regressor

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Vehicular electronic devices connected by onboard fieldbus technologies

Vehicular electronic devices connected by onboard fieldbus t...

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4th international conference on informatics in control, automation and robotics

作者： Dominguez, Miguel A. Marino, Perfecto Poza, Francisco Otero, Santiago Univ Vigo Elect Technol Dept ETSI Ind Vigo 36280 Spain

ISBN: (纸本)9789728865832

The electrical circuits and their Electronic control Units (ECUs) in buses and coaches are essential for their good working. Drive, braking, suspension, opening door, security and communication devices must be integrated in a reliable and real time information system. The industrial communication networks or fieldbuses are a good solution to implement networked control systems for the onboard electronics in the public transport buses and coaches. The authors are working in the design of multiplexed solutions based on fieldbuses to integrate the body and chassis functions of city public transport buses. An example for the EURO5 model of the Scania manufacturer is reported in this paper. The authors are also working in the implementation of new modules based on FPGAs (Field Programmable Gate Arrays) that can be used in these networked control systems.

关键词： vehicular control fieldbuses CAN city public transport buses multiplexed solutions

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Discrete genetic algorithm and real ant colony optimization for the unit commitment problem

Discrete genetic algorithm and real ant colony optimization ...

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4th international conference on informatics in control, automation and robotics

作者： Sandou, Guillaume Supelec Dept Automat Control F-91192 Gif Sur Yvette France

ISBN: (纸本)9789728865825

In this paper, a cooperative metaheuristic for the solution of the Unit Commitment problem is presented. This problem is known to be a large scale, mixed integer problem. Due to combinatorial complexity, the exact solution is often intractable. Thus, a metaheuristic based method has to be used to compute a near optimal solution with low computation times. A new approach is presented here. The main idea is to couple a genetic algorithm to compute binary variables (on/off status of units), and an ant colony based algorithm to compute real variables (produced powers). Finally, results show that the cooperative method leads to the tractable computation of a satisfying solution for medium scale Unit Commitment problems.

关键词： metaheuristics unit commitment ant colony genetic algorithm scheduling

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Multi-target Optimal control Problems for a Tentacle-like Soft Manipulator 18

Multi-target Optimal Control Problems for a Tentacle-like So...

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Cacace, Simone Lai, Anna Chiara Loreti, Paola Univ Roma Tre Dipartimento Matemat & Fis Largo S Murialdo 1 I-00154 Rome Italy Sapienza Univ Roma Dipartimento Sci Base & Appl Ingn Via A Scarpa 16 I-00161 Rome Italy

ISBN: (纸本)9789897585227

We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring the contact with a target object, while avoiding an obstacle. The main novelty consists in treating the contact sub-region of the manipulator as an unknown of the problem and, at the same time, in allowing the target to be disconnected. We set the optimization problem in full generality, then we focus on the case of a multi-target problem, in which the goal is to simultaneously reach a finite set of points. Numerical simulations complete the paper.

关键词： Soft Manipulators control Strategies Reachability Multi-target Problems Optimal control

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Two Cases of Study for control Reconfiguration of Discrete Event Systems (DES) 16

Two Cases of Study for Control Reconfiguration of Discrete E...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Tahiri, I Philippot, A. Carre-Menetrier, V Tajer, A. URCA Univ Res Ctr Informat & Commun & Technol CReSTIC Reims France UCA Univ Elect Engn & Syst Control Lab LGeCOS Marrakech Morocco

ISBN: (纸本)9789897583803

In this paper, we propose two cases of study for control reconfiguration of Discrete Event Systems. The main contributions are based on a safe centralized and distributed control synthesis founded on timed properties. In fact, if a sensor fault is detected, the controller of the normal behavior is reconfigured to a timed controller where the timed information replaces the information lost on the faulty sensor. Finally, we apply our contribution to a manufacturing system to illustrate our results and compare between the two frameworks.

关键词： control Reconfiguration Supervisory control Theory Centralized control Distributed control Discrete Event Systems Timed Discrete Event Systems Sensor Faults Detection Manufacturing Systems

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