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

共 1444 条记录，以下是171-180 订阅

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Neuroevolution with CMA-ES for Real-time Gain Tuning of a Car-like Robot controller 16

Neuroevolution with CMA-ES for Real-time Gain Tuning of a Ca...

引用

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

作者： Hill, Ashley Lucet, Eric Lenain, Roland CEA LIST Interact Robot Lab F-91191 Gif Sur Yvette France Univ Clermont Auvergne Irstea UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897583803

This paper proposes a method for dynamically varying the gains of a mobile robot controller that takes into account, not only errors to the reference trajectory but also the uncertainty in the localisation. To do this, the covariance matrix of a state observer is used to indicate the precision of the perception. CMA-ES, an evolutionary algorithm is used to train a neural network that is capable of adapting the robot's behaviour in real-time. Using a car-like vehicle model in simulation. Promising results show significant trajectory following performances improvements thanks to control gains fluctuations by using this new method. Simulations demonstrate the capability of the system to control the robot in complex environments, in which classical static controllers could not guarantee a stable behaviour.

关键词： Neuroevolution Machine Learning Neural Network Evolution Strategies Gradient-free Optimization robotics Mobile Robot control Theory Gain Tuning Adaptive control

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control of Uncertain Time Delay System with Astatism and Parametric and Periodic Uncertainties using SSV and Factorization for Two-Degree-of-Freedom-controller 16

Control of Uncertain Time Delay System with Astatism and Par...

引用

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

作者： Dlapa, Marek Tomas Bata Univ Zlin Fac Appl Informat Stranemi 4511 Zlin 76005 Czech Republic

ISBN: (纸本)9789897583803

Application of the Robust control Toolbox for Time Delay Systems with Parametric and Periodic Uncertainties Using SSV (Structured Singular Value) for the Matlab system to uncertain time delay system with astatism is performed. The D-K iteration and the algebraic approach implemented in the toolbox are applied to 2nd order system with astatism and uncertain time delay and two other parameters in the numerator and denominator of the plant transfer function. Multiplicative uncertainty is used for treating uncertain time delay, the parametric uncertainty is modelled using general interconnection for the systems with parametric uncertainty in numerator and denominator.

关键词： Parametric Uncertainty Structured Singular Value Matlab Toolbox Global Optimization Direct Search Methods Factorization

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Smoothing and Time Parametrization of Motion Trajectories for Industrial Machining and Motion control 16

Smoothing and Time Parametrization of Motion Trajectories fo...

引用

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

作者： Belda, Kvetoslav Czech Acad Sci Inst Informat Theory & Automat Dept Adapt Syst Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic

ISBN: (纸本)9789897583803

The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length;time parametrization with respect to arc length;and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces.

关键词： Path Model G-Code Path Smoothing Time Parametrization Bezier Curves Industrial robotics

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Visual Predictive control of Robotic Arms with Overlapping Workspace 16

Visual Predictive Control of Robotic Arms with Overlapping W...

引用

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

作者： Le Flecher, E. Durand-Petiteville, A. Cadenat, V Sentenac, T. CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS F-31400 Toulouse France Fed Univ Pernambuco UFPE Mech Dept Recife PE Brazil

ISBN: (纸本)9789897583803

This paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to control the arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into account the dynamic of the environment as well as the various constraints inherent to the mechanical system, visual servoing manipulation and shared workspace. Our solution has been evaluated in simulation using on PR2 arms model. Different models of visual features prediction have been tested and the entire VPC strategy has been run on various cases. The obtained results show the interest and the efficiency of this strategy to perform a fruit picking task.

关键词： Agricultural robotics Multi-arms Non-linear Model Predictive control Image based Visual Servoing

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Microgrid Modeling Approaches for Information and Energy Fluxes Management based on PSO 16

Microgrid Modeling Approaches for Information and Energy Flu...

引用

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

作者： Li Qiao Vincent, Remy Ait-Ahmed, Mourad Tang Tianhao Shanghai Maritime Univ Inst Elect Drives & Control Syst Shanghai 201306 Peoples R China Univ Nantes IREENA F-44603 St Nazaire France

ISBN: (纸本)9789897583803

In order to improve the reliability, stability and economy of power supply of a microgrid, some fundamental work on microgrid energy management method is carried out. Firstly, models of microgrid components under steady state are established in MATLAB/SIMULINK. Secondly, an operation cost function of microgrid is proposed, together with the constraint conditions. Then, in order to solve the energy management problem, Particle Swarm Optimization (PSO) is declared by using m-files programming. The algorithm will be explained in chart flow and pseudo code. Finally, a simulation scenario is designed to show the good performance of this control method.

关键词： Microgrid Energy Management PSO MATLAB/SIMULINK

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Balancing control of a Self-driving Bicycle 16

Balancing Control of a Self-driving Bicycle

引用

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

作者： Yeh, T. J. Lu, Hao-Tien Tseng, Po-Hsuan Natl Tsing Hua Univ Dept Power Mech Engn Hsinchu 30013 Taiwan

ISBN: (纸本)9789897583803

In this research, a self-driving bicycle is constructed and the balancing control using the handlebar is studied. The controller is designed based on a model which characterizes the bicycle's lateral dynamics under speed variations. As the model can be decomposed into a convex combination of four linear subsystems with time-varying coefficients, the proposed controller also consists of a convex combination of four linear, full-state feedback controllers. It is proved that if the full-state feedback controllers satisfy a set of linear matrix inequalities, the bicycle can maintain its lateral stability regardless of speed changes. Both simulations and experiments verify that the proposed controller can achieve robust balancing performance under various operating conditions.

关键词： Balancing control Bicycle Convex Combination Linear Matrix Inequality

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Design of a Self-tuning Predictive PI controller for Delay Systems based on the Augmented Output 16

Design of a Self-tuning Predictive PI Controller for Delay S...

引用

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

作者： Ashida, Yoichiro Wakitani, Shin Yamamoto, Toni Matsue Coll Natl Inst Technol Dept Elect Engn & Comp Sci 14-4 Nishiikumacho Matsue Shimane Japan Hiroshima Univ Grad Sch Engn 1-4-1 Kagamiyama Higashihiroshima Japan

ISBN: (纸本)9789897583803

This paper proposes an online type control parameter tuning method for a predictive PI controller. Predictive PI controller is based on a PI controller with a Smith predictor, and it is effective for a controlled object with large dead-time. control performance of the predictive PI controller strongly depends on control parameters. Recently, some data-driven controller tuning methods have been proposed. The methods directly calculate suitable parameters from one or some sets of operating data. In addition, almost controlled processes are time-variant. In this paper, a data-driven self-tuning predictive PI controller is proposed. The effectiveness of the proposed scheme is evaluated by a simulation example.

关键词： Predictive PI controller Predictive control Delay System Data-driven Self-tuning

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Large Deviations in Discrete-time Systems with control Signal Delay 16

Large Deviations in Discrete-time Systems with Control Signa...

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

作者： Vunder, Nina Dudarenko, Natalia Grigoriev, Valery ITMO Univ Fac Control Syst & Robot 49 Kronverksky Pr St Petersburg Russia

ISBN: (纸本)9789897583803

The paper considers a problem of deviations (peak effect) in the free motion of linear discrete stable systems with a control signal delay. The problem consists in structure of eigenvectors of the state matrix. The control signal delay adds additional order to a discrete-time model and leads to the variation of eigenvectors structure and deviation increasing in the free motion of the system. A tracking discrete-time system is a subject of the research. An approach to the modal control law design taking into account the value of delay and the deviation is suggested in the paper. It is proposed to assess the upper bound of peaking processes in the system with the condition number of an eigenvectors matrix. The results are supported by an example.

关键词： Deviation Peak Effect Linear control Systems Delay Discrete Systems Eigenvectors Modal control Condition Number Norms

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Improving the Convergence of the Periodic QZ Algorithm 16

Improving the Convergence of the Periodic QZ Algorithm

引用

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

作者： Sima, Vasile Gahinet, Pascal Natl Inst Res & Dev Informat Optimizat Dept Modelling Simulat Bd Maresal Averescu 8-10 Bucharest Romania MathWorks 3 Apple Hill Dr Natick MA USA

ISBN: (纸本)9789897583803

The periodic QZ algorithm involved in the structure-preserving skew-Hamiltonian/Hamiltonian algorithm is investigated. These are key algorithms for many applications in diverse theoretical and practical domains such as periodic systems, (robust) optimal control, and characterization of dynamical systems. Although in use for several years, few examples of skew-Hamiltonian/Hamiltonian eigenproblems have been discovered for which the periodic QZ algorithm either did not converge or required too many iterations to reach the solution. This paper investigates this rare bad convergence behavior and proposes some modifications of the periodic QZ and skew-Hamiltonian/Hamiltonian solvers to avoid nonconvergence failures and improve the convergence speed. The results obtained on a generated set of one million skew-Hamiltonian/Hamiltonian eigenproblems of order 80 show no failures and a significant reduction (sometimes of over 240 times) of the number of iterations.

关键词： Eigenvalue Problem Hamiltonian Matrix Numerical Methods Optimal control

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Automated Draping of Wide Textiles on Double Curved Surfaces 16

Automated Draping of Wide Textiles on Double Curved Surfaces

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

作者： Kaumfann, Patrick Braun, Georg Buchheim, Andreas Malecha, Marcin Ctr Lightweight Prod Technol ZLP German Aerosp Ctr Inst Struct & Design D-86159 Augsburg Germany

ISBN: (纸本)9789897583803

In many different industries like aviation, shipbuilding or the production of wind turbines, the draping of textiles is a common issue. Especially large components in long- and medium-haul aircraft have a high potential of weight reduction by using composites. In many cases increasing material and manufacturing costs are caused compared to metal design. Therefore automation is one approach to achieve profitability. A robot end effector for the automated deposition of 50 inch wide fibre fabrics was tested. The experiments were performed in full scale, with plies of an aircraft pressure bulkhead. When depositing these fabrics on curved surfaces, defects such as waves or wrinkles appear. In order to solve this issue, the end effector was extended by adding an adaptable material buffer. The development regarding mechanical design, calculation for determining the axis movement as well as the axes control is presented. Compared to previous attempts without an adaptable material buffer, an improved deposition quality was achieved. The results of the experimental investigation are shown.

关键词： automation Layup Draping Textile Double Curved Surface Automated Preforming

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