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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181-190 订阅

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A Sliding-Mode controller from a Reduced System Model: Ball and Plate System Experimental Application 14

A Sliding-Mode Controller from a Reduced System Model: Ball ...

引用

14th international conference on informatics in control, automation and robotics (icinco)

作者： Morales, Luis Camacho, Oscar Leica, Paulo Chavez, Danilo Escuela Politecn Nacl Ladron Guevara Dept Automatizac & Control Ind E-11253 Quito Ecuador

ISBN: (纸本)9789897583049

The purpose of this work is to design a Sliding-Mode control from a reduced system model using a PID as sliding surface. The controller is applied to a Ball and Plate system which has extremely non-linear characteristics and therefore does not have a unique solution in terms of ball stabilization control. The results are obtained by simulations and with real experiments in the implemented system. A comparative performance analysis is done between the proposed approach and a PID controller to stabilize the ball at fixed points of the plate.

关键词： Ball-Plate System Sliding-Mode control PID controller Stabilization Reduced System Model

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Disturbance Observer for Path-following control of Autonomous Agricultural Vehicles 16

Disturbance Observer for Path-following Control of Autonomou...

引用

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

作者： Hiramatsu, T. Pencelli, M. Morita, S. Niccolini, M. Ragaglia, M. Argiolas, A. Yanmar R&D Europe SRL Viale Galileo 3-A Florence Italy

ISBN: (纸本)9789897583803

This paper proposes a disturbance observer to be integrated inside a path-following controller in order to improve motion accuracy of an autonomous driving tractor. During operation, the tractor undergoes the effects of external forces due to either the action of the implement or the inclination of the ground. In such conditions, it is difficult to work precisely along a pre-determined path. By considering external forces as disturbances, it is possible to design a disturbance observer that estimates the steering angle on the basis of yaw-rate and lateral velocity. The proposed approach has been tested in a simulation environment.

关键词： Path-following control Agricultural Tractor Disturbance Observer

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Fast Deployable Autonomous Systems for Order Picking How Small and Medium Size Enterprises Can Benefit from the automation of the Picking Process 13

Fast Deployable Autonomous Systems for Order Picking <i>How ...

引用

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

作者： Bonini, Marco Urru, Augusto Echelmeyer, Wolfgang Reutlingen Univ Forschungszentrum Logist Alteburgstr 150 Reutlingen Germany

ISBN: (纸本)9789897581984

The paper focuses on a recently introduced paradigm for the logistic process of picking, with respect to the man-to-goods and goods-to-man concept: the robot-to-goods. First the task and system architecture of the fast deployable autonomous commissioning system are described, then the economic efficiency of the system is analysed in a real business case scenario using a simplified method, which is explained and discussed. The clearly positive Net Present Value of the investment and the short Payback Period obtained in the business case prove how the robot-to-goods paradigm for the commissioning process, implemented through the automation of the forklift platform, is economically attractive for small and medium size enterprises.

关键词： Logistics automation Robot-to-Goods Economic Efficiency Picking

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Robust and stable robotic force control

Robust and stable robotic force control

引用

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

作者： Short, Michael Burn, Kevin Univ Leicester Embedded Syst Lab Leicester LE1 7RH Leics England Univ Sunderland Control Syst Ctr Sunderland Durham England

ISBN: (纸本)9789728865849

To perform many complex tasks, modem robots often require robust and stable force control. Linear, fixed-gain controllers can only provide adequate performance when they are tuned to specific task requirements, but if the environmental stiffness at the robot/task interface is unknown or varies significantly, performance is degraded. This paper describes the design of a robotic force controller that has a simple architecture yet is robust to bounded uncertainty in the environmental stiffness. Generic stability conditions for the controller are developed and a simple design methodology is formulated. The controller design is tested on an experimental robot, and is shown to perform favourably in the presence of large changes in environmental operating conditions.

关键词： robotic force control model following control stability

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Backstepping controller Applied to a Foldable Quadrotor for 3D Trajectory Tracking 17

Backstepping Controller Applied to a Foldable Quadrotor for ...

引用

17th international conference on informatics in control, automation and robotics (icinco)

作者： Derrouaoui, Saddam Hocine Bouzid, Yasser Guiatni, Mohamed Kada, Halfaoui Dib, Islam Moudjari, Noureddine Ecole Mil Polytech Complex Syst Control & Simulators Lab Algiers Algeria

ISBN: (纸本)9789897584428

This paper presents a novel design and architecture control of a foldable quadrotor. This design is based on a variable geometry that can be changed during the flight. It is able to modify the orientation of its arms independently, thanks to its special morphology. This quadrotor, exploits simple mechanisms i.e. rotating arms. We stress that the control of this category of robots is not obvious compared to the conventional ones. So, a detailed generic model and backstepping control that take into account the variation of the center of gravity and the inertia are presented. Simulation results are also provided in order to illustrate the performances of this controller.

关键词： Foldable Quadrotor Robot Design Rotating Arms Variable Geometry Adaptive Morphology Generic Modeling control Backstepping PID

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Asynchronous control Design of Continuous-time Markovian Jump Systems with Bounded Time-varying Transition Rates 16

Asynchronous Control Design of Continuous-time Markovian Jum...

引用

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

作者： Ngoc Hoai An Nguyen Kim, Sung Hyun Univ Ulsan Sch Elect Engn Daehak Ro 93 Ulsan 680749 South Korea

ISBN: (纸本)9789897583803

The asynchronous control design of continuous-time Markovian jump systems with bounded time-varying transition rates is addressed in this paper. According to the framework of parameterized linear matrix inequalities (PLMIs), essential stabilization conditions are established with consideration on dissipativity performance and then transform to solvable sets of linear matrix inequalities (LMIs) under our proposed method. Especially, our technique is derived from not only time-varying system modes but also asynchronous control modes transition rates. The effectiveness of our method is then illustrated through our numerical example.

关键词： Asynchronous control Dissipative control Markovian Jump Systems Transition Rates

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Safety validation of automation systems: Application for teaching of discrete event system control

Safety validation of automation systems: Application for tea...

引用

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

作者： Marange, Pascale Gellot, Francois Riera, Bernard Univ Reims Ctr Rech STIC UFR Sci Exactes & Nat F-51687 Reims 2 France

ISBN: (纸本)9789728865849

We propose in this paper, to introduce a method to validate logic controller programs adapted to the teaching of Discrete Event Systems. The use of real systems for teaching raises two problems. The first one concerns the security of human beings (students and teachers) and materials. The second problem is the necessity to be able to detect possible errors done by students and to bring an explanation. We propose a method to define a level of system abstraction, to validate the student's control by the mean of a validation filter placed between the plant and the controller. The specifications contained in the filter make it possible to detect errors and to generate an explanation automatically. We applied this method to an original project where it was proposed to 7 year-old children, to discover automation, by programming a tablets packaging system.

关键词： discrete event systems validation control functional identification learning

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Hybrid motion cueing algorithms for Redundant Advanced Driving Simulators

Hybrid motion cueing algorithms for Redundant Advanced Drivi...

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

作者： Elloumi, Hatem Maizi, Nadia Bordier, Marc Ecole Mines Paris Ctr Math Appl F-06902 Sophia Antipolis France

ISBN: (纸本)9789728865832

Redundant Advanced Driving Simulators (hexapods mounted on rails) present an extra capability to reproduce motion sensations. The exploitation of this capability is currently done by frequency separation methods without taking into account the frequency overlapping between the hexapod and the rails. Within this bandwidth, these two degrees of freedom could be considered as equivalent. Our aim is to use this equivalence to improve the motion restitution. We offer two algorithms based on the hybrid systems framework which deal with the longitudinal mode. Their goal is to improve the restitution of motion sensations by reducing false cues (generated by actuators braking) and decreasing null cues (due to actuators blocking). Our algorithms include and treat all steps of motion cueing: motion tracking (restitution), braking before reaching the displacement limits, washout motion, and switching rules.

关键词： driving simulation motion cueing hybrid control

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A Study on Model-based Optimization of Vaccination Strategies against Epidemic Virus Spread 18

A Study on Model-based Optimization of Vaccination Strategie...

引用

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

作者： Liu, Zonglin Omayrat, Muhammed Stursberg, Olaf Univ Kassel Dept Elect Engn & Comp Sci Control & Syst Theory Kassel Germany

ISBN: (纸本)9789897585227

This paper aims at applying optimal control to investigate different vaccination strategies against the epidemic spread of viral diseases. Background of the study is the situation in the first half of 2021, when many countries started their vaccination procedures against the COVID-19 disease, but suffered from shortages of vaccines, such that the efficient distribution of the available amount of vaccine turned out to be crucial to mitigate the pandemic. The paper first suggests an extended version of a known model of virus spread in order include the vaccination process. Based on this model, the formulation and solution of optimization problems is used to determine how available vaccine should be distributed over different age-groups of the population to minimize virus spread. Effectiveness of the obtained strategies compared to standard ones is demonstrated in simulations.

关键词： Epidemic Modeling Markov Process Infection control Optimal control Biomedical Systems

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A Modular Underactuated Gripper with Force control System 16

A Modular Underactuated Gripper with Force Control System

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

作者： Margun, A. Bazylev, D. Zimenko, K. Kremlev, A. ITMO Univ Fac Control Syst & Robot 49 Kronverkskiy Av St Petersburg 197101 Russia

ISBN: (纸本)9789897583803

A design of an underactuated electromechanical gripper with force control algorithm is presented in this paper. The key feature of the gripper is the ability to grasp fragile objects and objects of a complex shape. Such advantages are due to the usage of elastic joints and force sensitive resistors embedded in modules of gripper's fingers. Also low cost and mass of the presented device makes its application rational for a larger number of robotic systems. Proposed force control system is based on PI control and passification approaches that provide tuning simplicity and good performance in the case of unknown environments. Experimental results show the efficiency of proposed solution.

关键词： Underactuated Gripper Force Sensitive System Force control Passive System Modularity

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