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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291-300 订阅

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Modified model reference adaptive control for plants with unmodelled high frequency dynamics

Modified model reference adaptive control for plants with un...

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

作者： Yana, L. Neild, S. A. Wagg, D. J. Univ Bristol Dept Mech Engn Bristol BS8 1TR Avon England

ISBN: (纸本)9789728865849

in this paper we develop a modified MRAC strategy for use on plants with unmodelled high frequency dynamics. The MRAC strategy is made up of two parts, an adaptive control part and a fixed gain control part. The adaptive algorithm uses a combination of low and high pass filters such that the frequency range for the adaptive part of the strategy is limited. This reduces adaptation to unexpected high frequency dynamics and removes low frequency gain wind-up. In this paper we consider two examples of plants with unmodelled high frequency dynamics, both of which exhibit unstable behaviour when controlled using the standard MRAC strategy. By using the modified strategy we demonstrate that robustness is significantly improved.

关键词： model reference adaptive control robustness unmodelled dynamics frequency response technique

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A Multicopter Design Software Tool for Automated Generation of Simulation and Visualization Models 14th

A Multicopter Design Software Tool for Automated Generation ...

引用

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

作者： Shaqura, Mohammad Shamma, Jeff S. King Abdullah Univ Sci & Technol Thuwal 23955 Saudi Arabia

ISBN: (纸本)9783030112929;9783030112912

Multicoptor unmanned aerial vehicles (UAVs) are popular robotics platforms in various research and applications fields. Research in robotics, control, estimation and computer vision relies heavily on open-source software and hardware to build custom UAV. This is motivated by lower cost of material and rapid development desire. The presented tool automates the task of obtaining realistic models for simulation and visualization of multicoptors using state-of-the-art Computer Aided Design engineering tools (CAD). Users interact with the software through a desktop application that offers interface to CAD tools, hardware database and simulation files generation. Custom models can be generated for three popular multirotor simulators. Modeling parameters accuracy has been validated using data of IRIS+ quadcopter model.

关键词： Aerial robots UAV simulation System ID SolidWorks API Dynamic assembly Flight control Robot visualization

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Process control using controlled finite Markov chains with an application to a multivariable hybrid plant

Process control using controlled finite Markov chains with a...

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

作者： Ikonen, Enso Oulu Univ Dept Proc & Environm Engn Syst Engn Lab 4PYOSYS FIN-90014 Oulu Finland

ISBN: (纸本)9789728865849

Predictive and optimal process control using finite Markov chains is considered. A basic procedure is outlined, consisting of discretization of plant input and state spaces;conversion of a (a priori) plant model into a set of finite state probability transition maps;specification of immediate costs for state-action pairs;computation of an optimal or a predictive control policy;and, analysis of the closed-loop system behavior. An application, using a MATLAB toolbox developed for MDP-based process control design, illustrates the approach in the control of a multivariable plant with both discrete and continuous action variables. For problems of size of practical significance (thousands of states), computations can be performed on a standard office PC. The aim of the work is to provide a basic framework for examination of nonlinear control, emphasizing in on-line learning from uncertain data.

关键词： Markov decision process generalized cell-to-cell mapping qualitative modelling

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Autonomous Exploration and Mapping using a Mobile Robot Running ROS 13

Autonomous Exploration and Mapping using a Mobile Robot Runn...

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

作者： Darmanin, Rachael N. Bugeja, Marvin Univ Malta Dept Syst & Control Engn Msida Malta

ISBN: (纸本)9789897581984

This paper proposes a practical solution to the autonomous exploration and mapping problem using a single mobile robot. Moreover, the authors implement the proposed scheme within the Robot Operating System (ROS), and validate it experimentally using PowerBot, a real wheeled mobile robot equipped with a 2D laser scanner. In essence, the proposed scheme integrates an efficient particle-filter-based SLAM algorithm, two different exploration strategies, and a path-planning and navigation module. The modular nature of the proposed scheme is intentional and advantageous. It allows the authors to compare the two exploration strategies under investigation objectively and with ease. Finally, hypotheses testing is also used to strengthen the results of the comparative analysis.

关键词： Wheeled Mobile Robots ROS Autonomous Exploration SLAM

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Visual Predictive control of Robotic Arms with Overlapping Workspace 16

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

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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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Using the OAG to build a model dedicated to mode handling of FMS

Using the OAG to build a model dedicated to mode handling of...

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5th international conference on informatics in control, automation and robotics

作者： Hamani, Nadia Dangoumau, Nathalie Craye, Etienne Univ Paris 10 Dept Informat 200 Ave Republ F-92001 Nanterre France Ecole Cent Lille LAGIS Villeneuve Dascq France

ISBN: (纸本)9789898111319

This paper deals with a modeling approach for mode handling of Flexible Manufacturing Systems (FMS). We show that using the plant model enables to establish aggregate operations. These are generic entities which depend only on the plant and do not depend on production goals. Aggregate operations are then used to build the model dedicated to mode handling. This study is illustrated through an example of a flexible manufacturing cell.

关键词： Flexible Manufacturing Systems control system supervision mode handling functional modeling

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Fractional Order Tracking control of Unmanned Aerial Vehicle in Presence of Model Uncertainties and Disturbances 18

Fractional Order Tracking Control of Unmanned Aerial Vehicle...

引用

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

作者： Maurya, Heera Lal Singh, Padmini Yogi, Subhash Chand Behera, Laxmidhar Verma, Nishchal K. Indian Inst Technol Dept Elect Engn Kanpur 208016 Uttar Pradesh India

ISBN: (纸本)9789897585227

An unmanned Aerial Vehicle (UAV) is a highly non-linear unstable system. In this work using fractional order calculus, a novel fractional order dynamics of UAV is proposed. The concept of fractional order depicts the more realistic behavior of UAVs. For proposed fractional order model, a fractional order sliding mode controller (SMC) is designed such that the desired path can be achieved by the UAV in finite-time. In addition to this model uncertainty and disturbance is considered in the system which is handled by the proposed robust SMC. Stability analysis is given for the fractional order SMC using fractional Lyapunov method. Simulations have been done for position and attitude tracking of UAV to demonstrate the efficacy of the proposed method.

关键词： Unmanned Aerial Vehicle Fractional Calculus Sliding Mode control Model Uncertainty

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Fault detection of the actuator blocking - Experimental results in robot control structures

Fault detection of the actuator blocking - Experimental resu...

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3rd international conference on informatics in control, automation and robotics

作者： Vinatoru, Matei Iancu, Eugen Univ Craiova Fac Automat Comp & Elect Str AI Cuza Nar 13 RO-200396 Craiova Romania

ISBN: (纸本)9728865600

In this paper is presented an algorithm, which allows for a certain robotic structure, under the terms of an actuator blocking occurrence during the operation, either a correct positioning (if it is possible) or a positioning in an acceptable proximity of the desired coordinates by minimising an optimal criteria (through the adequate commands to the functional elements). The paper is proposing the synthesis of the commands for a poly-articulated robotic arm (3 segments). First, a workspace analysis is made, then is presented the algorithm for the actuators, first in the terms of a normal operation (finding the optimal motions) and second in the terms of the blocking of some robotic segments.

关键词： control system robotic arm fault detection and isolation

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Tracking control design for a class of affine MIMO Takagi-Sugeno models

Tracking control design for a class of affine MIMO Takagi-Su...

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

作者： Arino, Carlos Sala, Antonio Navarro, Jose Luis Jaume 1 Univ Dept Syst Engn & Design Sos Baynat S-N Castellon de La Plana Spain Univ Politecn Valencia Dept Syst Engn & Control Valencia Spain

ISBN: (纸本)9789728865825

When controlling Takagi-Sugeno fuzzy systems, verification of some sector conditions is usually assumed. However, setpoint changes may alter the sector bounds. Alternatively, setpoint changes may be considered as an offset addition in many cases, and hence affine Takagi-Sugeno models may be better suited to this problem. This work discusses a nonconstant change of variable in order to carry out offset-ellimination in a class of MIMO canonical affine Takagi-Sugeno models. Once the offset is cancelled, standard fuzzy control design techniques can be applied for arbitrary setpoints. The canonical models studied use as state representation a set of basic variables and their derivatives. Some examples are included to illustrate the procedure.

关键词： fuzzy control affine Takagi-Sugeno models local models LMI setpoint change

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Intelligent hierarchical control system for complex processes: Three levels control system

Intelligent hierarchical control system for complex processe...

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icinco 2009 - 6th international conference on informatics in control, automation and robotics

作者： Mitrishkin, Yuri V. Guerra, Rodolfo Haber Bauman Moscow State Technical University Second Baumanskaya St. 5 Moscow Russia Instituto de Automática Industrial CSIC Madrid Spain

ISBN: (纸本)9789898111999

The paper presents a concept of intelligent hierarchical control for complex dynamical processes and suggests architecture of control system consisting of robust, adaptive, and self-organizing levels. Intelligent features of the proposed system are mostly concentrated at self-organizing level incorporated into self-learning, self-configuring, self-optimizing, and decision making algorithms. State-of-the-art at each level is described. Case studies have been chosen from the area of plasma control in tokamak-reactors.

关键词： Decision making

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