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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301-310 订阅

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Real-Time Setup with PD and Backstepping control for a Pelican Quadrotor 14

Real-Time Setup with PD and Backstepping Control for a Pelic...

引用

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

作者： Ruiz, Jose Alejandro Dena Aouf, Nabil Cranfield Univ Ctr Elect Warfare Def Acad United Kingdom Shrivenham SN6 8LA England

ISBN: (纸本)9789897583049

In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation and comparison between PD and BackStepping (BS) controllers for linear positioning are presented using a Pelican quadrotor from Ascending Technologies (AscTec). An onboard Inertial Measurement Unit (IMU) was used for orientation control and Optitrack Vision Tracking System for linear positioning control. A linear Kalman filter was implemented for linear velocity estimation. The software and hardware integration was achieved with the help of the Robot Operating System (ROS). Simulations and experiments with this drone platform are achieved in order to implement different controller algorithms and analyse them in order to achieve better aircraft performance.

关键词： PD control Backstepping control Kalman Filter Optitrack ROS

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Realistic Estimation of Model Parameters 14

Realistic Estimation of Model Parameters

引用

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

作者： Ettler, Pavel COMPUREG Plzen Sro Plzen 30634 Czech Republic

ISBN: (纸本)9789897583049

Most often, the normal distribution N plays the key role in the process modelling and parameter estimation. The paper deals with realistic estimation of model parameters which takes into account limitations on parameters which arise in industrial applications of the model-based adaptive control. Here the limitation of a normally distributed random variable is being modelled by specific distribution - the probabilistic mixture D. It is shown that relationship between distributions N and D coincides with properties of the generalized normal distribution G and that relations between their first and second statistical moments can be adequately approximated by G's cumulative distribution function and probability density function, respectively. The derived method is then applied to estimation of bounded parameters. In combination with the idea of parallel identification of the full and reduced models of the process, a working algorithm is derived. Performance of the algorithm is illustrated by examples on both simulated and real data.

关键词： Parameter Estimation Process Model Probabilistic Distribution Adaptive control

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Quality-Based Behavior-Based control for Autonomous Robots in Rough Environments 14

Quality-Based Behavior-Based Control for Autonomous Robots i...

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

作者： Ropertz, Thorsten Wolf, Patrick Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9789897583049

Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially the robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality-based data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture. To demonstrate its capabilities, a perception network for robot localization is derived and its outcomes are compared to an state of the art localization filter in simulation and in a real world scenario as well.

关键词： Behavior-based control Quality-based Perception Localization Off-road robotics

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An Optimal control Problem Formulation for a State Dependent Resource Allocation Strategy 14

An Optimal Control Problem Formulation for a State Dependent...

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

作者： Di Giamberardino, Paolo Iacoviello, Daniela Sapienza Univ Rome Dept Comp Control & Management Engn A Ruberti Via Ariosto 25 I-00185 Rome Italy

ISBN: (纸本)9789897583049

In this paper, the problem of optimal resource allocation depending on the system evolution is faced. A preliminary analysis defines the global effort required in any subset of the system state space according to needed or desired goals. Then, in the definition of the cost function, the control action is weighted by a piecewise constant function of the state, whose different constant values are defined for each subset previously defined. The aim is to weight the control according to the distinct conditions, so getting different solutions in each state space region so to optimize the planned resources according to the global goal. A constructive algorithm to compute iteratively the final control law. is outlined. The effectiveness of the proposed approach is tested on a typical model of human immunodeficiency virus (HIV) present in literature.

关键词： Optimal control State-based Cost Function Switching control Epidemic Models HIV Model

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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground 14

Robustness to Inertial Parameter Errors for Legged Robots Ba...

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

作者： Giftsun, Nirmal Del Prete, Andrea Lamiraux, Florent Lab Anal & Architecture Syst 7 Ave Colonel Roche F-31400 Toulouse France

ISBN: (纸本)9789897583049

Model-based control has become more and more popular in the legged robots community in the last ten years. The key idea is to exploit a model of the system to compute precise motor commands that result in the desired motion. This allows to improve the quality of the motion tracking, while using lower gains, leading so to higher compliance. However, the main flaw of this approach is typically its lack of robustness to modeling errors. In this paper we focus on the robustness of inverse-dynamics control to errors in the inertial parameters of the robot. We assume these parameters to be known, but only with a certain accuracy. We then propose a computationally-efficient optimization-based controller that ensures the balance of the robot despite these uncertainties. We used the proposed controller in simulation to perform different reaching tasks with the HRP-2 humanoid robot, in the presence of various modeling errors. Comparisons against a standard inverse-dynamics controller through hundreds of simulations show the superiority of the proposed controller in ensuring the robot balance.

关键词： Humanoid Robots Robust control Inverse-Dynamics control Optimization and Optimal control

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The New Automated Fire control System for Artillery Units based on Interoperability and Standards 14

The New Automated Fire Control System for Artillery Units ba...

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

作者： Silinger, Karel Blaha, Martin Univ Def Dept Fire Support Brno Czech Republic

ISBN: (纸本)9789897583049

This paper is focused on the new automated fire control system for artillery units - PVNPG-14M, especially on interoperability and standards. Artillery units of the Army of the Czech Republic, reflecting the current global security neighbourhood, can be used outside the Czech Republic. The paper presents principles, evolution and functionality in the framework for the project through the establishment of strategic and conceptual context and the examination of Network Enabled Capability (NEC) activities and Interoperability Standards, makes proposals for engagement with NATO and coalition agencies, programs and projects, and offers starting point for project and moreover set up the new artillery full-automated system for fire control. The Czech Artillery units need to have intuitive system for mathematical computations what assures prediction capabilities for adequate fire support provision - PVNPG-14M should be the best choice in current conditions.

关键词： Fire control System Decision Making System Decision Support System Software Development Application Interoperability Standardization

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Modeling of Two Sub-reach Water Systems: Application to Navigation Canals in the North of France 14

Modeling of Two Sub-reach Water Systems: Application to Navi...

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

作者： Segovia, Pau Horvath, Klaudia Rajaoarisoa, Lala Nejjari, Fatiha Puig, Vicenc Duviella, Eric IMT Lille Douai Unite Rech Informat & Automat Lille France Univ Politecn Cataluna Automat Control Dept Terrassa Spain Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands

ISBN: (纸本)9789897583049

Inland navigation networks are large-scale systems that can be described by using the nonlinear Saint-Venant partial differential equations. However, as there is no analytical solution for them, simplified models are used instead for modeling purposes. This work addresses the modeling of two sub-reach systems by means of the well-known Integrator Delay Zero model. Two main scenarios are considered: in the first one, the two partial models are independently computed one from each other;the second one uses previous knowledge of the whole two sub-reach system in order to ensure the flow consistency along the system. The application of these two methodologies to a part of the navigation network in the north of France serves as the case study for this work.

关键词： Large-scale Systems Water Systems Saint-Venant Equations Modeling IDZ Models

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A Practical Approach for the Auto-tuning of PD controllers for Robotic Manipulators using Particle Swarm Optimization 14

A Practical Approach for the Auto-tuning of PD Controllers f...

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

作者： Zidan, Ahmed Kotlarski, Jens Ortmaier, Tobias Leibniz Univ Hannover Inst Mechatron Syst Hanover NH 30167 USA

ISBN: (纸本)9789897583049

An auto-tuning method of PD controllers for robotic manipulators is proposed. This method suggests a practical implementation of the particle swarm optimization technique in order to find optimal gain values achieving the best tracking of a predefined position trajectory. For this purpose, The integral of the absolute error IAE is used as a cost function for the optimization algorithm. The optimization is achieved by performing the desired movement of the robot iteratively and evaluating the cost function for every iteration. Therefor, the necessary constraints that guarantee a safe and stable movement of the robot are defined, which are: a maximum joint torque constraint, a maximum position error constraint and an oscillation constraint. A constraint handling approach is suggested for the optimization algorithm in order to adapt it to the problem in hand. Finally, the efficiency of the proposed method is verified through a practical experiment on a real robot.

关键词： Robotic Manipulators Particle Swarm Optimization PD control Automatic Tuning

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A Distributed PID-like Consensus control for Discrete-time Multi-agent Systems 14

A Distributed PID-like Consensus Control for Discrete-time M...

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

作者： Gionfra, Nicolo Sandou, Guillaume Siguerdidjane, Houria Faille, Damien Univ Paris Saclay Lab Signaux & Syst L2S Cent Supelec 3 Rue Joliot Curie F-91192 Gif Sur Yvette France EDF R&D Dept STEP 6 Quai Watier F-78401 Chatou France

ISBN: (纸本)9789897583049

The problem of discrete-time multi-agent systems governed by general MIMO dynamics is addressed. By employing a PID-like distributed protocol, we aim to solve two relevant consensus problems, namely the leaderless consensus under disturbances and leader-follower under time-varying reference state ones. Sufficient conditions for stability as well as two LMI approaches to tune the controller gains are provided. The latter are either based on a H-infinity formulation of the problem or on fast response to a reference exogenous signal. Numerical simulations give some insight of which tuning should be considered according to the problem addressed.

关键词： Multi-agent Systems Consensus control Discrete-time LTI Systems

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An Adaptive Underfloor Heating control with External Temperature Compensation 14

An Adaptive Underfloor Heating Control with External Tempera...

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

作者： Ferrarini, Luca Rastegarpour, Soroush Petretti, Anacleto Politecn Milan Dipartimento Elettron Informaz & Bioingn Pza L da Vinci 32 I-20133 Milan Italy

ISBN: (纸本)9789897583049

The paper describes an interesting combination of auto-tuning and adaptive scheduling approaches to design and update a feedback/feedforward control of the temperature in buildings. The focus here is on residential houses endowed with radiant floors, which are intrinsically complex to control due to large inertia and operational constraints, and on the disturbance rejection of the external temperature. Pure auto-tuning techniques may fail to converge if the initialization step is not done properly, due to the wide variety of possible buildings and compensation hard to adapt in closed loop. The proposed approach combines a classification of the typology of rooms based on physical parameters with auto-tuning, so that in a two-step closed-loop procedure, the room cluster can be quickly identified, and consequently the feedback controller and feedforward compensator be tuned. Numerical examples are provided to test the robustness of the proposed approach.

关键词： Temperature control Self-tuning Regulators Building Energy Efficiency Model-based control

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