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检索条件"任意字段=Proceedings of the IEEE/IFAC Joint Symposium on Computer-Aided Control System Design"

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Nonlinear ∞ control applied to biped robots

Nonlinear ∞ control applied to biped robots

引用

joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Siqueira, Adriano A. G. Terra, Marco H. Department of Mechanical Engineering University of São Paulo at São Carlos 400 Av. Trabalhador São-carlense 13566-590 São Carlos-SP Brazil Department of Electrical Engineering University of São Paulo São Carlos Brazil

ISBN: (纸本)0780397959

In this paper, a control strategy based on nonlinear ∞ approach is applied in a biped robot with torso, knees, and feet, that presents a passive dynamic walking. To obtain an anthropomorphic gait, the Foot Rotation Indicator was used as control variable. The ∞ control adopted is based on the Linear Parameter Varying (LPV) approach with a quasiLPV representation of the biped robot. Results obtained from simulation show that the proposed controller increases the basin of attraction of the system limit cycle against external disturbances. © 2006 ieee.

关键词： Nonlinear control systems

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A Rapid Calibration® tool for engine control software and its application to misfire diagnosis functions

A Rapid Calibration&reg tool for engine control software and...

引用

joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Böker, Georg Magnor, Olaf Schultalbers, Matthias Carnotstr. 1 10587 Berlin Germany

ISBN: (纸本)0780397975

Rigid legislation requirements on vehicle emissions and customer demands on comfort and efficiency have lead to a continuously increasing complexity of modern engine management systems, accompanied by a growing number of functions for engine control and component diagnosis, which all have to be calibrated. Nevertheless, for competitive reasons, time efficient methods for calibration are needed, where the accuracy of calibration is verified and well documented. For this purpose, the division of Powertrain Mechatronics Development Gasoline Engines (MD-G) of the IAV GmbH developed the idea of Rapid Calibration® (RC). In the RC tool environment in-vehicle measurements are automatically configured and executed, whereas the evaluation of the measurements, i.e. the calibration process, is mostly done on the basis of off-line optimization algorithms and simulation tools. Finally, documentation files, like for example slide presentation files, are automatically generated and statistical analyzing methods, which prove the quality of the calibration, are applied. This contribution describes, from an engineer's point of view, the use of the Rapid Calibration® tool environment for calibrating the misfire diagnosis function. © 2006 ieee.

关键词： Automobile engines

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Development of pattern driver for piezo nozzle control of multi-print head in 3D SFFS using UV resin

Development of pattern driver for piezo nozzle control of mu...

引用

Annual Conference on the Society-of-Instrument-and-control-Engineers

作者： Jun, Yu-Lim Kim, Jung-Su Lee, Min-Cheol Pusan Natl Univ Dept Intelligent Mech Engn Pusan South Korea Pusan Natl Univ Sch Mech Engn Busan South Korea

ISBN: (纸本)9784907764289

Three dimensional printing (3DP) process is me of the RP process technology that can fabricate three dimensional parts by jetting UV resin through piezo nozzle of print head in 3D SFFS using UV resin technology. As this technology uses multi-nozzle, it can make high speed fabrication. It sends 3D computer-aided design (CAD) data to a print head and it produces 3D Solid Freeform Fabrication (SFF). In this research, the pattern driver which is developed. In this research, controls each piezo nozzle of multi-print. The three dimensional freeform data is used to jet resin on build tray of SFF system. And z table is controlled so that piles up regular thickness. The x-y table of SFFS to move the multi-print head should satisfy high speed and high accuracy. The proposed print head consists of 4-heads for UV resin and 4-heads for support material for fast fabrication. The system between control system and multi-print head for the SFFS is also integrated.

关键词： SFFS(solid freeform fabrication system) UV resin 3DP(three dimensional printing) pattern driver

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Regulated sliding mode control of space free-flying robots

Regulated sliding mode control of space free-flying robots

引用

joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Moosavian, S. Ali A. Reza Homaeinejad, M. Department of Mechanical Engineering K.N .Toosi University of Technology P.O. Box 16765-3381 Tehran Iran

ISBN: (纸本)0780397959

Energy consumption of control actuators is an important issue in space systems, due to considerable cost of transferring supplies to orbit. In this paper, a chattering avoidance sliding mode controller is developed for Space Free-Flyer Robots (SFFR) as highly nonlinear coupled systems. Chattering phenomenon results in significant energy dissipation and causes practical difficulties for actuators. In order to fulfill stability requirements, robustness properties and chattering elimination, a regulating routine is proposed to determine proper positive values for the coefficient of sliding condition. To this end, first a multi input sliding mode control law is applied to the given SFFR in order to control its orientation and position to catch a moving target. Next, focusing on the chattering phenomenon, the new approach is employed to alleviate the chattering trend. Then, the explicit dynamics of a 14-DOF SFFR is derived via SPACEMAPLE. To consider practical aspects, the system dynamics is modeled in the presence of parametric uncertainties, also deviations (noises) in measurements are considered. Besides, to evaluate the new proposed algorithm in a more complicated condition, it is assumed that for controlling the base of SFFR only on-off actuators, which can just generate a constant positive or negative force/moment, are available as it is the case in real systems. Therefore, the exact demanded force/moment can not be supplied on the base, which will affect control of the whole system. The obtained results show that the proposed regulated sliding mode controller can significantly alleviate the chattering trend, and consequently energy consumption will be substantially decreased. © 2006 ieee.

关键词： Mobile robots

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proceedings of the 2006 ieee Conference on computer aided control systems design, CACSD: Welcome

Proceedings of the 2006 IEEE Conference on Computer Aided Co...

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proceedings of the 2006 ieee Conference on computer aided control systems design, CACSD 2007年

作者： Varga, Andras

No abstract available

ISBN: (纸本)0780397975

No abstract available

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Support vector networks for prediction of floor pressures in shallow cavity flows

Support vector networks for prediction of floor pressures in...

引用

joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Efe, Mehmet Önder Debiasi, Marco Yan, Peng Özbay, Hitay Samimy, Mohammad TOBB Economies and Technology University Department of Electrical and Electronics Engineering Sögütözü Ankara Turkey Department of Mechanical Engineering Ohio State University Columbus OH 43210 United States Department of Electrical and Computer Engineering Ohio State University Columbus OH 43210 United States Seagate Tech. Center Bloomington MN 55435 United States Department of Electrical and Electronics Engineering Bilkent University Bilkent TR-06800 Ankara Turkey Department of Electrical and Computer Eng. Ohio State University

ISBN: (纸本)0780397959

During the last decade, Support Vector Machines (SVM) have proved to be very successful tools for classification and regression problems. The representational performance of this type of networks is studied on a cavity flow facility developed to investigate the characteristics of aerodynamic flows at various Mach numbers. Several test conditions have been experimented to collect a set of data, which is in the form of pressure readings from particular points in the test section. The goal is to develop a SVM based model that emulates the one step ahead behavior of the flow measurement at the cavity floor. The SVM based model is built for a very limited amount of training data and the model is tested for an extended set of test conditions. A relative error is defined to measure the reconstruction performance, and the peak value of the FFT magnitude of the error is measured. The results indicate that the SVM based model is capable of matching the experimental data satisfactorily over the conditions that are close to the training data collection conditions, and the performance degrades as the Mach number gets away from the conditions considered during training. ©2006 ieee.

关键词： Aerodynamics

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design of GPS remote calibration system

Design of GPS remote calibration system

引用

joint ieee International Frequency control symposium/21st European Frequency and Time Forum

作者： Liao, Chia-Shu Peng, Hsin-Min Lin, Huang-Tien Lin, Shinn-Yan Tu, Kun-Yuan Shyu, Han Chunghwa Telecom Co Ltd Telecommun Labs Chungli Taiwan Natl Taiwan Univ Inst Appl Mech Taipei Taiwan Vanung Univ Dept CSIE Chungli Taiwan

ISBN: (纸本)9781424406463

A new design of GPS remote time and frequency calibration system is presented. Its hardware was composed with a time interval counter card, a GPS receiving modular and a controller. The counter card was manufactured with modeled number GT200 by Guide Technology, Inc. The Trimble ThunderBolt GPS disciplined clock was used as the GPS receiving modular. A personal computer with Redhat Linux operation system was utilized for the controller. The software is written by C language which controlled the GPS modular, the counter card, and data collecting. The characteristic of the counter card and GPS receiving modular were performed. A series of test were executed to valuate this system. The short baseline common clock test with hydrogen maser was studied for the system noise level. The direct phase comparison in laboratory, GPS short baseline test in laboratory, and GPS field test within 10km between hydrogen maser and cesium dock were also experimented. Two methods were applied to evaluate the system performance and there were GPS all-in-view and phase difference comparison. The later one could illustrate the short-term frequency stability. The former method could demonstrate the longer term stability and time characteristic of the clock at remote site. The accuracy and stability of the experimental result of the short baseline common clock with hydrogen maser reached to a few parts of 10(-13) and the TDEV values were lower than the ITU-T G.811 requirements. The designed system with the capability could be applied for the remote time/frequency calibration and for the monitoring the performance of the primary reference clocks(PRC) of the digital telecommunication network, too.

关键词： Calibration

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proceedings of the ieee International Conference on control Applications: Welcome

Proceedings of the IEEE International Conference on Control ...

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proceedings of the ieee International Conference on control Applications 2007年

作者： Varga, Andras

No abstract available

ISBN: (纸本)0780397959

No abstract available

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Model-free learning adaptive controller with neural network compensator and differential evolution optimization

Model-free learning adaptive controller with neural network ...

引用

joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Dos Santos Coelho, Leandro Coelho, Antonio Augusto Rodrigues Sumar, Rodrigo R. Pontifical Catholic University of Parana PUCPR / CCET / PPGEPS Automation and System Laboratory Imaculada Conceição 1155 80215-901 Curitiba PR Brazil Federal University of Santa Catarina Department of Automation and Systems Box 476 88040-900 Florianópolis SC Brazil

ISBN: (纸本)0780397983

A new design for a model-free learning adaptive control (MFLAC), based on pseudo-gradient concepts with compensation using neural network, is presented in this paper. A radial basis function neural network using differential evolution optimization technique is applied to the control design. Motivation for developing a new approach is to overcome the limitation of the conventional MFLAC design, which cannot guarantee satisfactory control performance when the plant has different gains for the operational range. Robustness of the MFLAC with neural compensation scheme is compared to the MFLAC without compensation. Simulation results for a nonlinear chemical reactor are given to show the advantages of the proposed compensation approach. © 2006 ieee.

关键词： Adaptive control systems

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Force/position tracking for a robotic finger in compliant contact with a surface using neuro-adaptive control

Force/position tracking for a robotic finger in compliant co...

引用

joint 2006 ieee Conference on control Applications (CCA), computer-aided control systems design symposium (CACSD) and International symposium on Intelligent control (ISIC)

作者： Karayiannidis, Yiannis Rovithakis, George Doulgeri, Zoe IEEE Aristotle University of Thessaloniki Department of Electrical and Computer Engineering Thessaloniki 54124 Greece

ISBN: (纸本)0780397983

In this work, the problem of force/position tracking for a robotic finger in compliant contact with a surface under non-parametric uncertainties is considered. In particular, structural uncertainties are assumed to characterize the compliance model as well as the robot dynamic model. A novel neuroadaptive controller is proposed that exploits the approximation capabilities of the linear in the weights neural networks and the uniform ultimate boundedness of force and position error is proved. Simulation results illustrate the performance of the proposed controller. © 2006 ieee.

关键词： Tracking (position)

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