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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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A joint structured complex uncertainty identification and ε-synthesis algorithm

A joint structured complex uncertainty identification and ε...

引用

ieee International Conference on computer-aided design

作者： Gabor Rodonyi Jozsef Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

A joint uncertainty model identification and mu-synthesis algorithm is presented for linear time-invariant (LTI) systems. The goal is 1) to construct an uncertainty model set characterized by parameterized weighting functions of dynamic perturbations in the general linear fractional transformation (LFT) form and additive disturbances - customary representation in modern robust control and 2) to select from this set according to closed-loop control objectives. The motivation is to avoid conservatism of physics-based uncertainty modelling yet giving confidence in the model. The algorithm works on sampled, bounded-energy experimental data on the frequency-domain and integrates model invalidation/construction and control synthesis in order to achieve robust performance. Standard D-K iteration steps are combined with an optimization step on a group of selected data. The efficiency and applicability of the method is demonstrated on a vehicle control problem with real experimental data

关键词： Uncertainty Robust control Vehicle dynamics Intelligent vehicles Automatic control control system synthesis Frequency synthesizers Terminology Linear systems control systems

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Kinematic control of robot manipulators using visual feedback

Kinematic control of robot manipulators using visual feedbac...

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ieee International Conference on computer-aided design

作者： Anjan Kumar Ray Mayank Agarwal Laxmidhar Behera Department of Electrical Engineering Indian Institute of Technology Kanpur Uttar Pradesh India

This paper presents a hybrid visual motor control scheme for robot manipulators using visual feedback. The proposed scheme uses an extended Kohonen's Self Organizing Map (EKSOM) to find out the mapping from the task space to the joint space of the manipulator. Given the camera coordinates, the EKSOM has been trained to compute the joint space using visual feedback and system model. This scheme can be used to track the position of a moving object. The position-tracking of moving object is achieved using a prediction rule based on visual feedback from the camera. In the nonredundant case, this scheme is successfully implemented on a three-link manipulator for a known and unknown trajectory. In the redundant case, configuration control is used for the tracking of object position.

关键词： Robot control Manipulators Feedback Cameras Robot vision systems Biological system modeling Robot kinematics Space technology Intelligent robots Neural networks

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Teleoperation with haptic feedback by means of electromagnetic brake and deadband control for rehabilitation

Teleoperation with haptic feedback by means of electromagnet...

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ieee International Conference on computer-aided design

作者： Minh Duc Duong Kazuhiko Terashima Takashi Imamura System and Control Engineering Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan Instrumentation Systems Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan

In this paper, teleoperation of a master-slave robot system with haptic feedback and network traffic reduction for rehabilitation are presented. At first, the stability of the teleoperation system with haptic feedback via time delay communication environment is mathematically shown for multi-joint robot arm system. Experiments show that the system is stable, despite of time delay. In order to reduce packet transfer rate for transmission of data, deadband control approach is used. A new data reconstruction algorithm is proposed to improve system's performance for telerehabilitation while keeping the stability of the system. The validity of the approach is shown in simulations

关键词： Haptic interfaces Feedback Communication system control Rehabilitation robotics Stability Delay effects Master-slave Communication system traffic control Reconstruction algorithms system performance

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Autonomous all-wheel car steering

Autonomous all-wheel car steering

引用

ieee International Conference on computer-aided design

作者： Naim Bajcinca Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany

The autonomous car steering problem is defined as a regulation task of yaw and relative lateral position dynamics along a given path trajectory. Therefore a control structure based on vehicle dynamics inversion is proposed to decouple the two regulation tasks. The inversion structure assumes all-wheel (joint front- and rear-axle) steering actuation. The resulting algorithm exhibits additionally integrated robust yaw stabilization and is validated by simulation of different maneuvers for different vehicle speeds and road conditions with linear and detailed nonlinear vehicle model

关键词： Remotely operated vehicles Road vehicles Displacement measurement Axles Displacement control Motion control Acceleration Character generation Vehicle dynamics Actuators

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Parameterized joint densities with Gaussian mixture marginals and their potential use in nonlinear robust estimation

Parameterized joint densities with Gaussian mixture marginal...

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ieee International Conference on computer-aided design

作者： Felix Sawo Dietrich Brunn Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany

This paper addresses the challenges of the fusion of two random vectors with imprecisely known stochastic dependency. This problem mainly occurs in decentralized estimation, e.g. of a distributed phenomenon, where the stochastic dependencies between the individual states are not stored. To cope with such problems we propose to exploit parameterized joint densities with both Gaussian marginals and Gaussian mixture marginals. Under structural assumptions these parameterized joint densities contain all information about the stochastic dependencies between their marginal densities in terms of a generalized correlation parameter vector ξ̱. The parameterized joint densities are applied to the prediction step and the measurement step under imprecisely known correlation leading to a whole family of possible estimation results. The resulting density functions are characterized by the generalized correlation parameter vector ξ̱. Once this structure and the bounds of these parameters are known, it is possible to find bounding densities containing all possible density functions, i.e., conservative estimation results.

关键词： Robustness Stochastic processes State estimation Sensor phenomena and characterization Stochastic resonance Intelligent sensors Filters Density measurement Density functional theory Distance measurement

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Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria

Robust tracking control of kinematically redundant robot man...

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ieee International Conference on computer-aided design

作者： Erkan Zergeroglu Husnu Turker Sahin Ufuk Ozbay Umit Ali Tektas Department of Computer Engineering Gebze Institute of Technology (GYTE) Gebze Kocaeli Turkey

In this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (like, maintaining manipulability, avoidance of mechanical joint limits and obstacle avoidance). The controller proposed ensures uniformly ultimately bounded end-effector and sub-task tracking despite the parametric uncertainty associated with the dynamic model. The controller design has been based on a Lyapunov type approach. Simulation results performed on a 3 link planar robot arm are presented to demonstrate the capabilities and the performance of the controller

关键词： Robust control Robots Manipulator dynamics Orbital robotics Motion control Linear feedback control systems End effectors Null space Space technology Uncertainty

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Modeling and control of Fluidic Robotic joints with natural compliance

Modeling and Control of Fluidic Robotic Joints with natural ...

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ieee International Conference on computer-aided design

作者： Miroslav Mihajlov Matthias Hubner Oleg Ivlev Axel Graser Institute of Automation FWBI Friedrich-Wilhelm-Bessel-Institute Forschungsgesellschaft University of Brethemen Bremen Germany

This paper reports on basic properties, dynamic modeling, pressure and position control of a newly developed fluidic actuator with rotary elastic chambers (REC-actuator), intended for robots working in human environment. This actuator with natural compliance can be operated by gas or oil. Pressure control of the actuator in pneumatic realization is designed using fast on-off valves, suitable for lightweight robotic joints. A phenomenological model of the actuator is considered, in which spring, damper and torque generating element are connected in parallel. The joint stiffness and damping as functions of pressures in the actuator chambers are identified in free oscillations experiments at constant pressures. The torque-generating element is further identified in a separate series of step responses experiments, using thereby previously obtained stiffness and damping. A sliding mode control law is applied for the position control of the naturally compliant actuator.

关键词： Robot control Damping Position control Pneumatic actuators Fluid dynamics Humans Petroleum Pressure control Valves Springs

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Speed control of quadrupedal bounding using a reaction wheel

Speed control of quadrupedal bounding using a reaction wheel

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ieee International Conference on computer-aided design

作者： Nicholas Cherouvim Evangelos Papadopoulos The Department of Mechanical Engineering National and Technical University of Athens Athens Greece

To date, quadruped speed control has either been achieved with two actuators per leg, or with single actuators and time consuming trial and error experimentation for controller tuning. In this paper, a novel control method is developed that uses only one actuator per leg and yet requires no controller tuning from the user, since the control parameters are computed through analytical expressions derived from the robot dynamics. One further actuator is used to drive a reaction wheel situated on the body. The control method leads to stable bounding gaits with controllable forward speed, and as the control is based on analytical results from the robot dynamics, it is applicable to a range of design parameters, rather than a specific robot. Light, off-the-shelf DC motors are shown to be adequate for successful controller operation. Results are shown of the control applied to a detailed robot model, including leg and toe mass, foot collision, DC motor model, joint friction and a foot-ground friction model allowing foot slipping.

关键词： Velocity control Wheels Actuators Leg Mobile robots Legged locomotion DC motors Foot Friction Error correction

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Using force control for fidelity in low-force medical haptic simulators

Using force control for fidelity in low-force medical haptic...

引用

ieee International Conference on computer-aided design

作者： Kostas Vlachos Evangelos Papadopoulos The Department of Mechanical Engineering National and Technical University of Athens Athens Greece

In this paper the effect of force control in the fidelity of a low-force five degree-of-freedom (dof) haptic mechanism is investigated. Strict conditions that guarantee stability are presented. Our effort focuses on haptic devices, able to reproduce accurate low forces in a soft virtual environment, rather than large forces in stiff virtual environments. Open and closed loop controllers are applied to a haptic mechanism, which is a part of a training medical simulator for urological operations, and consists of a two-dof, five bar linkage and a three-dof spherical joint. The force control algorithm is described and discussed. Open and closed loop schemes are compared. Simulation and experimental results of the force control law applied to the five-dof mechanism are presented and discussed. It is shown that the use of closed loop force control law increases the haptic device fidelity and the realism of the simulation. It is also shown that in case of haptic devices used in soft virtual environments, issues like signal noise and device stiffness are more critical than maintaining system stability

关键词： Force control Haptic interfaces Medical simulation Virtual environment Coupling circuits Circuit stability Endoscopes Stability criteria control systems Open loop systems

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proceedings of the ieee International symposium on computer-aided control system design: Foreword

Proceedings of the IEEE International Symposium on Computer-...

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2004 ieee International symposium on computer aided control system design

作者： Hara, Shinji Ge, Shuzhi Sam Sebek, Michael Fu, Li-Chen Samad, Tariq Engell, Sebastian

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