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Dynamic high gain scaling: an application to robust adaptive output feedback for feedforward systems

Dynamic high gain scaling: an application to robust adaptive...

引用

Asian Control Conference

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

We propose an adaptive output feedback control design for global asymptotic stabilization of feedforward systems based on our recent results on dynamic high gain scaling based controller design for strict-feedback systems. The system is allowed to contain uncertain functions of all the states and the input as long as they satisfy certain bounds. Unknown parameters are allowed in the bounds assumed on uncertain functions. If the uncertain functions involve the input, then the output-dependent functions in the bounds need to be polynomially bounded. It is also shown that if the uncertain functions can be bounded by a function independent of the input, then the polynomial boundedness requirement can be relaxed. The designed controllers have a simple structure being essentially a linear feedback with state-dependent dynamic gains and do not involve any saturations or recursive computations. The observer utilized to estimate unmeasured states is similar to a Luenberger observer with dynamic observer gains. The Lyapunov functions are quadratic in state estimates, observer errors, and parameter estimation error. The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations. The controller provides strong robustness properties both with respect to uncertain parameters and additive disturbances. This robustness is the key to the output feedback controller design.

关键词： Robustness Output feedback Feedforward systems Observers Polynomials State estimation Robust control Programmable control Adaptive control Control design

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Effects of quantization, saturation, and sampling time in multi output systems

Effects of quantization, saturation, and sampling time in mu...

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IEEE Conference on Decision and Control

作者： R. Sandoval-Rodriguez C.T. Abdallah R.H. Byrne Electrical & Computer Engineering Department Faculty of Electrical Engineering and Computing Albuquerque NM USA Sandia National Laboratories Intelligent Systems and Robotics Center Albuquerque NM USA

ISBN: (纸本)0780386825

We analyze the effects of sampling and quantization in the states of the plant, and the saturation of the control signal, on the behaviors of closed-loop systems. We present graphical and analytical tools to determine the minimum number of bits in the A/D converters, and the maximum sampling time to ensure stability of closed-loop LTI single input multiple output systems.

关键词： Quantization Sampling methods Control systems Communication system control Signal resolution State feedback Intelligent robots Signal analysis Communication networks Chaos

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A novel shape descriptor based on interrelation quadruplet 1

引用

International Conference on Image Analysis and Recognition, ICIAR 2004

作者： Han, Dongil You, Bum-Jae Oh, Sang-Rok Department of Computer Engineering Sejong University 98 Gunja-Dong Gwangjin-GuSeoul143-747 Korea Republic of Intelligent Robotics Research Center Korea Institute of Science and Technology 39-1 Haweolkok-Dong Seongbuk-GuSeoul136-791 Korea Republic of

ISBN: (数字)9783540301257

ISBN: (纸本)3540232230

In this paper, we propose a new shape descriptor, which represents the 2-D shape information by using the concept of interrelation quadruplet. For this purpose, the polygonal approximation of 2-D shape is applied first. The line segments can be extracted from the polygonal shapes and the definition of interrelation quadruplet between ling segments is introduced. The properties of interrelation quadruplet that is invariant to translation, rotation and scaling of a pair of line segments is described. Several useful properties of the interrelation quadruplet are also derived in relation to efficient partial shape recognition. The shape recognition using the interrelation quadruplet requires only small space of storage and is shown to be computationally simple and efficient. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Artificial intelligence

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Modular hybrid Petri nets for studying multi-operational production systems where parts follow multiple alternative processes

Modular hybrid Petri nets for studying multi-operational pro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Tsinarakis K.P. Valavanis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece Department of Computer Science and Engineering University of South Florida Center for Robot-Assisted Search and Rescue Tampa FL USA

This work presents a modular hybrid timed Petri net (MHTPN) methodology used to study multi-operational production systems in which parts are used for the production of different product types. This research generalizes work presented in Tsinarakis, GJ et al., (2003) that studied production systems where all parts of the same type were used for the production of a type of final products following a common route. 3 fundamental system modules are derived; their MHTPN models are defined, followed by modules synthesis to obtain the overall system Petri net. For any topology, system's nodes and invariants are calculated. Applicability of the method is illustrated through an analytical example.

关键词： Petri nets Production systems Topology Fluid dynamics Assembly Intelligent robots Hybrid intelligent systems Laboratories Production engineering engineering management

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Dynamic leadership protocol for S-nets

Dynamic leadership protocol for S-nets

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Barlow T.C. Henderson A.L. Nelson E. Grant Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA School of Computing University of Utah Salt Lake UT USA

Smart Sensor Networks (S-nets) are groups of stationary agents (S-elements) which provide distributed sensing, computation, and communication in an environment. In order to integrate information from individual agents and to efficiently transmit this information to other agents, these devices must be able to create local groups (S-clusters). A leadership protocol that creates static clusters has been previously proposed. Here, we further develop this protocol to allow for dynamic cluster updating. This accommodates on-the-fly network re-organization in response to environmental disturbances or the gain or loss of S-elements. We outline an informal argument for the correctness of this revised protocol. We describe our embedded system implementation of the leadership protocol in simulation and using a colony of robots. Finally, we present results demonstrating both implementations.

关键词： Protocols Intelligent sensors Mobile robots Distributed computing Robot sensing systems Mobile communication Clustering algorithms robotics and automation Intelligent robots Embedded system

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Autonomous controller design for unmanned aerial vehicles using multi-objective genetic programming

Autonomous controller design for unmanned aerial vehicles us...

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Congress on Evolutionary Computation

作者： C.K. Oh G.J. Barlow US Naval Research Laboratory Washington D.C. DC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Autonomous navigation controllers were developed for fixed wing unmanned aerial vehicle (UAV) applications using multiobjective genetic programming (GP). We designed four fitness functions derived from flight simulations and used multiobjective GP to evolve controllers able to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle closely around the emitter. Controllers were evolved for three different kinds of radars: stationary, continuously emitting radars, stationary, intermittently emitting radars, and mobile, continuously emitting radars. We selected realistic flight parameters and sensor inputs to aid in the transference of evolved controllers to physical UAVs.

关键词： Unmanned aerial vehicles Genetic programming Erbium Robot kinematics Robot control Automatic control Radar Intelligent robots Mobile robots Navigation

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Evaluation of protein crystallization states based on texture information

Evaluation of protein crystallization states based on textur...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Saitoh K. Kawabata S. Kunimitsu H. Asama T. Mishima Department of Information & Computer Science Saitama University Sakura Saitama Japan Distributed Adaptive Robotics Research Unit RIKEN Saitama Japan Distributed Adaptive Robotics Research Unit RIKEN Wako Saitama Japan Research into Artifacts Center for Engineering University of Tokyo Meguro Tokyo Japan

In recent years, several projects have advanced the research and development related to the automation of the protein crystallization process. However, the evaluation of crystallization states has not been completely automated yet. In the usual crystallization process, the researchers evaluate the crystallization growth states of the protein solution samples based on one's visual impressions and assign them a score over and over again. Then it is required to make the work more efficient. The method presented here automates such evaluations. This method attempts to categorize the individual crystallization droplet images into five classes from A to E, based on their crystallization states. The algorithm is comprised of pre-processing, feature extraction from images using texture analysis and a categorization process utilizing linear discriminant analysis. The performance of this method has been tested on our experiments using actual protein solution images.

关键词： Crystallization Research and development Automation Protein engineering Feature extraction Image analysis Image texture analysis Algorithm design and analysis Linear discriminant analysis Testing

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Appearance-based minimalistic metric SLAM

Appearance-based minimalistic metric SLAM

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： P.E. Rybski S.T. Roumeliotis M. Gini N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

This paper addresses the problem of simultaneous localization and mapping (SLAM) for the case of very small, resource-limited robots which have poor odometry and can typically only carry a single monocular camera. We propose a modification to the standard SLAM algorithm in which the assumption that the robots can obtain metric distance/bearing information to landmarks is relaxed. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. In our formulation of this non-linear estimation problem, we infer implicit position measurements from an image recognition algorithm. The iterated form of the extended Kalman filter (IEKF) is employed to process all measurements.

关键词： Simultaneous localization and mapping Robot kinematics Robot sensing systems Robot vision systems Mobile robots Cameras Position measurement Motion estimation Machine vision computer science

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A method for transporting a team of miniature robots

A method for transporting a team of miniature robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： E. Kadioglu N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

The Scouts, developed at the University of Minnesota, are miniature robots designed mainly for reconnaissance and surveillance tasks. The Scout's small size and multiple mobility and sensing modes allow it to efficiently navigate and carry out certain missions in indoor environments and on relatively smooth surfaces. However, like many other small-sized robots, its miniature size and limited battery life become a bottleneck when it comes to cover long distances, particularly on rough, outdoor surfaces. In order to address this issue, we present a method to carry the Scouts to and from their main mission locations by adding a larger robot, a Pioneer 2-AT, to the team. The Pioneer carries a team of Scouts in a color marked box that it holds with its grippers. The Scouts jump out of the box, carry out their mission, and autonomously find the box and jump back in.

关键词： Robot kinematics Robot sensing systems Rough surfaces Surface roughness Surveillance Grippers Mobile robots Silver computer science Design engineering

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Heterogeneous implementation of an adaptive robotic sensing team

Heterogeneous implementation of an adaptive robotic sensing ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Kratochvil I.T. Burt A. Drenner D. Goerke B. Jackson C. McMillen C. Olson N. Papanikolopoulos A. Pfeifer S.A. Stoeter K. Stubbs D. Waletzko Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA

When designing a mobile robotic team, an engineer is faced with many design choices. This paper discusses the design of a team consisting of two different models of robots with significantly different sensing and control capabilities intended to accomplish a similar task. Two new robotic platforms, the COTS Scout and the MegaScout are described along with their respective design considerations.

关键词： Robot sensing systems Mobile robots Humans computer science Design engineering Materials science and technology Contracts Distributed computing Mechanical engineering Costs

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