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Sampled-data Periodic Predictor Feedback for Linear Systems with Input Delay

Sampled-data Periodic Predictor Feedback for Linear Systems ...

引用

第三十二届中国控制会议

作者： Bin Zhou Qian Sang Zongli Lin Center for Control Theory and Guidance Technology Harbin Institute of Technology Charles LBrown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743USA

ISBN: (纸本)9781479900305

In this paper we propose sampled-data periodic predictor feedback controllers for linear systems with input *** any size of input delay and any prescribed sampling period,an explicit sampled-data periodic predictor feedback controller is constructed and shown to be able to stabilize the given delay *** a controller utilizes only the state information at the latest sampling instant and the control inputs at some past sampling *** the condition that the open-loop system is not exponentially unstable(but maybe polynomially unstable),a truncated version of the sampled-data periodic predictor feedback controller is also proposed,which is a memoryless controller that needs only the state at the latest sampling *** of the closed-loop system under the truncated sampled-data periodic predictor feedback controller is *** numerical examples are given to illustrate the effectiveness of the proposed designs.

关键词： Input delay systems sampled-date control periodic controller predictor feedback truncated predictor feedback

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Target-Tracking control Design for a Robotic Fish with Caudal Fin

Target-Tracking Control Design for a Robotic Fish with Cauda...

引用

第三十二届中国控制会议

作者： Songlin Chen Jianxun Wang Xiaobo Tan Control and Simulation Center Harbin Institute of Technology Smart Microsystems Laboratory Department of Electrical and Computer EngineeringMichigan State UniversityEast LansingMI 48824USA

ISBN: (纸本)9781479900305

In this paper we propose a novel target-tracking control scheme for a carangiform robotic fish based on a faithful dynamic model that combines rigid-body dynamics with Lighthill's large-amplitnde elongated-body *** first average the dynamic model under periodic tail-actuation,which results in an average model with tail-beat patterns(bias,frequency,and amplitude) as new control inputs that axe nonlinearly *** introducing two new state variables,the orientation angle error and the distance between the robotic fish body and the target location,we derived the dynamic equations for these variables, which are then used in backstepping-based controller design.A hybrid controller is proposed,where the switching is determined by whether the orientation error is above a threshold *** Lyapunov analysis,we show that the trajectory of the robotic fish will converge to the target point if the given condition is ***,the effectiveness of the proposed control strategy is demonstrated through simulation results.

关键词： Robotic fish Target-Tracking Backstepping Nonlinear Underactuated

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Nonlinear Compressive Particle Filtering

Nonlinear Compressive Particle Filtering

引用

IEEE Annual Conference on Decision and control

作者： Henrik Ohlsson Michel Verhaegen S. Shankar Sastry Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Delft Center for Systems and Control Delft University Delft 2628CD The Netherlands

ISBN: (纸本)9781467357159

Many systems for which compressive sensing is used today are dynamical. The common approach is to neglect the dynamics and see the problem as a sequence of independent problems. This approach has two disadvantages. Firstly, the temporal dependency in the state could be used to improve the accuracy of the state estimates. Secondly, having an estimate for the state and its support could be used to reduce the computational load of the subsequent step. In the linear Gaussian setting, compressive sensing was recently combined with the Kalman filter to mitigate above disadvantages. In the nonlinear dynamical case, compressive sensing can not be used and, if the state dimension is high, the particle filter would perform poorly. In this paper we combine one of the most novel developments in compressive sensing, nonlinear compressive sensing, with the particle filter. We show that the marriage of the two is essential and that neither the particle filter or nonlinear compressive sensing alone gives a satisfying solution.

关键词： Particle filters Compressed sensing nonlinearity Marriage

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Assessing control Performance in Closed-loop Anesthesia

Assessing Control Performance in Closed-loop Anesthesia

引用

Mediterranean Conference on control & Automation

作者： Kristian Soltesz Guy A. Dumont J. Mark Ansermino LCCC Linnaeus Center and the eLLIIT Excellence Center at the Department of Automatic Control Lund University Department of Electrical and Computer Engineering University of British Columbia Department of Anesthesiology Pharmacology and Therapeutics University of British Columbia

ISBN: (纸本)9781479909964

Recently, several control systems for closed-loop anesthesia have been demonstrated both in simulation and clinical studies. A set of performance measures, proposed by Varvel et al., have constituted the standard means of comparing such systems. This paper debates the adequacy of the Varvel measures, as applied to closed-loop anesthesia, and proposes an alternative set of measures. Key features of the proposed measures are: wide acceptance within the control community;reflection of clinical feasibility;separate measures for induction and maintenance of anesthesia;separation of outlier detection and performance evaluation. The proposed measures are descriptive, few, and easy to compute.

关键词： Medical control system Performance evalua- tion Drug delivery

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A new method for mobile robot navigation in dynamic environment: Escaping algorithm

A new method for mobile robot navigation in dynamic environm...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： F. Adib Yaghmaie A. Mobarhani H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of ExceUence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Iran

This paper addresses a new method for navigation in dynamic environment. The proposed method is based on force field method and it is supposed that the robot performs SLAM and autonomous navigation in dynamic environment without any predefined information about dynamic obstacles. The movement of dynamic obstacles is predicted by Kalman filter and is used for collision detection purpose. In the time of collision detection, a modifying force is added to repulsive and attractive forces corresponding to the static environment and leads robot to avoid collision. Moreover, a safe turning angle is defined to assure safe navigation of the robot. The performance of proposed method, named Escaping Algorithm, is verified through different simulation and experimental tests. The results show the proper performance of Escaping Algorithm in term of dynamic obstacle avoidance as a practical method for autonomous navigation.

关键词： Navigation Noise Robots

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Decentralised Minimum-Time Average Consensus in Digraphs

Decentralised Minimum-Time Average Consensus in Digraphs

引用

IEEE Annual Conference on Decision and control

作者： Themistoklis Charalambous Ye Yuan Tao Yang Wei Pan Christoforos N. Hadjicostis Michael Johansson ACCESS Linnaeus Center School of Electrical Engineering KTH-Royal Institute of Technology SE-100 44 Stockholm Sweden Control Group Department of Engineering University of Cambridge Cambridge UK Department of Bioengineering Imperial College London London UK Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781467357159

Distributed algorithms for average consensus in directed graphs are typically asymptotic in the literature. In this work, we propose a protocol to distributively reach average consensus in a finite number of steps on interconnection topologies that form strongly connected directed graphs (digraphs). The average consensus value can be computed, based exclusively on local observations at each component, by running a protocol that requires each component to observe and store its own value over a finite and minimal number of steps, and to have knowledge of the number of its out-going links (i.e., the number of components to which it sends information). The proposed algorithm is demonstrated via illustrative examples.

关键词： directed graphs distributed algorithms Finite

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Visual tracking in four degrees of freedom using kernel projected measurement

Visual tracking in four degrees of freedom using kernel proj...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Fateme Bakhshande Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

Visual Servoing is generally comprised of feature tracking and control. According to the literature, no attempt has already been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize the entire control loop. By kernel definition, a Lyapanov candidate function is formed and the control input is computed so that the Lyapanov stability can be verified. This is performed in four degrees of freedom. In the present study, previous kernel algorithm from the recorded literature has been implemented. We have used the KBVS for our purpose such that an object without any marker is tracked. This method is chosen because of its robustness, speed and featureless properties. Furthermore, in order to show the visual tracking performance, all four degrees of freedom have been synthesized. Experimental results verifies the effectiveness of this method implemented for four degrees of freedom movements.

关键词： Kernel Visualization Asymptotic stability

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Unsupervised 3D object classification from range image data by algorithmic information theory

Unsupervised 3D object classification from range image data ...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

The problem of unsupervised classification of 3D objects from depth information is investigated in this paper. The range images are represented efficiently as sensor observations. Considering the high-dimensionality of 3D object classification, little attention has been paid to the curse of dimensionality in the existing state-of-the-art algorithms. In order to remedy this problem, a low-dimensional representation is defined here. The sparse model of every range image is constructed from a parametric dictionary. Employing the algorithmic information theory, a universal normalized metric is used for comparison of Kolmogorov complexity based representations of sparse models. Finally, most similar objects are grouped together. Experimental results show efficiency and accuracy of the proposed method in comparison to a recently proposed method.

关键词： Dictionaries Accuracy

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Position based sliding mode control for visual servoing system

Position based sliding mode control for visual servoing syst...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： M. Parsapour S. RayatDoost H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

This paper presents a nonlinear controller for visual servoing system. Pose estimation is one of the fundamental issues in position-based visual servoing (PBVS) approach. A few researches have focused on controller synthesis under modeling uncertainty and measurement noise of estimated position. In this research, PD-type sliding surface is designed for tracking target. The control signal is obtained from the sliding surface and the stability of the algorithm is verified by Lyapunov theory. Moreover, a recent designed robust estimator based on unscented Kalman observer (UKO) cascading with Kalman filter (KF) is used to estimate the pose, velocity and acceleration of the target. The combination of the implemented estimator and the proposed controller provide a stable and robust structure in PBVS. The reported experimental results, verify the effectiveness of the proposed method in an industrial visual servoing system.

关键词： Estimation Measurement uncertainty Robustness Visualization Service robots Positron emission tomography

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Robust PID control of cable-driven robots with elastic cables

Robust PID control of cable-driven robots with elastic cable...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

In this paper robust PID control of fully-constrained cable-driven robots with elastic cables is studied in detail. To develop the idea, a robust PID control for cable-driven robots with ideal rigid cables is firstly designed and then, this controller is extended for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable-driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable-driven robot.

关键词： Robustness Robots Linear matrix inequalities

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