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${\cal H}_{\infty}$ Based Motion Synchronization in Formation Flight With Delayed Communications

IEEE Transactions on Industrial Electronics 2014年第11期61卷 6175-6182页

作者： Hamed Rezaee Farzaneh Abdollahi Heidar A. Talebi Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Center of Excellence on Control and Robotics Department of Electrical Engineering Concordia University Montreal Canada Center of Excellence on Control and Robotics Department of Electrical Engineering University of Western Ontario London Canada

This paper proposes an H ∞ control strategy for swarm formation of multiple-unmanned aircraft systems based on the virtual structure considering wind effects and measurement noise. The proposed strategy provides a rigid body formation of unmanned aircraft with motion synchronization in a decentralized manner. Unlike the current strategies in the literature, which consider motion synchronization in specific topologies, this approach proposes a general topology for coupling agents and guarantees the stability of the multiagent system in the presence of communication delays. Simulation results for a multiple-unmanned aircraft system confirm the accuracy of the proposed control strategy for formation flight.

关键词： Synchronization Vectors Aircraft Couplings Eigenvalues and eigenfunctions Tracking Noise

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Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

Multi-Criteria Design of 6-DoF Fully-Constrained Cable Drive...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.

关键词： Cable Robot Redundant Parallel Manipulator Kinematics Analysis Optimal Design

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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A stable nonlinear in parameter neural network controller for a class of saturated nonlinear systems 19

A stable nonlinear in parameter neural network controller fo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Esfandiari, K. Abdollahi, F. Talebi, H.A. Center of Excellence on Control and Robotics Department of Electrical Engineering AmirKabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University MontrealQC Canada

ISBN: (纸本)9783902823625

This paper deals with the tracking problem for a class of uncertain nonlinear systems subjected to actuator saturation constraint. Despite most of proposed control schemes for saturated systems which employed linear in parameter neural networks (LPNNs), in the present work nonlinear in parameter neural network (NLPNN) is introduced to support global approximation property. To compensate the effect of the input saturation constraint an auxiliary system is introduced and the error dynamics are modified based on the auxiliary states. Then, learning rules are achieved based on the back propagation (BP) algorithm and by adding two robustifying terms to the standard BP learning rules the stability of the overall system is ensured via Lyapunov direct method. Finally simulations performed on a "generalized pendulum" nonlinear system to illustrate the effectiveness of the proposed tracking control scheme. © IFAC.

关键词： Adaptive control systems

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Pursuit formation control scheme for double-integrator multi-agent systems 19

Pursuit formation control scheme for double-integrator multi...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Rezaee, Hamed Abdollahi, Farzaneh Center of Excellence on Control and Robotics Department of Electrical Engineering AmirKabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University MontrealQC Canada

ISBN: (纸本)9783902823625

Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderless architecture, each agent pursues another one in a cyclic topology to achieve a regular polygon formation around a centroid, namely, pursuit centroid, and in the second layer, the agents agree on a pursuit centroid around which they pursue each other. Despite existing cyclic pursuit approaches in the literature which are based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Numerical simulations for a team of six agents confirm the accuracy of the proposed control scheme. © IFAC.

关键词： Multi agent systems

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Pursuit Formation control Scheme for Double-Integrator Multi-Agent Systems

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IFAC Proceedings Volumes 2014年第3期47卷 10054-10059页

作者： Hamed Rezaee Farzaneh Abdollahi The Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University Montreal Quebec Canada

关键词： Formation control mobile agents double-integrators cyclic pursuit

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A Stable Nonlinear in Parameter Neural Network controller for a Class of Saturated Nonlinear Systems

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IFAC Proceedings Volumes 2014年第3期47卷 2533-2538页

作者： K. Esfandiari F. Abdollahi H.A. Talebi The Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University Montreal QC Canada

This paper deals with the tracking problem for a class of uncertain nonlinear systems subjected to actuator saturation constraint. Despite most of proposed control schemes for saturated systems which employed linear in parameter neural networks (LPNNs), in the present work nonlinear in parameter neural network (NLPNN) is introduced to support global approximation property. To compensate the effect of the input saturation constraint an auxiliary system is introduced and the error dynamics are modified based on the auxiliary states. Then, learning rules are achieved based on the back propagation (BP) algorithm and by adding two robustifying terms to the standard BP learning rules the stability of the overall system is ensured via Lyapunov direct method. Finally simulations performed on a “generalized pendulum” nonlinear system to illustrate the effectiveness of the proposed tracking control scheme.

关键词： Adaptive tracking control Back propagation algorithm Input saturation Neural networks Nonlinear systems

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Static modeling of continuum robots by circular elements

Static modeling of continuum robots by circular elements

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Iranian Conference on Electrical Engineering (ICEE)

作者： Mohammad Dehghani S. Ali A. Moosavian Center of Excellence in Robotics and Control Tehran Iran

This paper presents a new modeling approach for continuum robotic arms. A lot of efforts have been done on modeling statics and dynamics of continuum robots, and two main methods have been developed. One is suitable for static modeling, in in-plane loadings, where the sections of a robot experiences constant moments along their length. The other method is the Theory of Cosserat rod, which gives a set of differential equations for statics and dynamics of slender flexible rods. While this method provide suitable models for statics of continuum robots, its dynamic models are not practical, in the sense of numerical calculations. The modeling approach proposed in this paper is based on dividing the robot into many circular elements. Using this approach, modeling of the statics of continuum robots will be presented. Then, the proposed model will be validated using experimental data, to show the precision of the model. Finally, the merit and potentials of this method will be discussed, in conclusion.

关键词： Robots Mathematical model Equations Numerical models Kinematics Load modeling Force

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A new approach for orientation determination

A new approach for orientation determination

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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Dehghani, Mohammad Moosavian, S. Ali A. Center of Excellence in Robotics and Control Dept. of Mechanical Eng. K. N. Toosi Univ. of Tech. Tehran Iran

ISBN: (纸本)9781467358118

In some modeling and control problems, especially in robotics, determination of orientation of a rotating body or frame requires slow and time taking numerical calculations. In some cases, such as for continuum robots, these time-taking calculations are an impediment to real-time control. The common approaches for orientation determination, such as Euler angles or Euler parameters, are beneficial when generalized coordinates are needed. Otherwise, these approaches require some time-taking equations for calculation of the rotation matrix (direction cosine matrix). Another method is to calculate the rotation matrix directly, based on the angular velocity. Although this method is very fast, it is numerically unstable, because of accumulation of some numerical errors. In this paper, an approach is introduced that cancels these errors with the least numerical efforts, and provides high accuracies. The application and importance of this approach is studied and discussed in the case of modeling and control of continuum robotic arms, as an instance. The proposed methods are used to model a spring, as a case study. The obtained results are validated by analytic data, and are compared to the results obtained by other methods. © 2013 IEEE.

关键词： Real time control

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