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

作者： Milad Ahmadzadeh Mohammad Bagher Menhaj Mahnaz Shamshirsaz The Center of Excellence on Control and Robotics Lab Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran New Technologies Research Center Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

The aim of the paper is to design a controller for a quadrotor robot in the presence of external disturbances and uncertainties in the system parameters in such a way that the robot tracks a commanded trajectory accurately. In our approach, the system model is divided into two subsystems, i.e. the under-actuated translational dynamics and the fully-actuated rotational dynamics. At the first step, to control the translational dynamics, we take advantage of a virtual controller, from which the commanded attitude and the thrust input is calculated. In the design of the virtual controller, we exploit an auxiliary system to deal with the under-actuation of the translational dynamics. A prior-bounded estimator is also exploited to counteract the effect of the translational disturbances. After that, a sliding mode controller is developed for the rotational dynamics to tackle the parametric uncertainty and external disturbances in the rotational dynamics. Using Lyapunov function theory, the overall stability of the proposed control scheme is assured. Finally, simulation results are presented to show the effectiveness of the proposed controller.

关键词： Vehicle dynamics Attitude control Uncertainty Estimation Robots Aerodynamics

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A Dual-User Teleoperated Surgery Training Scheme Based on Virtual Fixture

A Dual-User Teleoperated Surgery Training Scheme Based on Vi...

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

作者： A. Iranfar M. Motaharifar H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

The widespread use of minimally invasive surgery (MIS) demands an appropriate framework to train novice surgeons (trainees) to perform MIS. One of the effective ways to establish a cooperative training system is to use virtual fixtures. In this paper, a guiding virtual fixture is proposed to correct the movements of the trainee according to trainer hand motion performing a real MIS surgery. The proposed training framework utilizes the position signals of trainer to modify incorrect movements of the trainee which leads to shaping the trainee's muscle memory. Thus, after enough training sessions the trainee gains sufficient experience to perform the surgical task without any further help from the trainer. The passivity approach is utilized to analyze the stability of system. Simulation results are also presented to demonstrate the effectiveness of the proposed method.

关键词： Training Surgery Haptic interfaces Task analysis Stability analysis Force Trajectory

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Almost Sure Attitude Consensus in Multispacecraft Systems With Stochastic Communication Links

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IFAC-PapersOnLine 2017年第1期50卷 9392-9397页

作者： Rezaee H. Abdollahi F. 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

Leaderless attitude consensus problem over multispacecraft systems is studied. The base of convergence analysis of existing results devoted to attitude consensus control of multispacecraft systems is deterministic knowledge on networks communication links. The main contribution of the present study is to design a control strategy guaranteeing almost sure attitude consensus in a multispacecraft system when communication links stochastically fail over time. Moreover, it is assumed that there exist constraints on the spacecraft input torques. To achieve the mentioned objectives, we propose a magnitude-constrained consensus control law for the spacecraft; then, by invoking the generalized invariance principle and the super-martingales convergence theorem, almost sure convergence of quaternion-based consensus errors to zero is concluded. The results are verified via a simulation example. © 2017

关键词： Attitude consensus coordination generalized invariance principle spacecraft stochastic communication

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Modeling and Robust control of Ballbot Robot with Improved Power Transfer Mechanism

Modeling and Robust Control of Ballbot Robot with Improved P...

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

作者： Shamim kordbacheh Keivan baghestan Saeed shiri gheidary The Center of Excellence in Control and Robotics Amirkabir University of Technology Tehran Iran New Technologies Research Amirkabir University of Technology Tehran Iran Department of Mathematics and Computer Science Amirkabir University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this paper, modeling and dynamic analysis and robust control of a Ballbot Robot are examined. Because these robots are under actuated, their control is more challenging than their counterparts, such as humanoid and Segway robots development of control theories for these robots is less taken into consideration and issues such as robust stability analysis less attention has been. One of the most significant issues in these robots is how to apply force to the ball. The omnidirectional wheels used in Ballbot have only one point of contact with the ball and practically limits the amount of force applied. To resolve this issue, students of Amirkabir University of Technology have designed a new omnidirectional wheel that increases the surface of the contact points of the ball and has caused more force on the ball before sliding and has improved the performance of the robot. For this reason, in this paper, taking into account the parametric uncertainty in dynamics, robust control algorithm is suggested. In addition, in order to show the performance of this controller, a PID controller is utilized to make a comparison. In the following, a robust stability analysis of linearization of the proposed control algorithm is undertaken based on Lyapunov's theory and it is shown the closed loop system is robust with suitable selection of gains. In the end, by presenting the simulation results obtained from the applying of the proposed control algorithm on a Ballbot Robot, the performance of the proposed control algorithm is evaluated.

关键词： Mobile robots Wheels Robot kinematics Mathematical model Kinetic energy Force

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Consensus Problem in General Linear Multiagent Systems Under Stochastic Topologies

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IFAC-PapersOnLine 2016年第13期49卷 13-18页

作者： Rezaee, Hamed Abdollahi, Farzaneh 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 MontrealQuebec Canada

Consensus control of a class of multiagent systems with general linear dynamics is studied. Based on solution of some linear matrix inequalities, a protocol is obtained which guarantees achieving consensus among agents in the presences of stochastically switching topologies. By invoking the concept super-martingales, it is shown that if the probability of the network connectivity is not zero, the agents reach almost sure consensus upon their state vectors. Despite existing results in the literature for consensus control of general linear multiagent systems under stochastic networks, the proposed consensus protocol in this paper requires no knowledge on the set of feasible topologies, and this issue significantly decreases the design computational costs. Simulation results for a diving consensus problem among a team of autonomous underwater vehicles validate the proposed consensus protocol. © 2016

关键词： Multi agent systems Autonomous underwater vehicles Linear matrix inequalities Stochastic systems Topology Almost sure consensus Computational costs Consensus problems Consensus protocols Linear dynamics Network connectivity Of autonomous underwater vehicles Stochastic networks

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An experimental study of modeling and self-tuning regulator design for an electro-hydro servo-system

An experimental study of modeling and self-tuning regulator ...

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International Conference on control, Instrumentation, and Automation

作者： P. Anahita Moradmand Hamid Khaloozadeh Center of Excellence in Control and Robotics Department of Electrical Engineering Amirkabir University of Technology(AUT) Tehran Iran +98 Department of Systems and Control K. N. Toosi University of Technology(KNTU) Tehran Iran

ISBN: (纸本)9781538621356

To design model-based controllers for industrial systems, an accurate mathematical model is necessary. Over time, most of these models are changed and the former controllers should be modified to achieve good performance. Hydro systems, according to their wide application over last forty years, are an interesting field of research. In this paper, based on the system identification and adaptive control theory, a special scheme for modeling and controller design of an old ElectroHydro servo-system is proposed. Industrial process control suffering from noise and saturation as two main problematic factors. Here by conducting an experiment, the identification and control are employed in linear period of the nonlinear system. To specify the order of system, Matlab Ident toolbox, Hankel matrix and Hankel singular values are used. Recursive Least Square (RLS) method is implemented to determine estimated parameters. Designing a practical self-tuning regulator is a significant task too. Due to the inappropriate results of controlled system, a corrected regulator is generated. Finally, acceptable simulations are recorded and demonstrated.

关键词： Mathematical model Adaptation models control systems System identification Adaptive control MATLAB Hydraulic systems

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A proposal for teaching SCADA systems using Virtual Industrial Plants in Engineering Education

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IFAC-PapersOnLine 2016年第6期49卷 138-143页

作者： Rodríguez, F. Guzmán, J.L. Castilla, M. Sánchez-Molina, J.A. Berenguel, M. Informatics Department Automatic Control Robotics and Mechatronics research group University of Almería Agrifood Campus of International Excellence ceiA3 CIESOL R&D Center Spain

The main objectives of SCADA (Supervisory control And Data Acquisition) systems are the supervisory analysis of the system, control algorithms validation, and data acquisition. These systems are normally implemented according to the international standards: UNE-EN ISO 9241, ISAIOI-Human-Machine Interfaces, ISA S5, and in the case treated in this paper The Spanish Royal Decree 488/1997. This paper presents a software architecture for the development of educational laboratories, through industrial virtual plants which models and logic are implemented in Matlab® and used within LabVIEW® through an appropriate protocol. Lab VIEW® from National Instruments, a specific purpose software for this kind of applications, was used, since it allows us to provide a friendly interface, to perform communications, data acquisition and the information management. In addition, to illustrate the use of the proposed architecture, different virtual industrial plants for students of different Bachelor and Master degrees in engineering at the University of Almeria have been developed. This paper shows the different virtual industrial plants that have been developed using SCADA systems to facilitate students’ learning of basic concepts and techniques for an Industrial Informatics course. © 2016

关键词： Industrial plants Application programs Computer programming languages E learning Education computing Information management MATLAB Network architecture SCADA systems Students Teaching Virtual reality Educational laboratory Human Machine Interface International standards Problem based learning Remote laboratories Supervisory control Supervisory control and data acquisition Virtual

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Design of a nonlinear adaptive natural oscillator: Towards natural dynamics exploitation in cyclic tasks

Design of a nonlinear adaptive natural oscillator: Towards n...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Rezvan Nasiri Mahdi Khoramshahi Majid Nili Ahmadabadi Cognitive Robotics Laboratory Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Iran

ISBN: (纸本)9781509037636

In this paper, we present the dynamical equations of a nonlinear adaptive natural oscillator (NANO) in order to exploit the natural dynamics in robotic systems. The presented oscillator tries to minimize an energy-based cost function by adapting the shape and frequency of the reference trajectory. Stability, convergence, and optimality of this oscillator are guaranteed analytically. Moreover, the performance of this oscillator is investigated by applying it to three different types of robotic models;i.e., the pendulum, the adaptive-toy, and the hopper-leg.

关键词： Trajectory Learning Energy Efficiency Cyclic Tasks Natural Dynamics

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Consensus of autonomous underactuated surface vessels

Consensus of autonomous underactuated surface vessels

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American control Conference

作者： Morteza Mirzaei Farzaneh Abdollahi Nader Meskin Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology (Tehran Polytechnic) Iran Department of Electrical Engineering Amirkabir University of Technology Tehran 15914 Iran Department of Electrical Engineering Qatar university Doha Qatar

ISBN: (纸本)9781467386838

This paper is concerned with the distributed consensus problem of multiple underactuated surface vessels, where the number of the vehicles actuators is fewer than the vehicles degrees of freedom. To cope with the coupling of unactuated and actuated states, a state transformation is proposed to change the format of the system to a cascade nonlinear system, and an appropriate switching controller is designed based on the stability properties of cascade systems to make the vehicles to reach a consensus. To illustrate the performance of the proposed approach, simulation results are provided.

关键词： onlinear cascade system Consensus Autonomous Surface Vessel Underactuated Switching control Surface vessels State Change vehicle cascade systems Nonlinear systems

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Design and modeling of a compact rotational nonlinear spring

Design and modeling of a compact rotational nonlinear spring

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hamed Jalaly Bidgoly Majid Nili Ahmadabadi Mohammad Reza Zakerzadeh Cognitive Robotics Laboratory The Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Iran Dynamic and Vibration Laboratory School of Mechanical Engineering College of Engineering University of Tehran Iran

ISBN: (纸本)9781509037636

In this paper, we propose a new method for implementing a rotational nonlinear spring with user defined profile, based on the combination of a linear spring with a nonlinear transmission mechanism. The proposed structure consists of a non-circular cam, a roller which moves along outer circumference of the cam, and a stretched translational linear spring which is connected between center of the cam and center of the roller. We obtain a set of differential equations to design shape of the cam for any given torque-angle profile. Also, it will be shown that profiles with both positive and negative values can be implemented by the proposed method. At last, the cam of some popular nonlinear springs are designed, including constant, cubic, hyperbolic tangent and sinusoidal springs.

关键词： Computer aided manufacturing Camelopardalis Hookean spring springs Device Spring TRANSFER MECHANISM Modeling nonlinearity Rotational SCROLL Differential equations Spring season

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