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IEEE International Conference on robotics and Biomimetics

作者： Feng Ding Jian Huang Yongji Wang Xueshan Gao Takayuki Matsuno Toshio Fukuda Kosuke Sekiyama Department of Control Science & Engineering Huazhong University of Science and Technology Wuan Hubei China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Intelligent System Design Engineering Toyama Prefectural University Imizu Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan

ISBN: (纸本)9781424447749;9781424447756

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagrange's motion equation. A sliding mode control (SMC) method is proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm (GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed by numerical simulation.

关键词： Optimal control Sliding mode control Vehicle dynamics Mechanical systems Mobile robots Intelligent robots Intelligent vehicles Lagrangian functions Equations Genetic algorithms

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and dynamics

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JOURNAL OF GUIDANCE control AND dynamics 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Robust Stabilization of Car Steering dynamics

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IFAC Proceedings Volumes 1999年第2期32卷 3283-3288页

作者： Long Wang J. Ackermann Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing 100871 Fax: +86-10-51881688 China Institute of Robotics and System Dynamics German Aerospace Research Center DLR-Oberpfaffenhofen D-82230 Wessling Germany

In this paper, by exploiting the intrinsic structure of system equations and uncertainties, we first establish a nonconservative PID stabilization criterion for driver support systems. We then show some interesting results on positivity and connections of PID controllers. Finally, some extreme point results on PID α-stabilization are obtained. These results give certain explanations and justifications for the simulation results performed at German Aerospace Research Center.

关键词： Robust control Car Steering dynamics Parameter Space PID controllers Stabilization Extreme Point Results

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CACSD-Frame for Robust Low-Complexity control Law design

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IFAC Proceedings Volumes 1997年第4期30卷 1-14页

作者： Georg Grübel DLR Institute of Robotics and System Dynamics Control Design Engineering Group Oberpfaffenhofen D-82234 Wessling Germany

Robust low-complexity control laws design is the ultimate goal which Computer-Aided control system design (CACSD) aims for. We recognize seven classes of services CACSD tools and environments have to support w.r.t. this view: physical system modelling with modelling uncertainty descriptions; mathematical system modelling with suited uncertainty models; system model analysis in state space, time- and frequency domain; control law synthesis; multiobjective (multicriteria and multimodel) synthesis-parameter tuning; nonlinear assessment via simulation; control code generation. We deal with state of the art aspects of such services and their integration within an interactively controlled automatic design feedback loop. This is illustrated by experience gained during the two-years GARTEUR a design challenge project on Robust Aircraft Flight control, where 12 teams from 6 European countries demonstrated 11 different CACSD synthesis methods to design a landing-approach autopilot controller based on a Beluga-type aircraft model from Airbus Industries.

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The ANDECS Framework for Computational system dynamics Integration

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IFAC Proceedings Volumes 1995年第23期28卷 89-94页

作者： G. Grübel J. Bals R. Finsterwalder H.-D. Joos M. Otter DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

Integrated systems engineering is essential in design-concept validation. In particular, computer-aided procedures for system dynamics integration beyond mere functional integration are necessary in order to neither underestimate nor to overestimate design-safety margins. At hand of the open system-dynamics integration environment ANDECS (ANalysis & design of controlled systems), we deal with concepts and realized features of a framework for computational experimenting in system-dynamics design and evaluation. This paper is the lead paper to four companion papers which together form a case study on applied multidisciplinary dynamics design experimenting.

关键词： Computer-Aided Compromising system dynamics engineering Software Framework

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ANDECS-Multicriteria Optimization of a Fuzzy-Logic controller for an Aerodynamically Unstable Aircraft in Comparison to a Linear Robust control design

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IFAC Proceedings Volumes 1995年第23期28卷 107-112页

作者： H.-D. Joos DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

The performance benefits of an aerodynamically unstable aircraft are obtained at the expense of the necessity of an automatic control system. For reliability requirements controllers without gain scheduling are looked for. To achieve this a complex ”robust control” design problem has to be solved. Fuzzy-controllers are claimed to have robustness properties. On the other hand the fuzzy-control methodology can be seen as a systematic way to specify controllers with nonlinear gain surfaces. To properly tune such controllers, computer-aided techniques can be applied provided appropriate models are available such as in more classical design approaches. A fuzzy-controller is developed, which keeps an aerodynamically unstable aircraft stationary for a sufficient long range of time and providing good flying qualities over the entire flight envelope. The results are compared with a completely linear controller design, done earlier.

关键词： Fuzzy-Logic controller Optimization Multi-Objective design

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ANDECS Robot-Trajectory Optimization for State-Constrained Time-Optimal control and Minimum Power Consumption

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IFAC Proceedings Volumes 1995年第23期28卷 101-106页

作者： A. Lewald M. Otter G. Grübel DLR-Oberpfaflenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

The robot trajectory optimization features of the ANDECS environment are described. Robot trajectory optimization problems are formulated as multi-objectives parameter optimization problems in search for a good compromise among conflicting criteria, such as “minimal” time and “minimal” power consumption. For that the robot dynamics is analyzed by time-simulation of a robot model with variable structure, which is generated by the object-oriented modeling language Dymola.

关键词： Computer simulation Industrial Robots Nonlinear Programming Optimization Robots Trajectory planning

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ANDECS Computational Experimenting with the IAVSD Car-Suspension Benchmark ILTIS

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IFAC Proceedings Volumes 1995年第23期28卷 95-99页

作者： W. Schwartz H.-D. Joos DLR-Oberpfaffenhofen Vehicle Systems Dynamics Institute for Robotics & System Dynamics D-82230 Wessling Germany DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

Nonlinear vehicle system dynamics plays an important role in the development and the assessment of active suspension control systems. The current way of designing active suspension control systems mostly uses simplified models, in order to to apply analytical synthesis methods or to achieve low complexity of the controller when using such methods. However, advanced vehicle design require methodologies, that can deal with more complex vehicle models, as a step towards integrated design. Multi-objective control design is such a methodology, that is open to cope with any controller structure and arbitrary kind of models. In this case study the usefulness of this methodology is investigated by designing an actively controlled vehicle suspension with and without preview for the IAVSD benchmark model ILTIS. The full nonlinear model is used for design. The ’nonlinear’ results are compared to the results of a ’linear’ design, based on linearized vehicle models.

关键词： Computer-Aided Multi-Objective design Vehicle system dynamics Automotive Car-Suspensions

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An ANDECS-MATLAB Multicriteria design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ control Structure

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IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective design Magnetic Suspension Transportation

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A-Student's View: On the Usefulness of a Professional Software Environment for Computer-Aided control Education

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IFAC Proceedings Volumes 1994年第9期27卷 265-268页

作者： G. Grübel DLR Oberpfaffenhofen Control-Design Engineering Group Institute for Robotics and System Dynamics D-82234 Wessling Germany

For computer-aided control engineering education a scalable software technology is proposed, which is both useful for professional work in control engineering theory and practice and for novice training. The idea is to provide a common environment for computational experimenting in all stages of control engineering. This proposal is based on ANDECS (ANalysis & design of controlled systems), a modular interactive control- and system dynamics analysis and design system developed at the German Aerospace Research Establishment DLR.

关键词： control Education Computer-Aided control engineering (CACE, CACSD)

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