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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Electronic Engineering Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots control systems Motion control Wheels Motion planning Navigation Discrete event systems Robot control Indoor environments Collision avoidance

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Pole assignment for stochastic systems with unknown coefficients

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science China(Technological sciences) 2000年第3期43卷 313-323页

作者：陈翰馥曹希仁 Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing 100080 China Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hong Kong

This paper solves the exact pole assignment problem for the single-input stochastic systems with unknown coefficients under the controllability assumption which is necessary and sufficient for the arbitrary pole assignment for systems with known coefficients. The system noise is required to be mutually independent with zero mean and bounded second moment. Two approaches to solving the problem are proposed: One is the iterative learning approach which can be applied when the state at a fixed time can be repeatedly observed with different feedback gains; the other is the adaptive control approach which works when the trajectories satisfy a nondegeneracy condition. Both methods are essentially based on stochastic approximation, and the feedback gains are recursively given without invoking the certainty-equivalency-principle.

关键词： stochastic system leading control pole assignment adaptive control.

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C4ISR architectures: I. Developing a process for C4ISR architecture design

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systems engineering 2000年第4期3卷 225-247页

作者： Levis, Alexander H. Wagenhals, Lee W. System Architectures Laboratory C3I Center MSN 4D2 George Mason University Fairfax VA 22030 United States Department of Electrical Computer and Systems Engineering C3I Center System Architectures Laboratory United States Institute of Electrical and Electronic Engineers (IEEE) Advancement of Science (AAAS) United States Center of Excellence Command Control Communications and Intelligence George Mason University Fairfax VA United States System Architectures Laboratory United States

The C4ISR Architecture Framework document issued by the Department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to serve as the basis for C4ISR system development and acquisition. The Framework does not provide a process for architecture design. In this paper, information architectures are described in the context of Structured Analysis, and then the architecture views of the Framework and the related products are interpreted in that context. A methodology for architecture design is developed that is then implemented using Structured Analysis and object orientation in two companion papers. © 2000 John Wiley & Sons, Inc.

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Algorithm for Three-Step Estimation of Transfer Function with Unknown Delay Steps and Order

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IFAC Proceedings Volumes 2000年第15期33卷 373-378页

作者： Mitsuki Mashino Fujio Ohkawa Kazushi Nakano Masayoshi Tomizuka Mechanics & Electronics Research Institute Fvkuoka Industrial Technology Center 3-6-1 Norimatsu Yahatanishi-ku Kitakyushu 807-0831 JAPAN Dept. of Control Engineering and Science Faculty of Computer & System Engineering Kyushu Institute of Technology Kawazu Iizuka 820-8502 JAPAN Dept. of Electronic Engineering The University of Electro- Communicatons 1-5-1 Chofu-ga-oka Chofu Tokyo 182-8585 JAPAN Dept. of Mechanical Engineering University of California at Berkeley 5100 B Etcheverry Hall Berkeley CA 94720-1740 USA

This paper deals with the estimation of an unknown process transfer function in the presence of colored measurement noise. A three-step estimation procedure has been previously developed for transfer functions, the delay steps and the orders of which are known in advance. The procedure is extended to deal with transfer functions with unknown delay steps and orders. The auto-correlation function of the error between the process output and model output is utilized for evaluating the model fitness. The effectiveness of the proposed method is demonstrated by a simulation study using a sample set of data in MATLAB.

关键词： colored noise I/O correlation information BCLS estimates parameter transformation MSE

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Use of pseudo measurement to real-time target tracking

Use of pseudo measurement to real-time target tracking

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IEEE International Conference on systems, Man and Cybernetics

作者： Yaping Dai K. Hirasawa J. Murata Jinglu Hu Chunzhi Jin Zhen Liu Department of Automatic Control Beijing Institute of Technology China Department of Electrical and Electronic System Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Japan Department of Earth Resource Engineering Graduate School of Engineering Kyoto University Japan

In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and is described by an AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e., there are four measurement data: range r, azimuth /spl theta//sub a/, elevation /spl theta//sub e/ and range rate r/spl dot/). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance can be decoupled. Thus the computing requirement of the algorithm is reduced and can be performed in real time.

关键词： Target tracking Noise measurement Colored noise Coordinate measuring machines Nonlinear equations Motion measurement White noise Electric variables measurement Gain measurement Azimuth

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Stiffness adaptation and force regulation using hybrid system approach for constrained robots

Stiffness adaptation and force regulation using hybrid syste...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Electronic Engineering Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

A new stiffness adaptation and force regulation methodology using hybrid system approach for constrained robots is presented. We present the hybrid system model and the hybrid system control synthesis for constrained robots with the stiffness uncertainties is formulated. The hybrid control approach presented has shown to be a very effective strategy to incorporate both the continuous and discrete natures of constraint motion. A nonlinear stiffness function is developed and designed to be hybrid automaton, which consists of some abstracted motion such as increase, decrease, and maintenance of stiffness. The evaluations are evaluated via experimental studies on grinding tasks. The results of experiment are showing the applicability of proposed scheme for constrained tasks.

关键词： Motion control Robot kinematics Robotics and automation Orbital robotics Force control Automatic control Servomechanisms Manipulators Torque control Intelligent robots

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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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A hybrid system approach to motion control of wheeled mobile robots

A hybrid system approach to motion control of wheeled mobile...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Mee-Seub Lim Jinmo Lim Joonhong Lim Sang-Rok Oh Department of Electronic Engineering Hanyang University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology (KIST) South Korea

ISBN: (纸本)0780344650

Addresses the design of hybrid control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has a 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by switched systems. The abstract model and digital automata for the motion control are developed. The motion control tasks for desired-paths with edges and dynamic path following with various initial conditions are investigated as the applications by simulation studies.

关键词： Motion control Mobile robots control systems Automatic control Motion planning Vehicle dynamics Wheels Automata Path planning Vehicle driving

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controllability is not necessary for adaptive pole placement control

Controllability is not necessary for adaptive pole placement...

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IEEE Conference on Decision and control

作者： Han-Fu Chen Xi-Ren Cao Laboratory of Systems & Control Institute of Systems Science Chinese Academy and Sciences Beijing China Department of Electrical & Electronic Engineering Hong Kong University of Science and Technology Kowloon Hong Kong China

ISBN: (纸本)0780335902

The key issue for adaptive pole placement control of linear time-invariant systems is the possible singularity of the Sylvester matrix corresponding to the coefficient estimate. The methods developed for modifying the estimates are either nonrecursive and with a high computation load or recursive but with random search involved. All the previous works are done under the assumption that the system is controllable. This paper gives a necessary and sufficient condition, which is weaker than controllability, for the system to be adaptively stabilizable. While proving the sufficient part, a nonrecursive algorithm is proposed to modify the estimates. It is proved that the algorithm terminates in finitely many steps. Further, under the same condition with the help of stochastic approximation a recursive algorithm is proposed for obtaining the modification parameters; it is proved that these modification parameters are convergent, and this leads to the convergence of the modified coefficient estimates. For both algorithms the Sylvester matrices corresponding to the modified coefficient estimates are asymptotically uniformly nonsingular; thus with these Sylvester matrices, the adaptive pole placement control problem can be solved, i.e. the system can be adaptively stabilized.

关键词： controllability Programmable control Adaptive control State feedback control systems Recursive estimation Sufficient conditions Stochastic processes Approximation algorithms Convergence

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A study on the design and characteristics of the high frequency resonant inverter for ultrasonic motor drive using fuzzy controller

A study on the design and characteristics of the high freque...

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International Conference on Industrial electronics, control and Instrumentation

作者： In-Su Cha Hae-Am Park Gwon-Jong Yu Young-Dong Kim Hyung Lae Baek Department of Electric & Electronic Engineering Dong Shin University Choongnam South Korea Department of Computer & Information Processing Kwangju Institute of Science and Technology Kwangju South Korea Department of Photovoltaic System Korea Institute of Energy and Research Daejeon South Korea Department of Control & Measurement Engineering Chosun University Sesekdong South Korea Department of Electrical Engineering Chosun University Sesekdong South Korea

ISBN: (纸本)0780330269

In the present paper, a fuzzy logic based ultrasonic motor (USM) is used in order to properly control the speed and phase difference for the elasticity and viscosity of a robot joint. The traveling wave USM is driven by two-phase sine wave signals, and the phase difference of the signals is usually selected to +90/spl deg/ and -90/spl deg/ meaning high speed and maximum torque of the USM. In this paper, we describe USM rotational speed characteristics at no load. The first phase difference is adjusted in the range from +90/spl deg/ to -90/spl deg/ by fuzzy controller as is the reached target speed.

关键词： Resonant frequency Resonant inverters

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