检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Martin Křížek Matouš Vrba Antonella Barišić Kulaš Stjepan Bogdan Martin Saska Faculty of Electrical Engineering Czech Technical University in Prague Prague Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We propose a new approach to visual perception for relative localization of agents within large-scale swarms of Unmanned Aerial Vehicles (UAVs). Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals capable of moving in a decentralized yet coherent manner, our method does not rely on detecting individual neighbors by each agent and estimating their relative position, but rather we propose to regress a neighbor density over distance. This allows for a more accurate distance estimation as well as better scalability with respect to the number of neighbors. Additionally, a novel swarm control algorithm is proposed to make it compatible with the new relative localization method. We provide a thorough evaluation of the presented methods and demonstrate that the regressing approach to distance estimation is more robust to varying relative pose of the targets and that it is suitable to be used as the main source of relative localization for swarm stabilization.

关键词： Location awareness Visualization Scalability Estimation Object detection Autonomous aerial vehicles Robustness

来源：评论

学校读者我要写书评

暂无评论

DREM-based Adaptive Observer for Induction Motor Model With Friction

DREM-based Adaptive Observer for Induction Motor Model With ...

引用

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Vladimir Bespalov Alexey Vedyakov Anastasiia Vediakova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Department of Computer Applications and Systems St.Petersburg State University St. Petersburg Russia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This paper presents an adaptive state observer for a nonlinear induction motor model that accounts for viscous friction. The problem is solved using a modified version of the Dynamic Regressor Extension and Mixing (DREMBAO) method. The main idea is to reduce the original model to a regression-like model, where the vector of unknowns contains unknown parameters and state variables. After this step, it becomes possible to obtain a set of scalar linear equations with respect to the unknown state variables and parameters. Using these equations, parameters are estimated with gradient descent estimator, and state estimation is obtained using the gradient observer. Simulation results of an adaptive observer are presented, which demonstrate the effectiveness of the proposed approach.

关键词： Adaptation models Induction motors Sensitivity Friction Simulation Rotors Observers Mathematical models Vectors Robustness

来源：评论

学校读者我要写书评

暂无评论

Model Predictive Torque control of Six-Phase Switched Reluctance Motors Based on Improved Voltage Vector Strategy

引用

IEEE Transactions on Transportation Electrification 2025年第3期11卷 7650-7661页

作者： Yang, Yifei Sun, Xiaodong Dianov, Anton Demidova, Galina Prakht, Vladimir Wang, Yong Han, Shouyi Suzhou Vocational University School of Mechanical and Electrical Engineering Suzhou215104 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Saint Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Yekaterinburg620062 Russia Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China

To rapidly and accurately establish the model of switched reluctance motors (SRMs) and enhance torque control performance, this article proposes a model predictive torque control (MPTC) strategy based on the optimized voltage vector. First, a fourth-order Fourier series is used to calculate the flux and torque models, and a complete nonlinear model of the SRM is constructed using the Kriging model. Second, the torque characteristics are used to divide the sectors, thereby reducing the number of candidate voltage vectors (CVVs) and effectively decreasing the computational burden of predictive control. Finally, an adaptive adjustment algorithm for the sector boundary angle is proposed, where the position of the sectors is determined based on variations in speed and load. The proposed method reduces torque ripple and enhances dynamic response capability. The effectiveness of this approach is validated through experiments on a 12/10 pole six-phase SRM prototype. © 2015 IEEE.

关键词： Vectors

来源：评论

学校读者我要写书评

暂无评论

Formation control for Multi-Agent System with Disturbances Compensation

引用

IFAC-PapersOnLine 2022年第13期55卷 222-227页

作者： Sokrat Aldarmini Alexey Vedyakov Mikhail Kakanov Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia

This paper considers the formation control of single-integrator modeled agents with unknown disturbances. Two cases are investigated. In the first case, the connected agents are assumed to be able to measure relative displacements between each other. The control law for this case is designed to ensure a stable formation with a predefined rejection performance for disturbances. In the second case, additionally, one agent is assumed to be able to sense its position in a global coordinate system. The control law for this case is designed to ensure the stability of agents’ positions with respect to predefined desired positions. Also, a rejection performance for disturbances is ensured. Simulation results are provided to support the theoretical analysis for the proposed control algorithms.

关键词： multi-agent systems formation control distributed estimation robust control

来源：评论

学校读者我要写书评

暂无评论

An Extension of Adaptive State Observers Using Dynamic Regressor Extension and Mixing With Relaxed Excitation Conditions

引用

IFAC-PapersOnLine 2022年第12期55卷 330-335页

作者： Alexey Vedyakov Vladimir Bespalov Vladimir Vorobev Dmitry Cherginets Anton Pyrkin Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia

The recently proposed DREM-based adaptive state observer (DREMBAO) design approach assumes that there exists transformation of the system model into a cascade form, linearly dependent on parameters vector and depends only on measured input and output. This paper proposes an extension to relax that assumption and extend the approach to state affine systems. Like the original version of DREMBAO, the proposed approach ensures global convergence of an estimation error to zero under a relatively weak condition. The advantages of the extension are demonstrated in the example with a permanent magnet synchronous motor. In contrast to the original approach, the proposed extension allows taking into account viscous friction in the motor and obtaining a simplified load torque estimation algorithm. Moreover, finite-time convergence to zero is ensured for the load torque and speed estimation error under a weak interval excitation.

关键词： adaptive state observers nonlinear systems system identification

来源：评论

学校读者我要写书评

暂无评论

A Parallel and Asynchronous Blob Shape Descriptor Implemented in CMOS Technology 33

A Parallel and Asynchronous Blob Shape Descriptor Implemente...

引用

33rd IEEE International Conference on Microelectronics, MIEL 2023

作者： Bogacki, P. Dlugosz, M. Talaska, T. Dlugosz, R. Aptiv Services Poland Kraków30-399 Poland Agh University of Science and Technology Institute of Telecommunications Faculty of Computer Science Electronics and Telecommunications Kraków30-059 Poland Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan60-965 Poland Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland

ISBN: (纸本)9798350347760

The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance systems (ADAS). One of the motivations was to obtain a descriptor that would ensure low computational complexity. This makes it easy to implement both in software and hardware. One assumption is that the location of the center of a given light spot is approximately known. The principle of its operation is then to count white pixels in selected directions, starting from this central point. A key issue here is an efficient way of determining indexes of particular pixels belonging to the image patch, as well as the location of points representing places where the white area turns into black. In the case of a hardware implementation, this can be done using a parallel circuit operating in asynchronous mode, without the need for a control clock. © 2023 IEEE.

关键词： Pixels

来源：评论

学校读者我要写书评

暂无评论

Performance Comparison of Teleoperation Interfaces for Ultra-Lightweight Anthropomorphic Arms

Performance Comparison of Teleoperation Interfaces for Ultra...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Filip Zorić Alejandro Suarez Goran Vasiljević Matko Orsag Zdenko Kovačić Anibal Ollero Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia GRVC Robotics Lab University of Seville Sevilla Spain

This paper presents a comparative performance evaluation of three different teleoperation interfaces for very low weight (<3 kg) anthropomorphic dual arms intended to conduct complex manipulation tasks involving a certain level of dexterity, accuracy and agility, either in ground service or in aerial manipulation applications. A visual human pose estimation system is developed to obtain the Cartesian and joint values of the user, which are mapped to the corresponding pose of the dual arm manipulator exploiting the equivalent human-robot kinematics. A leader-follower scheme is also presented, using a reduced scale dual arm that can replicate directly the joint positions of the leader arms to the follower arms. A 6-DOF (degrees of freedom) joystick is proposed to generate linear motions more accurately. A total of 60 ground tests were conducted involving 10 participants to determine the accuracy and time performance in two benchmarks (box edges and S contour tracking). Finally, the visual and leader-follower interfaces were evaluated with the dual arm aerial manipulator on flight tests, reporting several findings derived from the system evaluation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive control of an Uncertain Differential Drive Robot

Adaptive Control of an Uncertain Differential Drive Robot

引用

IEEE International Conference on control Science and systems Engineering (CCSSE)

作者： Zhiqiang Chen Duzhesheng Liao Aleksandr Y. Krasnov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper proposes an adaptive trajectory tracking control scheme for differentially driven robots in the state of unknown kinematic and dynamic model parameters and uncertain external disturbances. The main idea is to design an adaptive controller to reduce the influence of unknown dynamic parameters and unknown parameters of the kinematic model. A kinematic controller is first designed to generate virtual velocities as reference inputs for dynamic control systems. The kinematic controller is then designed so that the actual velocity tracks the virtual velocity asymptotically. The robot can reach the expected speed and let the attitude error converge quickly. This approach enables the robot to quickly follow the desired trajectory. Finally, the effectiveness of the method is proved by MATLAB simulation.

关键词： Adaptation models Uncertainty Trajectory tracking Kinematics control systems Mathematical models Trajectory

来源：评论

学校读者我要写书评

暂无评论

Analysis of Scanning Schemes of Complex-Profile Products with Automated Complex Non-Destructive Quality control of Coating of Complex-Profile Product

Analysis of Scanning Schemes of Complex-Profile Products wit...

引用

Information, control, and Communication Technologies (ICCT), International Conference on

作者： Maksim S. Gubin Valeriy V. Malyy Alexey V. Fedorov Igor Y. Kinzhagulov Dmitriy S. Sergeev Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia SECT The Institute of Science of the ICC ST Petersburg Russia

In this paper, the existing problems of non-destructive testing of defects in the surface and subsurface coating layers of complex profile products are considered. The main factors influencing the choice of the scanning scheme are determined. For the implementation of non-destructive testing, several scanning schemes were proposed, which were analyzed in order to determine the necessary trajectory and step of movement of the transducer relative to the surface of a complex profile product. As a result, an optimal scanning scheme was selected.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive Output Regulation of MIMO LTI systems with Unmodeled Input Dynamics

Adaptive Output Regulation of MIMO LTI Systems with Unmodele...

引用

IEEE Conference on Decision and control

作者： Oleg Borisov Alberto Isidori Anton Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Dept. of Computer Control and Management Engineering University “Sapienza” Rome Italy

This paper addresses the problem of adaptive output regulation of a minimum-phase MIMO LTI system in the presence of un-modeled (fast) input dynamics. The adoption of a post-processing tunable internal model makes it possible to implement standard methods for the analysis of two-time-scale systems. The proposed adaptation law guarantees, under suitable hypotheses, convergence to zero of the regulation error as well as of the parameter estimation error.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：