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IEEE International Conference on Automation Science and Engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine

Multi-Robot Localization and Mapping Strategy: Utilizing Beh...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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Coding interaction patterns between human and receptionist robot

Coding interaction patterns between human and receptionist r...

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IEEE-RAS International Conference on Humanoid Robots

作者： Catherina Burghart Hartwig Holzapfel Roger Haeussling Stephan Breuer Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany Interactive Systems Laboratory University of Karlsruhe Karlsruhe Germany Institute of Sociology University of Karlsruhe Karlsruhe Germany

Intelligent robotic systems will be found in several fields of everyday life in the near future. This implies an easy handling of an interaction with service robots by naive persons. Up till now many problems in human-robot interaction do exist; one of them is the great variety of human communication and behavior. Thus system designers often cannot anticipate human behavior which leads to frustrated users. We have devised a tool to analyze and code human and robot behavior during human-robot interaction, which can serve as a first stepping stone toward recognizing, automating coding and adapting robot behavior in order to obtain successful interactions. The tool called Interaction Analysis Protocol was used in different interaction scenarios between robot and human being. In this paper we present an experiment within which the robot acts as receptionist. The analysis and coded behaviors are based on the Interaction Analysis Protocol.

关键词： Human robot interaction robotics and automation Intelligent robots Protocols Educational robots Autism Speech Humanoid robots Process control Interactive systems

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

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Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Autonomous large parafoil guidance, navigation, and control system design status

Autonomous large parafoil guidance, navigation, and control ...

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19th AIAA Aerodynamic Decelerator systems Technology Conference and Seminar

作者： Carter, David W. George, Sean Hattis, Philip D. Mcconley, Marc W. Rasmussen, Scott A. Singh, Leena Tavan, Steve Draper Laboratory Cambridge MA 02459 United States Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group Mail Stop 77 555 Technology Square United States Vehicle and Robotic Systems Group Mail Stop 23 555 Technology Square United States AIAA United States Mission Design and Analysis Group Mail Stop 70 555 Technology Square United States Tactics Guidance and Control Group Mail Stop 77 555 Technolog Square Cognitive Robotics Group Mail Stop 77 555 Technology Square Guidance and Control Group Mail Stop 77 555 Technology Square NSRDEC Warfighter Protection and Aerial Delivery Directorate AMSRD-NSC-WP-AJ Kansas Street United States

ISBN: (纸本)1563478943

Demonstration of autonomous Guidance, Navigation, and control (GN&C) that can take parafoil airdrop systems from 25,000 feet to accurate landings is a key goal of the Joint Precision Airdrop System. A first instantiation test-flew a 10,000 pound-class parafoil system and has since been extended to accommodate payloads up to 30,000 pounds and as small as a few hundred pounds. The initial avionics applied by the GN&C software used a two-antenna Global Positioning System (GPS) receiver to obtain position, velocity, and heading data. Upgraded avionics now use a single-antenna GPS receiver providing position and velocity combined with inertial sensors providing three-axis acceleration and angular rate data. The guidance algorithm is partitioned into homing, energy management, and an optimized table-lookup terminal flight phase. The control algorithm is a proportional, integral, derivative design with features to deal with system constraints and with feed forward to improve response time. The GN&C software integration and testing is accomplished using a 6 degree-of-freedom simulation with both software-only and hardware-in-the-loop forms. GN&C with the original avionics enabled the 10,000 poundclass parafoil to achieve an expected delivery accuracy of about 150 meters. The GN&C using the new avionics is generalized for on-going tests with payloads ranging from 300 to 30,000 pounds.

关键词： Airfoils

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Advances in Telerobotics 1

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丛书名： Springer Tracts in Advanced robotics

2007年

作者： Manuel Ferre Rafael Aracil Martin Buss Claudio Melchiorri Carlos Balaguer

ISBN: (数字)9783540713647

ISBN: (纸本)9783540713630;9783642425929

At the dawn of the new millennium, robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The goal of the new series of Springer Tracts in Advanced robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi cance and quality. It is our hope that the wider dissemination of research developments stimulates exchanges and collaborations among the research community and contributes to further advancement of this rapidly growing eld. The edited volume by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio M- chiorri and Carlos Balaguer is focused on the most recent advances in telerobotics, a technology that deals with the inclusion of a human operator in the control loop of a remote robot. Telerobotics encompasses an area at the crossroads of several scienti c disciplines such as mechatronics, control, communication, computers, sensor-based recognition, multimodality and even teleoperation through Internet.

关键词： control, robotics, Mechatronics Artificial Intelligence systems Theory, control

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Fuzzy controller Design Based on the Phase Plane Isoclines

Fuzzy Controller Design Based on the Phase Plane Isoclines

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Mediterranean Conference on control and Automation (MED)

作者： Stjepan Bogdan Zdenko Kovacic Larics-Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper we describe a procedure that exploits geometric properties of state space in the investigation of the system stability. Although this method is cumbersome, its practical value becomes clear in the situation when state space is reduced to a phase plane, which is the case in a second-order system. Then phase plane analysis offers well known procedures (especially in case f(.) is linear) for the determination of the system stability. Simulation results, obtained by implementation of the proposed method on the fuzzy controller design, are given at the end of the paper

关键词： Fuzzy control Fuzzy systems control systems Sliding mode control Stability analysis Nonlinear control systems Fuzzy logic State-space methods Stability criteria Lyapunov method

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Low cost two-axis solar tracker with high precision positioning

Low cost two-axis solar tracker with high precision position...

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2006 1st International Symposium on Environment Identities and Mediterranean Area, ISEIM

作者： Yazidi, A. Betin, F. Notton, G. Capolino, G.A. Center of Robotics Power Electrical Engineering and Control Systems University of Picardie 15 av. François Mitterrand 02880 Cuffies France Laboratory of Sciences for the Environment University of Corse Centre de Recherche de Vignola Route des Sanguinaires Ajaccio Corse France

ISBN: (纸本)1424402328

In this paper, the design of a low cost two-axis solar tracker is introduced. The aim is to obtain a high precision positioning of the cell. The control-board is able to support different control strategy such as classical techniques as PID algorithm or more advanced strategy such as fuzzy logic control (FLC). Using the error signal, the tracking capacities of the proposed approaches can be tested experimentally on the experimental prototype built in our laboratory. ©2006 IEEE.

关键词： Position control

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control of the multi agent micro-robotic platform MiCRoN

Control of the multi agent micro-robotic platform MiCRoN

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IEEE International Conference on Computer-Aided Design

作者： Panagiotis Vartholomeos Savvas Loizou Michael Thiel Kostas Kyriakopoulos Evangelos Papadopoulos Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Athens Greece GRASP lab University of Pennsylvania Philadelphia PA USA Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Greece Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the theoretical framework for the centralized control architecture of the multi agent micro-robotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the micro-scale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

关键词： control systems Robots Nanobioscience Mechanical engineering robotics and automation Navigation Centralized control Assembly systems Robotic assembly Trajectory

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