检索结果-内蒙古大学图书馆

Master-Slave Synchronization for Nonlinear Systems based on Reduced Observers

IFAC Proceedings Volumes 2011年第1期44卷 10994-10999页

作者： Arne Wahrburg Kim D. Listmann Jürgen Adamy Institute of Automatic Control Control Theory & Robotics Lab Technische Universität Darmstadt Germany

Abstract In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that the nonlinear state feedback law is independent of the inertial frame. Generally, the method requires non trivial computations but leads to global convergence results for the invariant tracking error. We illustrate the design procedure in detail for a master-slave synchronization of a bacterial growth model, which may escape to infinity in finite time.

关键词： synchronization tracking nonlinear observers input-affine systems invariance

来源：评论

学校读者我要写书评

暂无评论

A Tracking controller for Linear Systems subject to Input Amplitude and Rate Constraints

A Tracking Controller for Linear Systems subject to Input Am...

引用

2011 American control Conference (ACC)

作者： Klaus Kefferputz Jurgen Adamy Institute of Automatic Control Control Theory and Robotics Lab Technische Universität Darmstadt Darmstadt Germany

We propose a new set point tracking controller for plants subject to simultaneous input amplitude and rate constraints. Short settling times are achieved by allowing the controller to saturate. The tracking controller can be deduced from a controller stabilizing the origin with an associated domain of attraction. Additionally, no assumptions concerning the rate of the reference signal are necessary.

关键词： State feedback Steady-state Linear systems Actuators Level set Optimization

来源：评论

学校读者我要写书评

暂无评论

A new Design Method for Mismatch-based Anti-Windup Compensators: Achieving Local Performance and Global Stability in the SISO Case

A new Design Method for Mismatch-based Anti-Windup Compensat...

引用

2011 American control Conference (ACC)

作者： Andreas Ortseifen Jurgen Adamy Institute of Automatic Control Control Theory and Robotics Lab Technische Universität Darmstadt Darmstadt Germany

This paper proposes a new design method for full-order mismatch-based anti-windup compensators applicable to SISO systems. It is based on multiplier theory and path following. In contrast to available approaches the new method allows synthesizing globally stabilizing mismatch-based compensators with enhanced local performance based on small-signal L_(2) gains. A hydraulic actuator serves as an example to demonstrate the effectiveness of the proposed technique.

关键词： Linear matrix inequalities Optimization Stability criteria Asymptotic stability Transfer functions Design methodology

来源：评论

学校读者我要写书评

暂无评论

DisCoverage for non-convex environments with arbitrary obstacles

DisCoverage for non-convex environments with arbitrary obsta...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Dominik Haumann Volker Willert Kim Listmann Roland Siegwart Andreas Breitenmoser Control Theory & Robotics Lab TU DarmstadtLandgraf- Georg-Str. 464283 DarmstadtGermany Autonomous Systems Laboratory (ASL) ETH ZurichTannenstrasse 38092 ZurichSwitzerland

DisCoverage is a distributed strategy for frontierbased multi-robot exploration. The robots coordinate by a partition of the environment, and choose their target points by optimizing a locally decomposable objective function. In [9] DisCoverage for convex regions was proposed. In this work, we extend DisCoverage to support arbitrary non-convex realworld environments with obstacles. Therefore, we introduce a transformation of non-convex environments to robot centric star-shaped domains. This results in a general solution with broader applications for exploration and path planning. Simulations as well as experiments with real robots demonstrate the exploration progress.

关键词： Robot kinematics Optimization Robot sensing systems Silicon Path planning Space exploration

来源：评论

学校读者我要写书评

暂无评论

DisCoverage: A new paradigm for multi-robot exploration

DisCoverage: A new paradigm for multi-robot exploration

引用

2010 IEEE International Conference on robotics and Automation, ICRA 2010

作者： Haumann, A. Dominik Listmann, Kim D. Willert, Volker Control Theory and Robotics Lab. TU Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

ISBN: (纸本)9781424450381

The main aspect in multi-robot exploration is the efficient coordination of a group of robots. Inspired by previous results on the coverage problem, we propose a novel, frontier-based approach for multi-robot exploration. This approach merges the step of choosing appropriate target points with the step of planning a collision-free path. This is achieved by optimizing an objective function consisting of distance and orientation costs as well as an estimated information gain. The optimization yields motion control laws directly solving the exploration task. Using a Voronoi partition of the environment ensures, that each robot autonomously creates and optimizes the objective function to obtain a collision-free path in a distributed fashion. Simulations demonstrate the effectiveness of our approach. ©2010 IEEE.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

Designing nonpolynomial controllers for polynomial systems with input constraints using convex optimization and passivity

Designing nonpolynomial controllers for polynomial systems w...

引用

IEEE International Symposium on Computer-Aided control System Design

作者： Gußner, Thomas Adamy, Jürgen Institute of Automatic Control Control Theory and Robotics Lab. Technische Universität Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

ISBN: (纸本)9781424453542

In this paper, a computational approach for controller design for polynomial systems with input constraints is proposed. The design is formulated as a convex optimization problem and capable of dealing with asymmetric input constraints. The idea of the method is to combine the recently introduced notion of virtual inputs and the notion of feedback passivity to obtain an optimization problem with polynomial constraints. The optimization problem is relaxed using the method of sum of squares which finally results in an LMI problem. The resulting state feedback controllers are nonpolynomial. The approach contains some conservatism arising when formulating the design as a convex optimization problem. The introduction of slack variables and a postprocessing step reduces this conservatism. The applicability of the method is demonstrated by a controller design for a jet engine compressor. © 2010 IEEE.

关键词： Convex optimization

来源：评论

学校读者我要写书评

暂无评论

Saturating Set Point Tracking control for Linear Systems subject to Input Constraints

Saturating Set Point Tracking Control for Linear Systems sub...

引用

2010 49th IEEE Conference on Decision and control

作者： Klaus Kefferputz Jurgen Adamy Institute of Automatic Control Control Theory and Robotics Lab Technische Universitat Darmstadt 64283 Darmstadt Germany

ISBN: (纸本)9781424477456

We propose a new set point tracking controller achieving short settling times respecting for saturating input vectors. One major advantage of the method is that once we designed a controller stabilizing the origin with an associated domain of attraction we are able to state the tracking controller. Additionally, no assumptions concerning the rate of the reference signal are necessary.

关键词： Linear system Reference signals Set of points Viral Set Point region of attraction tracking controller tracking control Constraint Saturated controllers

来源：评论

学校读者我要写书评

暂无评论

Adaptive velocity tuning for visual motion estimation

Adaptive velocity tuning for visual motion estimation

引用

18th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2010

作者： Willert, Volker Eggert, Julian Darmstadt University of Technology Institute of Automatic Control Control Theory and Robotics Lab Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Honda Research Institute Europe GmbH Carl-Legien-Str. 30 D-63073 Offenbach Germany

ISBN: (纸本)2930307102

In the brain, both neural processing dynamics as well as the perceptual interpretation of a stimulus can depend on sensory history. The underlying principle is a sensory adaptation to the statistics of the input collected over a certain amount of time, allowing the system to tune its detectors, e.g. by improving the sampling of the input space. Here we show how a generative formulation for the problem of visual motion estimation leads to an online adaptation of velocity tuning that is compatible with physiological sensory adaptation and observed perceptual effects.

关键词： Sampling

来源：评论

学校读者我要写书评

暂无评论

A probabilistic method for hierarchical 2D-3D tracking

A probabilistic method for hierarchical 2D-3D tracking

引用

2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Zhang, Chen Eggert, Julian Institute of Automatic Control Control Theory and Robotics Lab. Darmstadt University of Technology Landgraf-Georg-Str. 4 64283 Darmstadt Germany Honda Research Institute Europe GmbH Carl-Legien-Straße 30 63073 Offenbach/Main Germany

ISBN: (纸本)9781424469178

In this paper, we present a generic way to use a hierarchical representation of prediction models for adaptive tracking purposes. Each node of the hierarchy consists of an interacting multiple models (IMM) particle filter that combines local predictions with top-down predictions arriving from nodes situated higher up in the hierarchy. Such a hierarchical prediction structure provides mechanisms to automatically control the influences between the nodes of the hierarchy. We demonstrate the gain of a hierarchical 2D-3D tracking system by first using it to track 3D elliptically rotating object in an artificial scene, where in approaching and departing phases the target is inherently hard to track in pure 2D space due to large accelerations. To the contrary, the proposed hierarchical 2D- 3D tracking system successfully tracks the target, because it benefits from the ability of dynamically adapting its prediction models. In order to test the robustness of this framework and its feasibility for real-world applications, we then show in a traffic scene that we can successfully track a motorcylist from a driving car by means of this hierarchical tracking framework. © 2010 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Exploiting hierarchical prediction structures for mixed 2D-3D tracking

Exploiting hierarchical prediction structures for mixed 2D-3...

引用

18th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2010

作者： Zhang, Chen Eggert, Julian Darmstadt University of Technology Institute of Automatic Control Control Theory and Robotics Lab Landgraf-Georg-Str. 4 Darmstadt D-64283 Germany Honda Research Institute Europe GmbH Carl-Legien-Straße 30 Offenbach/Main D-63073 Germany

ISBN: (纸本)2930307102

In this paper, we present a generic way to use a hierarchical representation of prediction models for adaptive tracking. Starting with a basic appearance-based tracker working in 2D retinal space, we show how to combine individual trackers for the left and right eye to a true 3D tracker that is built on top of the 2D trackers. We show how the trackers benefit from the hierarchical structure by dynamical model switching depending on the reliability of the tracking results.

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：