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controller Design for Polynomial Systems with Input Constraints

Controller Design for Polynomial Systems with Input Constrai...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Thomas Gu?ner Jürgen Adamy Institute of Automatic Control Control Theory and Robotics LabTechnische Universit¨at Darmstadt

In this paper,a new optimization based design method for stabilization of polynomial systems with input constraints is *** method utilizes the sum of squares decomposition of polynomials and results in a nonpolynomial control law fulfilling amplitude constraints of the *** of input rate constraints can be included by extending the optimization *** resulting sum of squares optimization problems are ***,an iterative algorithm is used to obtain a *** applicability of the method is demonstrated by an example system,for which it turns out that the resulting controller exploits the given amplitude range very well and leads to better control performance than a polynomial controller.

关键词： SOS Lyapunov controller Design for Polynomial Systems with Input Constraints

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Passivity-based coordination of multi-agent systems: A backstepping approach 10

Passivity-based coordination of multi-agent systems: A backs...

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2009 10th European control Conference, ECC 2009

作者： Listmann, Kim D. Woolsey, Craig A. Adamy, Jurgen Control Theory and Robotics Lab Technische Universität Darmstadt Landgraf-Georg-Str. 4 Darmstadt64283 Germany Department of Aerospace and Oceanic Engineering Virginia Polytechnic University BlacksburgVA24061 United States

ISBN: (纸本)9783952417393

In this article we extend existing results for the passivity-based design of cooperative control laws to systems with arbitrary relative degree. To this end, we exploit the feedback equivalence of strict feedback systems to passive systems and design the controls based on an alternative backstepping procedure. This results in a virtual output, exchanged by the agents and synchronization of the group. Given a static strongly connected and balanced communication network we prove synchronization of the group with the proposed controller using the Krasovskii-LaSalle invariance principle. The effectiveness of our methodology is illustrated in numerical simulations, solving the rigid body attitude synchronization problem. © 2009 EUCA.

关键词： Synchronization

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Output Synchronization of Systems in Chained Form

Output Synchronization of Systems in Chained Form

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Kim D.Listmann Craig A.Woolsey Control Theory and Robotics Lab Technische Universitt Darmstadt Department of Aerospace and Oceanic Engineering Virginia Polytechnic University

In this article we extend previous results for backstepping and passivity-based design of cooperative control laws to a class of chained form systems that includes certain driftfree nonholonomic *** exploit the cascaded structure and feedback equivalence to passive systems to derive suitable control laws using a modified backstepping methodology.A virtual output is obtained and shared within the group in such a way that full state synchronization for the group is *** a static,strongly connected and balanced communication network we prove stability of the proposed ***,an extension to higher order chained forms is shown,providing a methodology to coordinate general nonholonomic *** effectiveness of the method is demonstrated by synchronizing a collective of unicycles.

关键词： agent Output Synchronization of Systems in Chained Form

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Passivity-based coordination of multi-agent systems: A backstepping approach

Passivity-based coordination of multi-agent systems: A backs...

引用

European control Conference (ECC)

作者： Kim D. Listmann Craig A. Woolsey Jürgen Adamy Control Theory and Robotics Lab Technische Universität Darmstadt Darmstadt GERMANY Department of Aerospace and Oceanic Engineering Virginia Polytechnic University Blacksburg VA USA

关键词： Backstepping Synchronization Lyapunov methods Passivation Asymptotic stability Communication networks Satellites

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A Probabilistic Method for Motion Pattern Segmentation

A Probabilistic Method for Motion Pattern Segmentation

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International Joint Conference on Neural Networks (IJCNN)

作者： Daniel Weiler Volker Willert Julian Eggert Edgar Korner Institute of Automatic Control Control Theory and Robotics Lab Darmstadt University of Technology Darmstadt Germany Honda Research Institute Europe GmbH Offenbach Germany

In this paper we present an approach for probabilistic motion pattern segmentation. We combine level-set methods for image segmentation with motion estimations based on probability distribution functions (pdf's) calculated at each image position. To this end, we extend a region based level-set framework to exploit the motion pdf's. We then compare segmentation results of the pdf-based with those of optical-flow-based motion segmentation approaches. We found that the straightforward way of characterizing the segmented region by spatially averaging the motion measurement pdf's does not yield satisfactory results. However, describing the spatial characteristics of the motion pdf's with nonparametric density estimates enables to solve complex motion segmentation problems. In particular for situations with demanding motion patterns like partly overlapping objects and transparent motion, we show that the probabilistic approach yields better results. This confirms the idea that for motion processing it is beneficial to consistently retain the uncertainty and ambiguity of the measurement process right up to the final integration stage, instead of directly processing optical flow vectors.

关键词： Image segmentation Pixel Motion estimation Motion measurement Motion segmentation Computer vision Image motion analysis Neural networks Probability distribution Fluid flow measurement

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATlab Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATlab Pneumatic systems control systems Level control Costs

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Structuring Time Domain Blind Source Separation Algorithms for CASA Integration

Structuring Time Domain Blind Source Separation Algorithms f...

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2006 ISCA Tutorial and Research Workshop on Statistical and Perceptual Audio Processing, SAPA 2006

作者： Schölling, Björn Heckmann, Martin Joublin, Frank Goerick, Christian Honda Research Institute Europe GmbH Offenbach am MainD-63073 Germany Control Theory and Robotics Lab Darmstadt University of Technology DarmstadtD-64283 Germany

Most algorithms based on Computational Auditory Scene Analysis (CASA) for binaural speech separation do not have the ability to inhibit already localized and for a long time present sources in the auditory scene. This has the major drawback that the auditory cues of weaker and new sources are subject to interference from already localized and perceived signals and the separation performance is worse if the signals overlap in their processing domain. In this paper we outline how one can build intuitively a separation system that has this inhibition feature. The main block and starting point of our derivation is a simple cross correlation based localization system with two microphones. The inhibition is achieved by feeding back localization results to a filter and sum structure that cancels localized sounds. Interestingly, our intuitive approach leads to a special case of a well known time domain blind source separation algorithm which was derived from a statistical signal processing viewpoint and exhibits good convergence even in reverberant environments. Finally, we discuss how the insights gained from building a blind source separation this way can be used to integrate CASA techniques. © SAPA 2006. All rights reserved.

关键词： Blind source separation

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Modeling the precedence effect for binaural sound source localization in noisy and echoic environments

Modeling the precedence effect for binaural sound source loc...

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INTERSPEECH 2006 and 9th International Conference on Spoken Language Processing, INTERSPEECH 2006 - ICSLP

作者： Heckmann, Martin Rodemann, Tobias Schölling, Björn Joublin, Frank Goerick, Christian Honda Research Institute Europe GmbH Carl-Legien-Strasse 30 D-63073 Offenbach/Main Germany Darmstadt University of Technology Institute for Automatic Control Control Theory and Robotics Lab. Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

ISBN: (纸本)9781604234497

We present a new way of modelling the Precedence Effect to enable the robust measurement of localization cues (ITD and IID) in echoic environments. Based on this we developed a localization system which is inspired by the auditory system of mammals. It uses a Gammatone filter bank for preprocessing and extracts the ITD cue via zero crossings (IID calculation is straight forward). The mapping between the cue values and the different angles is learned offline which facilitates the adaptation to different head geometries. The performance of the system is demonstrated by localization results for two simultaneous speakers and the mixture of a speaker, music, and fan noise in a normal meeting room. A real-time demonstrator of the system is presented in [1].

关键词： Acoustic generators

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Collision-free real-Time path-planning in time varying environment

Collision-free real-Time path-planning in time varying envir...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Adolphs, P. Tolle, H. Darmstadt Institute of Technology Control Systems Theory and Robotics Lab Schlossgraben 1 DarrnstadtD-6100 Germany

ISBN: (纸本)0780307372

A new method for fast and efficient modeling of nioviiig obstacles in the 3-dimensional configuration-space (c-space) of a multi-link robot is discussed. The method is based on a look-up-Table, which contains the connection between an object in work-space and the corresponding non collision-free region in cspace. The table which is independent from the actual environment can be calculated off-line. In the second part of the paper a path-planning algorit hm is explained which allows pat h-planning with respect to global criterions in dynamic cspace. The results of simulation and test show the real-Time behaviour for both algorithms even when realized on standard hardware. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Motion planning

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