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Convergence of Kalman Filter with Quantized Innovations

Convergence of Kalman Filter with Quantized Innovations

引用

International Conference on control, automation, Robotics and Vision

作者： Jian Xu Jianxun Li Jiayun Wu Department of Automation Shanghai Jiaotong University Shanghai 200240 China Mechatronics and Control Lab 1 Mechanical engineering NUS Singapore 117576

ISBN: (纸本)9781424478149

This work provides a convergence analysis for the estimate error covariance of Kalman filtering based on quantized measurement innovations (QIKF). By taking the quantization errors as random perturbations in observation system, an equivalent state-observation system is given. Accordingly, the quantitative Kalman filter for the original system is equivalent to a Kalman-like filtering for the equivalent state-observation system. In this performance analysis framework, the true covariance matrix of estimating error is strictly analyzed without Gaussian assumption on predicted distribution. A necessary and sufficient condition for the stability of the QIKF is obtained. Then, the relationship between the standard Kalman filtering and the QIKF for the original system is discussed. Finally, the validity of these results are demonstrated by numerical simulations.

关键词： Quantized Innovation Kalman Filtering Con-vergence Analysis

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Learning the Automated Setup of Profile Wrapping Lines for New Products from Few Past Setups

Learning the Automated Setup of Profile Wrapping Lines for N...

引用

IEEE International Conference on Industrial Informatics (INDIN)

作者： Steven Koppert Maximilian Bause Christian Henke Ansgar Trächtler Scientific Automation Fraunhofer Institute for Mechatronic Systems Design Paderborn Germany Control Engineering and Mechatronics Heinz Nixdorf Institute Paderborn Germany

This study investigates the feasibility of automated setup of profile wrapping processes on new products using machine learning on past setup examples. The task is characterized by high complexity of the considered production system in combination with highly varying products and a very small available database. This database also reveals ambiguous ground truth due to human, unsystematic preferences. A simple geometric-physical motivated preprocessing is proposed. On the resulting data, a Deep Convolutional Neural Network in the form of an autoencoder is shown to be very suitable for predicting wrapping actions for new products. The good but improvable results are discussed extensively with respect to the technological background and possible solutions are proposed.

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Comparison of the Effectiveness of Various Structures of Regulators for controlling an Object of the Sixth Order

Comparison of the Effectiveness of Various Structures of Reg...

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2019 International Multi-Conference on engineering, Computer and Information Sciences, SIBIRCON 2019

作者： Zhmud, Vadim Dimitrov, Lubomir Nosek, Jaroslav Roth, Hubert Novosibirsk State Technical University Dept. of Automation Novosibirsk Russia Technical University of Sofia Sofia Bulgaria Technical University of Liberec Faculty of Mechatronics Computer Science and Interdisciplinary Research Liberec Czech Republic University of Siegen Department of Automatic Control Engineering Siegen Germany Germany

ISBN: (纸本)9781728144016

Object control requires the calculation of a regulator. One of the most effective methods for calculating the regulator is the method of numerical optimization of the regulator. This paper discusses the solution of the problem of controlling a linear object of the sixth order, the parameters of which are such that this high order significantly and negatively affects the possibilities of successfully managing this object. Using the traditional approach to the design problem of the controller (regulator) allows us to formally solve the problem;however, the result of this solution is not satisfactory. The use of additional derivation does not give any noticeable improvement. A solution to this problem is proposed by using pseudo-local feedback, moreover, this connection is supposedly most effective if it covers one of two identical links in the object model. This allows for a smoother attenuation of the frequency response of the object in the region where the action of these two links begins to affect. For pseudo-local communication, an additional PID controller is used, the coefficients of which are also determined by the method of numerical optimization. The optimization result allows us to conclude that the presence of an integral element in this controller is optional. The calculation result of such a composite controller meets the most stringent requirements for the quality of control, since in such a system the speed is increased at least twice, the oscillations, which were about 10% in amplitude, are completely eliminated, the robustness of the system is ensured, which is verified by changing all the controller coefficients by 5% up and down, and also by changing the time constant of the element of the pseudolocal loop by 10% up and down, changes in the transition process of the system in this case remain are acceptable. © 2019 IEEE.

关键词： Feedback

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Flatness-Based Feedforward control of a Stacker Crane with Online Trajectory Generation

Flatness-Based Feedforward Control of a Stacker Crane with O...

引用

automation, control and Robots (ICACR), International Conference on

作者： Charlotte Tkany Martin Grotjahn Johannes Kühn Hochschule Hannover Institute of Engineering Design Mechatronics and Electromobility Hannover Germany RDS Motion Control Lenze Automation GmbH Braunschweig Germany

ISBN: (数字)9781728192079

ISBN: (纸本)9781728192086

Flatness-based feedforward control is an approach for combining fast motion with low oscillations for nonlinear or flexible drive systems. Its desired trajectories must be continuously differentiable to the degree of the system order. Designing such trajectories, that also reach the dynamic system limits, poses a challenge. Common solutions, like Gevrey functions, usually require lengthy offline calculations. To achieve a quicker and simpler industrial-suited solution, this paper presents a new online trajectory generation scheme. The algorithm utilizes higher order s-curve trajectories created by a cyclic filtering process using moving average filters. An experimental validation proves the capability as well as industrial applicability of the presented approach for flexible structures like stacker cranes.

关键词： Trajectory Cranes Oscillators Belts Springs Mathematical model Force

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Distributed Robust Energy Management of a Multi-Microgrid System in the Real-Time Energy Market

Distributed Robust Energy Management of a Multi-Microgrid Sy...

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IEEE General Meeting Power& Energy Society

作者： Yun Liu Yuanzheng Li Hoay Beng Gooi College of Mechatronics and Control Engineering Shenzhen University School of Automation Huazhong University of Science and Technology School of EEE Nanyang Technological University

In this paper, a distributed robust energy management scheme for multiple interconnected microgrids (MGs) is developed. It aims to optimize the total operational cost of the MGs through energy trading with neighboring MGs and the main grid in the real-time energy market. Various uncertainties including renewable generation, load consumption, and buying/selling prices of the main grid are handled using an adjustable robust optimization technique. To keep consistent with the distributed nature of the multiple MGs, we propose a distributed adjustable robust optimal scheduling algorithm (DAROSA). Within the framework, each MG energy management system determines its own selling price and operation schedule via distributed communication of non-critical information with its neighboring MGs. Robust optimal scheduling and fair energy trading can be collectively achieved. A case study of a 4-MG system is conducted to validate the effectiveness of the proposed approach.

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Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

Mechatronic design of a fast and long range 4 degrees of fre...

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IEEE International Conference on Robotics and automation (ICRA)

作者： D.M. Brouwer J. Bennik J. Leideman H.M.J.R. Soemers S. Stramigioli Mechanical Automation and Mechatronics group DEMCON advanced mechatronics University of Twente Netherlands Philips Consumer Lifestyle Netherlands DEMCON advanced mechatronics Oldenzaal Netherlands Mechanical Automation and Mechatronics group Philips Applied Technologies DEMCON advanced mechatronics University of Twente Netherlands Control Engineering group University of Twente Netherlands

This paper describes the mechatronic design of a humanoid neck. To research human machine interaction, the head and neck combination should be able to approach the human behavior as much as possible. We present a novel humanoid neck concept that is both fast, and has a long range of motion in 4 degrees of freedom (DOFs). This enables the head to track fast objects, and the neck design is suitable for mimicking expressions. The humanoid neck features a differential drive design for the lower 2 DOFs resulting in a low moving mass and the ability to use strong actuators. The performance of the neck has been optimized by minimizing backlash in the mechanisms, and by using gravity compensation. Two cameras in the head are used for scanning and interaction with the environment.

关键词： mechatronics Neck Magnetic heads Humans Cameras Spine Acceleration Robotics and automation Actuators Gravity

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Robust control Performance in Uncertain Environments: A Semi-Heuristic Gradient Descent Approach

Robust Control Performance in Uncertain Environments: A Semi...

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International Conference on Instrumentation control and automation (ICA)

作者： Mohammed Elbadri Ahmed Hassan Ahmad Irham Jambak Ismail Bayezit Mehmet Turan Soylemez Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkiye Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkiye Department of Aeronautical Engineering Istanbul Technical University Istanbul Turkiye

Designing a robust controller for systems with parameter uncertainties is a complex and demanding task. Traditional deterministic and probabilistic approaches may fall short in providing efficient and satisfactory solutions. To address this challenge, we propose a semi-heuristic approach that exploits the Kharitonov theorem to establish an initial point for the gradient descent algorithm. Through an iterative optimization process that incorporates user-defined performance criteria, our approach provide a robust controller with respect to presence of system uncertainties. Numerical simulations validate the effectiveness of our proposed method and highlight its superiority in addressing robust control problems compared with auto-tuned ΡΠ) controller.

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Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator

Towards Rehabilitation of Mughal Era Historical Places using...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

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Application of GA based neuro - fuzzy automatic generation for teleoperation systems

Application of GA based neuro - fuzzy automatic generation f...

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International Conference on Digital Content, Multimedia Technology and its Applications (IDC)

作者： Sara Manifar Mahdi Aliyari Shoorhedeli Department of Mechatronics Engineering Islamic Azad University Science and Research Tehran Iran Department of Mechatronics Engineering and Advanced Process Automation and Control (APAC) Research Group K.N. Toosi University of Technology Tehran Iran

This paper discusses the design of a controller for teleoperation systems which operate in contact with unknown environments. For this purpose, the controller in the slave part is designed to use a classical controller and a neuro-fuzzy controller. To have a haptic teleoperation, the force feedback from the contact point to the master side is needed. In this study virtual force is fed back to the master instead of the measured contact force and the feedback force is the position error i.e. the difference between the position of master and slave robots. Primary, classical controller was designed for this object, the gains of this controller is obtained by standard genetic algorithm (GA), in offline and optimization method at nominal operating point. In master-slave robot with classical controller, when, robot works in soft or hard environment and the operating point was changed, the obtained controller are not suitable. For this reason, online neuro - fuzzy gain scheduling controller are designed for this system to tune the controller's parameters. The NF trained in offline mode based on GA and in online application tuned the controller based on monitoring of operating point of system. This method makes the system robust to uncertainties such as modeling errors, parameter mismatches and disturbances. The simulation results show the ability of proposed method in compare of other controllers such as Kalman filter.

关键词： Force Equations Monitoring Iron Mathematical model

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