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

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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Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator

Teleoperation System of the Internet-based Omnidirectional M...

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IEEE International Conference on Mechatronics and Automation

作者： Dawei Wang Jianqiang Yi Dongbin Zhao Guosheng Yang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Informaion Engineering Henan University Kaifeng China

A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive the live video and environment information measured by sensors. With the help of the remote video and the local simulation, users can easily communicate with the robot. Different modules are proposed and the implementation method of the system is presented. Related experiments are conducted to test the validity of the proposed system.

关键词： Internet Mobile robots Manipulators Robot sensing systems Robot control User interfaces control systems computer interfaces Computational modeling System testing

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Stable PD and Internal Force control of Omnidirectional Wheeled Mobile Manipulators

Stable PD and Internal Force Control of Omnidirectional Whee...

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IEEE International Conference on Mechatronics and Automation

作者： Dong Xu Dongbin Zhao Jianqiang Yi Xuyue Deng Guosheng Yang Key Lab of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Information Engineering Henan University Kaifeng China

Omnidirectional mobile manipulator, which is composed by a three DOF omnidirectional mobile platform and a mounted manipulator, can move in any direction at any time. By reason of the redundantly actuated mechanism, the omnidirectional motion property of the mobile platform is similar to the parallel manipulator cooperatively manipulating objects, which admits internal force doing none contribution to the motion of the platform. Thus, the internal force should be controlled to reduce energy waste. Therefore, a stable PD controller is developed first for motion control of the integrated mobile manipulator system. Then, by treating the motion induced force as disturbance, a feed forward plus PI type force controller is addressed to regulate the internal force to zero. Finally, simulation results demonstrate the validity of the proposed approach.

关键词： Force control Motion control Wheels Kinematics Manipulator dynamics Automation control systems Intelligent actuators Centralized control Mechatronics

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Experimental verifications on control and sensing of bucky gel actuator/sensor

Experimental verifications on control and sensing of bucky g...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Norihiro Kamamichi Masaki Yamakita Kinji Asaka Zhi-Wei Luo Toshiharu Mukai Bio-mimetic Control Research Center (BMC) The Institute of Physical and Chemical Research (RIKEN) Nagoya Japan Department of Robots and Mechatronics School of Future Science Tokyo Denki University Tokyo Japan BMC RIKEN Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Tokyo Japan BMC RIKEN Research Institute for Cell Engineering National Institute of Advanced Industrial Science and Technology (AIST) Odaka Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Since sensor and actuator functions exist in a same device, flexible and miniature integrated actuator-sensor systems for soft robotics can be constructed easily. In this study, we conduct some experiments to verify the possibility of the bucky gel actuator/sensor. Feedback controls of the actuator are demonstrated and the characteristics of the sensor are investigated. By utilizing both functions of the actuator and the sensor, feedback control based on the sensor signal is demonstrated.

关键词： Actuators Sensor phenomena and characterization Polymer gels Feedback control Electrodes Casting Shape Force sensors Sensor systems Robot sensing systems

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Experiment and Simulation Studies of Current Distribution in Paralleled Thyristors

Experiment and Simulation Studies of Current Distribution in...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： J. Wu Z. Wang P. R. Palmer A. T. Bryant D. Remy E. Santi J. Hudgins Department of Engineering Centre for Advanced Photonics and Electronics University of Cambridge Cambridge UK Department of Engineering University of Warwick Coventry UK Alstom Power Electrical and Control Systems 3 avenue des Trois Chenes Belfort Cedex France Electrical and Computer Engineering University of South Carolina Swearingen Engineering Center Columbia SC USA Department of Electrical Engineering University of Nebraska-Lincoln Lincoln NE USA

This paper presents the problems regarding to the behaviour of current distribution among paralleled thyristors. They are addressed with the experiment of high current transformer-rectifiers. The system is further implemented in the Power System Blockset, now SimPowerSystem, in MAT-LAB/Simulink. The Fourier-series-based model is employed to study both the system performance and the device internal behaviour. The experiment and simulation reported in this paper offer valuable insight into the parallel operation of thyristors

关键词： Current distribution Thyristors Voltage Power system modeling Power engineering and energy MATLAB Circuits Mathematical model Temperature Power system simulation

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Automatic scheduling and verification of the control function of flexible assembly cells in an information reuse environment

Automatic scheduling and verification of the control functio...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Kristin Danielsson Johan Richardsson Bengt Lennartson Martin Fabian Control and Automation Laboratory Chalmers University of Technology Goteborg Sweden Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation Goteborg Sweden

Formal synthesis and verification of control programs in manufacturing applications are currently undeveloped areas. Today, new control programs are most often debugged on the shop floor, and when formal methods are used, the result is often a control function that is impossible to interpret by the operators. We present a method for synthesis of the control function of a PLC program. By combining supervisory control theory with a hierarchical program structure, in which the control function is separated from the rest of the PLC program, the generated control function combines the benefits of a traditional supervisor, e.g. non-blocking, optimality and flexibility, with simplicity and clearness. The traditional coding is replaced by information reuse and configuration of program components, instantiated from a software library

关键词： Automatic control Assembly control system synthesis Manufacturing systems Job shop scheduling Manufacturing automation computer aided manufacturing Programmable control Supervisory control Optimal control

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Plasma Arc Waste Destruction System (PAWDS) a novel approach to waste elimination aboard ships

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NAVAL ENGINEERS JOURNAL 2006年第3期118卷 139-150页

作者： Kaldas, Aida Picard, Isabelle Chronopoulos, Christos Chevalier, Philippe Carabin, Pierre Holcroft, Gillian Alexander, Gary Spezio, Joseph Mann, Jim Molintas, Henry AIDA KALDAS Eng. is the principal author and Technical Manager at PyroGenesis Inc. She is currently leading the process development team of the Plasma Arc Waste Destruction System for applications on board ships. She holds a Bachelor in Chemical Engineering from Cairo University and a Masters in Engineering Science from the University of Western Ontario. She is a member of “l'Ordre des Ingénieurs du Québec” since 1981. Prior to joining PyroGenesis Inc. Mrs. Kaldas has led several development programs working for Orica (formally ICI Explosives)for over 20 years. Her areas of expertise include process optimization and debottlenecking process modeling and particles processing. ISABELLE PICARD ENG. is a Product Development Engineer at PyroGenesis Inc. She is currently part of the process development team of the Plasma Arc Waste Destruction System for applications on board ships. She holds a Bachelor in Chemical Engineering from “école Polytechnique de Montréal”. She is a member of “l'Ordre des Ingénieurs du Québec” since 1995. Prior to joining PyroGenesis Inc. Mrs. Picard has worked as project leader for several development project related to natural gas applications working for The Natural Gas Technologies Center and as Product Development Engineer for the fuel cell industry working for H Power Canada inc. Her areas of expertise include process development and optimization system integration and equipment sizing. CHRISTOS CHRONOPOULOS Eng. is presently a Product Development Engineer at PyroGenesis Inc. Over the last two years Mr. Chronopoulos has worked on the design and development processes for the treatment of all types of wastes. Prior to joining PyroGenesis Inc. Mr. Chronopoulos worked on process engineering and process development in the Fuel Cell industry for a period of two years and also in the Electronic Plating industry for 4 years. He holds a Bachelor's degree in Chemical Engineering from Sherbrooke University. He is a member of “l'Ordre des Ingénieurs du Québec”. PHILIPPE CHEVALIER Eng. is the

The Plasma Arc Waste Destruction System (PAWDS) uses plasma energy, with temperatures over 5,000 degrees C, to rapidly and efficiently destroy combustible waste aboard ships. PAWDS has proven itself to be a viable alternative to traditional incinerators. >> In September 2003, Carnival Cruise Lines were the first to install a PAWDS aboard their 2,056 passenger (plus 1,000 crew members) capacity, M/S Fantasy cruise ship, to treat ship waste including paper, cardboard, plastics, textiles, wood, and food. As of June 2004, it is being operated and maintained solely by Carnival Cruise Lines personnel and has been permitted to operate in port by the Bahamian port authorities. >> The Navy's next generation aircraft carrier, CVN 21, will be equipped with two FAWDS to process all of the non-food combustible solid waste generated with sufficient system redundancy. The US Navy has been jointly developing the PAWDS with PyroGenesis Inc. over the last 6 years. The development efforts in 2004 and 2005 coupled with lessons learned from operation aboard Carnival's cruise ship have resulted in the identification of additional process and design improvements. Source emission testing by an independent laboratory has also demonstrated that the PAWDS easily meets IMO MARPOL requirements for the destruction of solid waste.

关键词： Waste treatment

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Distributed health monitoring for aero-engines on the GRID: DAME

Distributed health monitoring for aero-engines on the GRID: ...

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IEEE Conference on Aerospace

作者： T. Jackson J. Austin M. Fletcher M. Jessop Bojian Liang A. Pasley M. Ong X. Ren G. Allan V. Kadirkamanathan H.A. Thompson P.J. Fleming Advanced Computer Architectures Group (ACAG) Department of Computer Science University of York York UK Rolls-Royce Supported University Technology Centre in Control and Systems Engineering Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

We provide an overview of the DAME project, and a discussion of the progress made to date on the development of a distributed aeroengine diagnosis environment as a proof of concept demonstration for grid computing. We discuss the development of a demonstration diagnosis workbench system for this complex, data intensive, diagnosis application that must be operated as a distributed 'virtual organisation'. We describe the core diagnosis applications that have been implemented as grid services, and explain how these services are being deployed within the overall diagnosis process

关键词： Engines Fault diagnosis Grid computing Project management Collaborative work Data analysis computerized monitoring control systems systems engineering and theory Data systems

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Formal verification of flight critical software

Formal verification of flight critical software

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AIAA Guidance, Navigation, and control Conference 2005

作者： Miller, Steven P. Anderson, Elise A. Wagner, Lucas G. Whalen, Michael W. Heimdahl, Mats P. E. Rockwell Collins Inc. Cedar Rapids IA 52498 United States University of Minnesota Minneapolis MN 55455 United States Advanced Technology Center MS 108-206 400 Collins Road NE AIAA Commercial Systems Flight Control MS 105-191 400 Collins Road NE Dept. of Computer Science and Electrical Engineering 4192 EE/CS Bldg. 200 Union Street

ISBN: (纸本)1563477378

Recent advances in modeling languages have made it feasible to formally specify and analyze the behavior of large system components. Synchronous data flow languages, such as Lustre, SCR, and RSML-e are well suited to this task, and commercial versions of these tools such as SCADE and Simulink are growing rapidly in popularity among designers of safety critical systems, largely due to their ability to automatically generate code from the models. At the same time, advances in formal analysis tools have made it practical to formally verify important properties of these models to ensure that design defects are identified and corrected early in the lifecycle. This report describes how such formal verification tools have been applied to the FCS 5000, a new family of Flight control systems being developed by Rockwell Collins Inc. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Flight dynamics

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Telerobotic mini-golf: system design for enhanced teleoperator performance

Telerobotic mini-golf: system design for enhanced teleoperat...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S.R. Munasinghe Ju-Jang Lee T. Usui M. Nakamura N. Egashira Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Control and Information Systems Engineering Kurume National College of Technology Fukuoka Japan

This paper discusses the safety assurance, capability features, and user-friendliness of Internet-based telerobotics, in the sense that how these features could be incorporated in order to enhance teleoperator performance. A comprehensive set of safety features are incorporated to the interface to screen and accept only the safe commands from the remote operator while discarding risky commands. A laser pointer is used to help remote operator in perceiving self-location and navigation, whereas orientation control has been completely automated and synchronized to the position commands of the teleoperator. The effectiveness of these features has been demonstrated by playing telerobotic mini-golf.

关键词： Telerobotics Teleoperators Internet Paper technology control systems Safety Supervisory control Power system modeling System testing computer science

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