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9th IFAC Symposium on Nonlinear control systems, NOLCOS 2013

作者： Kolyubin, Sergey Efimov, Denis Nikiforov, Vladimir Bobtsov, Alexey Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy pr. 49 St.-Petersburg 197101 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology NO-7491 Trondheim Norway Non-A INRIA LNE Parc Scientique de la Haute Borne 40 avenue Halley Bat.A 59650 Villeneuve dAscq France Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering RAS Bolshoy pr. V.O. 61 St.-Petersburg 199178 Russia

ISBN: (纸本)9783902823472

The paper is devoted to development of control algorithms for nonlinear parametrically uncertain systems. Original system dynamics is approximated by a set of local NARX models combined by a special mixing rule. Algorithm for local models' parameters estimation and structure adjustment has been developed. Proposed approach allows straightforward designing of the combined feedforward/feedback controller. © IFAC.

关键词： Mathematical models

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Rejection of Multiharmonic Disturbance Approach Based on Simple Adaptive control Principle

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IFAC Proceedings Volumes 2013年第11期46卷 408-413页

作者： Alexey A. Bobtsov Sergey A. Kolyubin Anton A. Pyrkin Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy pr. 49 St. Petersburg 197101 Russia Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering RAS Bolshoy pr. V. O. 61 St. Petersburg 199178 Russia Department of Enginnering Cybernetics Norwegian University of Science and Technology NO-7491 Trondheim NORWAY

This paper deals with control algorithms development for output stabilization of the parametrically uncertain linear plant of unknown relative degree. Simple adaptive control paradigm lies in the basis of proposed approach. controller was supplemented with the switching-based scheme of substitution of multiharmonic external disturbance frequencies' estimations that improves controller performance without its significant complication. Stability analysis of the closed-loop hybrid system was conducted and corresponding conditions on switching parameters were stated.

关键词： Simple adaptive control output feedback robust control disturbance rejection switching algorithms

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control of Nonlinear systems Using Multiple Model Black-Box Identification

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IFAC Proceedings Volumes 2013年第23期46卷 582-587页

作者： Sergey Kolyubin Denis Efimov Vladimir Nikiforov Alexey Bobtsov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy pr. 49 St. Petersburg 197101 RUSSIA Department of Engineering Cybernetics Norwegian University of Science and Technology NO-7491 Trondheim NORWAY Non-A INRIA — LNE Pare Scientique de la Haute Borne 40 avenue Halley Bat. A Park Plaza 59650 Villeneuve dAscq FRANCE Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering RAS Bolshoy pr. V.O. 61 St. P etersburg 199178 RUSSIA

The paper is devoted to development of control algorithms for nonlinear paramet-rically uncertain systems. Original system dynamics is approximated by a set of local NARX models combined by a special mixing rule. Algorithm for local models' parameters estimation and structure adjustment has been developed. Proposed approach allows straightforward designing of the combined feedforward/feedback controller.

关键词： Identification NARX model switching algorithms feedforward control

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Mechatronic and robotic setups for modern control theory workshops

Mechatronic and robotic setups for modern control theory wor...

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9th IFAC Symposium on Advances in control Education, ACE 2012

作者： Bobtsov, Alexey A. Kolyubin, Sergey A. Pyrkin, Anton A. Borgul, Alexandr S. Zimenko, Konstantin A. Evgeniy, Rabysh Y. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Control of Complex Systems Lab. Institute of Problems of Mechanical Engineering RAS Saint Petersburg Russia

ISBN: (纸本)9783902823014

Two mechatronic setups as advanced tools for control theory workshops are described in this paper. Schmid pendulum on the wheeled platform has been designed to demonstrate the advantages of adaptive hybrid control approaches. Ballbot autonomous robotic setup in turn has been built and programmed specially for optimal control workshops. © 2012 IFAC.

关键词： Robotics

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control approaches for complicated self-unstable plants with applications for two-wheel mobile robot motobot in educational purposes

Control approaches for complicated self-unstable plants with...

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9th IFAC Symposium on Advances in control Education, ACE 2012

作者： Borgul, Alexandr S. Zimenko, Konstantin A. Bobtsov, Alexey A. Pyrkin, Anton A. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

In educational purposes the control problem of the mobile robot like a bike based on Lego Mindstorms NXT is considered. The controller providing stable motion of the robot in vertical position at the horizontal plane ... 详细信息

ISBN: (纸本)9783902823014

关键词： Mobile robots

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Lego Mindstorms NXT for students' research projects in control field

Lego Mindstorms NXT for students' research projects in contr...

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9th IFAC Symposium on Advances in control Education, ACE 2012

作者： Bobtsov, Alexey A. Pyrkin, Anton A. Kolyubin, Sergey A. Kapitonov, Alexander A. Feskov, Alexey D. Vlasov, Sergey M. Krasnov, Alexander Y. Khovanskiy, Aleksey V. Shavetov, Sergey V. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St. Petersburg 199178 Russia

ISBN: (纸本)9783902823014

Nowadays scientific community faces challenging problem on how to make science popular among young people and attract students' attention to applied and fundamental research. In this article we share our personal experience of organization of the student research and development laboratory in the field of automatic control for robotics. Paper describes how Lego Mindstorms NXT technology can be used to engage students in the research process. Examples of students' research projects embodying results obtained by elder colleagues at the control systems and Informatics Department of St. Petersburg National Research University ITMO are described here. © 2012 IFAC.

关键词： Students

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Rotation Estimation for Mobile Robot Based on Single-axis Gyroscope and Monocular Camera

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International Journal of Automation and computing 2012年第3期9卷 292-298页

作者： Yang, Ke-Hu Yu, Wen-Sheng Ji, Xiao-Qiang School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing 100083 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai 200062 China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.

关键词： Rotation matrix estimation quaternion extended Kalman filter (EKF) monocular camera gyroscope.

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Mechatronic and Robotic Setups for Modern control Theory Workshops *

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IFAC Proceedings Volumes 2012年第11期45卷 348-353页

作者： Alexey A. Bobtsov Sergey A. Kolyubin Anton A. Pyrkin Alexandr S. Borgul Konstantin A. Zimenko Rabysh Y. Evgeniy Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg RUSSIA Control of Complex Systems Lab. Institute of Problems of Mechanical Engineering RAS Saint Petersburg RUSSIA

关键词： Advanced educational tools modern control theory control workshop mechatronic setup robotic equipment

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Precise frequency estimator for noised periodical signals

Precise frequency estimator for noised periodical signals

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IEEE Conference on control Technology and Applications (CCTA)

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Alexey A. Vedyakov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia

The frequency estimation technique with guaranteed finite time of convergence to a given accuracy of identification is presented. The approach for a high frequency noise rejection is proposed. The possibility of switching algorithm introduction for estimation quality improvement is discussed. The proposed solution has order three, that is smaller than in other existent solutions. The dimension of modified robust frequency estimator that can reject the additional measuring noise is equal four. Efficiency of the approach is demonstrated on examples of computer simulation.

关键词： Switches Frequency estimation Noise Transient analysis Convergence Estimation error Accuracy

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Attitude control of the spacecraft with unknown inertia tensor

Attitude control of the spacecraft with unknown inertia tens...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Maksim O. Surov Anton A. Pyrkin Alexey A. Bobtsov Department of Control Systems and Informatics Saint-Petersburg National Research University of Information Technologies Saint Petersburg Russia A. Bobtsov is with the Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia

We propose the new robust control approach to solve the spacecraft attitude control problem. Obtained control low does not depend of inertia tensor components or its estimate. A proof of the asymptotic stability of the spacecraft orientation has been provided. To illustrate the effectiveness of the controller a numerical example is shown.

关键词： Space vehicles Attitude control Quaternions Adaptive control Tensile stress Vectors Asymptotic stability

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