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共 264 条记录，以下是161-170 订阅

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PI controller design for Network control system based on minimum entropy control

PI controller design for Network control system based on min...

引用

2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Xinlan-Guo Tao-Li Hongxia Zhao Mechanical and Electrical Engineering Department Nanjing Communications Institute of Technology Enterprise Custom Department Huawei Nanjing Institute The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

This paper designs PI controller which is easy to operate in an actual random framework for NCS,for nonlinear ARMAX model is difficult to achieve in the practical *** on the nature of the network control system is a random system and PI controller design is easy to operate in an actual random framework for NCS,the iterative learning ideas to batch control system output probability density function,so that the output probability density function of the system with increasing batch tracking a given probability density *** order to achieve the NCS system of tracking error probability density function control,this paper introduces the minimum entropy control algorithm.

关键词： minimum entropy control NCS PI controller.

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Bipedal walking with toe-off, heel-strike and compliance with external disturbances

Bipedal walking with toe-off, heel-strike and compliance wit...

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IEEE-RAS International Conference on Humanoid Robots

作者： Xuechao Chen Yuhang Zhou Qiang Huang Zhangguo Yu Gan Ma Libo Meng Chenglong Fu Key Laboratory of Intelligent Control and Decision of Complex System China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechanical Engineering Tsinghua University Beijing

ISBN: (纸本)9781479971756

Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.

关键词： Legged locomotion Foot Torso Robot kinematics Acceleration Joints

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Dynamic positioning system for nonlinear MIMO plants and surface robotic vessel

Dynamic positioning system for nonlinear MIMO plants and sur...

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7th IFAC Conference on Manufacturing Modelling, Management, and control, MIM 2013

作者： Pyrkin, Anton A. Bobtsov, Alexey A. Kolyubin, Sergey A. Surov, Maxim O. Vedyakov, Alexey A. Feskov, Alexey D. Vlasov, Sergey M. Krasnov, Alexandr Y. Borisov, Oleg I. Gromov, Vladislav S. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St.-Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St.-Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

ISBN: (纸本)9783902823359

In this paper the new control approach for a class of nonlinear MIMO systems with unknowns is proposed. The mathematical model is divided on two parts: static MIMO transformation and a few SISO channels that allows to design the control law in two steps. At the first step we design the virtual controls for each SISO channel and then after the inverse MIMO transformation we propose the control law for considered system. In the paper the recent advantages in the development of adaptive output control approach using high-gain principle named by the authors as "consecutive compensator" is applied for SISO channels. We present the robotic research setup designed for analysis of control algorithms oriented to complex technical objects. This setup is a model of real plant with similar constraints for developers: parametric uncertainty, delay, disturbances, and bounded control. © IFAC.

关键词： MIMO systems

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Simple output stabilization approach for robotic systems

Simple output stabilization approach for robotic systems

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7th IFAC Conference on Manufacturing Modelling, Management, and control, MIM 2013

作者： Pyrkin, Anton A. Bobtsov, Alexey A. Kolyubin, Sergey A. Surov, Maxim O. Shavetov, Sergey V. Borisov, Oleg I. Gromov, Vladislav S. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St.-Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St.-Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

ISBN: (纸本)9783902823359

The problem of control design for a class of nonlinear system is considered. It is assumed that the linear part is unknown and minimum phase. The nonlinear part is known inaccurately, it is irreducible to an input of the linear block, and generally does not satisfy sector restrictions. A regulator ensuring semiglobal stability is designed. The output of a plant, but not its derivatives is used as a measured variable. Some application results of proposed output control algorithm for a number of Lego Mindstorms NXT mobile robots (track, wheel and walking ones) are presented in the paper. © IFAC.

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Human-machine interface for mechatronic devices control

Human-machine interface for mechatronic devices control

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7th IFAC Conference on Manufacturing Modelling, Management, and control, MIM 2013

作者： Bobtsov, Alexey A. Borgul, Alexandr S. 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)9783902823359

This article presents a system of intuitive control of any mechatronic devices with EMG and EEG. It can be used both as in rehabilitation devices and in manufacturing as a human-machine interface. The technology allows to control device mentally. Various identification methods for control signals like neural networks, wavelet analysis, fastICA, Fourier series are given. Algorithms were tested on real objects and simulator. © IFAC.

关键词： Neural networks

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Fast compensation of unknown multiharmonic disturbance for nonlinear plant with input delay ?

Fast compensation of unknown multiharmonic disturbance for n...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Pyrkin, Anton A. Bobtsov, Alexey A. Kolyubin, Sergey A. Vedyakov, Alexey A. Borisov, Oleg I. Gromov, Vladislav S. Margun, Alexey A. Bazylev, Dmitriy N. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St.-Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St.-Petersburg Russia

ISBN: (纸本)9783902823373

In this paper a new approach for fast rejection of unknown multiharmonic disturbance is proposed. To design this algorithm the method of cascade reduction is used that allows to accelerate the process of convergence of unknown frequencies estimates. Additionally, the proposed approach difiers from the known results. In this article we consider the case of disturbance rejection, when a relative degree of the plant can be arbitrary and only an output is variable, the control signal is measured and the control channel is characterized by delay. © IFAC.

关键词： Disturbance rejection

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Multiagent aerial vehicles system for ecological monitoring

Multiagent aerial vehicles system for ecological monitoring

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2013 IEEE 7th International Conference on Intelligent Data Acquisition and Advanced Computing systems, IDAACS 2013

作者： Bobtsov, Alexey A. Borgul, Alexandr S. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics St.-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)9781479914265

A paper describes the multiagent system of aerial vehicles for difficult to access area's ecological monitoring. The main object of this systems applying is exploration of locality in case of technogenic accident and catastrophe, elemental calamity. The system is able to keep the formation during the movement on the optimal trajectory for the fastest exploration of locality. The group of agents is able to be controlled both manually and full-automatically as a result of composite navigational system applying which allows global positioning and local navigation each of agents. All of agents are equipped with the system of sensors and cameras and the data from them can be saved in local agent's memory as well as can be transmitted to the base station in real time. Because of aerial vehicles configuration with high maneuverability and the speed below 24 km/h the system shows high mobility and allows monitor the state of the natural environment as well as indoor area. © 2013 IEEE.

关键词： Multi agent systems

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sEMG based joint angle estimation of lower limbs using LS-SVM

sEMG based joint angle estimation of lower limbs using LS-SV...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Li, Qingling Song, Yu Hou, Zengguang Zhu, Bin Department of Mechanical Engineering China University of Mining and Technology Beijing China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Science Beijing China

ISBN: (纸本)9783642420535

In this paper, a new estimation model based on least squares support vector machine (LS-SVM) is proposed to build up the relationship between Surface electromyogram (sEMG) signal and joint angle of the lower limb. The input of the model is 2 channels of preprocessed sEMG signal. The outputs of the model are joint angles of the hip and the knee. sEMG signal is acquired from 7 motion muscles in treadmill exercise. And two channels of them are selected for dynamic angle estimation for their strong correlation with angle data. Angle estimation model is constructed by 2 independent LS-SVM based regression model with radial basis function (RBF). It is trained using part of the sample sets acquired in 10s exercise duration and test by all data. Experimental result shows proposed method has good performance on joint angles estimation based sEMG. Root mean square error (RMSE) of prediction knee and hip joint angles is 3.02° and 2.09° respectively. It provide new human-machine interface for active rehabilitation training of SCI, stroke or neurological injury patients. © Springer-Verlag 2013.

关键词： Patient rehabilitation

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Motion control of the six-legged walking robot with unknown inertia matrix

Motion control of the six-legged walking robot with unknown ...

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7th IFAC Conference on Manufacturing Modelling, Management, and control, MIM 2013

作者： Surov, Maksim O. Pyrkin, Anton A. Bobtsov, Alexey A. Department of Control Systems and Informatics Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint-Petersburg 197101 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St.-Petersburg Russia

ISBN: (纸本)9783902823359

We propose a new control approach to solve the problem of motion control of six-legged walking robot. Obtained control law does not require knowledge of inertia matrix of the robot. A proof of the asymptotic stability of the robot motion has been provided. To illustrate the effectiveness of the controller a numerical example is shown. © IFAC.

关键词： Attitude control

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control approaches for complicated self-unstable plants with applications for two-wheel mobile system

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

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7th IFAC Conference on Manufacturing Modelling, Management, and control, MIM 2013

作者： Bobtsov, Alexey A. Borgul, Alexandr S. Zimenko, Konstantin 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 Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

ISBN: (纸本)9783902823359

In this paper a model of autonomous mobile robot "Motobot" is described. There is the model of two-wheeled motorbike. The mathematical model of motion of two-wheeled single-track robot on the horizontal flat is analyzed and the automatic control algorithms are designed. problem can be solved by controlling the steering wheel and the speed of the driving wheel. © IFAC.

关键词： Mobile robots

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