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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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Output controller for uncertain nonlinear systems with structural, parametric, and signal disturbances

Output controller for uncertain nonlinear systems with struc...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Maxim V. Faronov 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

ISBN: (纸本)9781467345033

We design the output feedback controller for a class of nonlinear systems with a state delay, structural and external disturbances. The external perturbation is bounded. Structural disturbance means the unmodeled and unknown stable dynamics in the control loop. In this paper we consider the problem of exponential stability for disturbed systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and a uncertain nonlinearity satisfying a sector constraint. Proposed approach is extended for the case of unknown relative degree of the system by modification of the control law.

关键词： Adaptive control Output feedback Heuristic algorithms Delay Nonlinear dynamical systems

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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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control Approaches for Complicated Self-Unstable Plants with Applications for Two-Wheel Mobile Robot Motobot in Educational Purposes * , **

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IFAC Proceedings Volumes 2012年第11期45卷 107-111页

作者： Alexandr S. Borgul Konstantin A. Zimenko Alexey A. Bobtsov Anton A. Pyrkin 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

关键词： Mobile robots autonomous bike unstable systems output control educational robots

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Lego Mindstorms NXT for Students' Research Projects in control Field *

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IFAC Proceedings Volumes 2012年第11期45卷 102-106页

作者： Alexey A. Bobtsov Anton A. Pyrkin Sergey A. Kolyubin Alexander A. Kapitonov Alexey D. Feskov Sergey M. Vlasov Alexander Y. Krasnov Aleksey V. Khovanskiy Sergey V. Shavetov 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

Abstract 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.

关键词： Teaching curricula development control education management of competences and knowledge Lego Mindstorm NXT mobile robots adaptive control

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Using of LEGO Mindstorms NXT Technology for teaching of basics of adaptive control theory

Using of LEGO Mindstorms NXT Technology for teaching of basi...

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作者： Bobtsov, Alexey A. Pyrkin, Anton A. Kolyubin, Sergey A. Shavetov, Sergey V. Chepinskiy, Sergey A. Kapitanyuk, Yuriy A. Kapitonov, Alexander A. Bardov, Vladimir M. Titov, Anton V. Surov, Maxim O. Department of Control Systems and Informatics Saint Petersburg State 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)9783902661937

An article describes laboratory plants based on LEGO Mindstorms NXT Technology and made of several electromechanical systems. These plant are used both for research and educational purposes. They allow to study and to compare different identification and adaptive control algorithms. Certain results of application of theoretical adaptive control algorithms for various Lego Mindstorms NXT mobile robots (track, wheel and walking ones) and reactionwheel pendulum-cart systems are presented in the article. © 2011 IFAC.

关键词： Mobile robots

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Output control for time-delay nonlinear system providing exponential stability

Output control for time-delay nonlinear system providing exp...

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Mediterranean Conference on control and Automation

作者： Bobtsov, Alexey A. Pyrkin, Anton A. Faronov, Maxim V. Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 197101 Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

ISBN: (纸本)9781457701252

This paper deals with the output stabilization of time-delay systems with sector-bounded nonlinearity. In this paper we will consider the problem of absolute stability for a class of time-delay systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and a uncertain nonlinearity satisfying a sector constraint. For a class of output control algorithms a controller providing output exponential stability of equilibrium position is proposed. © 2011 IEEE.

关键词： Timing circuits

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Adaptive cancellation of unknown multiharmonic disturbance for nonlinear plant with input delay

Adaptive cancellation of unknown multiharmonic disturbance f...

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Mediterranean Conference on control and Automation

作者： Pyrkin, Anton A. Bobtsov, Alexey A. Kapitanyuk, Yuriy A. Titov, Anton V. Vedyakov, Alexey A. Shadzhe, Inver H. Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

ISBN: (纸本)9781457701252

In this paper a new approach for cancellation of a multiharmonic disturbance is proposed. Compared with a number of known results in this paper the disturbance compensation problem is solved when the output variable is measured only, a relative degree of the plant is arbitrary and the control channel has the constant time delay. The numerical example is presented to illustrate theoretical result and the reaction wheel pendulum on a movable platform is considered as the plant to demonstrate that proposed approach is realizable and can be plugged in practice. Created by hand disturbance moves the platform in horizontal surface and the pendulum is oscillating. The second goal of this work is the development of mechatronic applications using in education. © 2011 IEEE.

关键词： Pendulums

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Robust output stabilization of time-delay nonlinear system

Robust output stabilization of time-delay nonlinear system

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作者： Bobtsov, Alexey Pyrkin, Anton Faronov, Maxim Nikolaev, Nikolay A. Slita, Olga V. Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

ISBN: (纸本)9783902661937

This paper deals with the output stabilization of time-delay systems with sector-bounded nonlinearity. In this paper we will consider the problem of absolute stability for a class of time-delay systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and an uncertainty nonlinearity satisfying a sector constraint. For a class of output control algorithms a controller providing output asymptotic stability of equilibrium position is designed. © 2011 IFAC.

关键词： Asymptotic stability

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