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ANDECS-Multicriteria Optimization of a Fuzzy-Logic Controller for an Aerodynamically Unstable Aircraft in Comparison to a Linear Robust Control Design

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IFAC Proceedings Volumes 1995年第23期28卷 107-112页

作者： H.-D. Joos DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

The performance benefits of an aerodynamically unstable aircraft are obtained at the expense of the necessity of an automatic control system. For reliability requirements controllers without gain scheduling are looked for. To achieve this a complex ”robust control” design problem has to be solved. Fuzzy-controllers are claimed to have robustness properties. On the other hand the fuzzy-control methodology can be seen as a systematic way to specify controllers with nonlinear gain surfaces. To properly tune such controllers, computer-aided techniques can be applied provided appropriate models are available such as in more classical design approaches. A fuzzy-controller is developed, which keeps an aerodynamically unstable aircraft stationary for a sufficient long range of time and providing good flying qualities over the entire flight envelope. The results are compared with a completely linear controller design, done earlier.

关键词： Fuzzy-Logic Controller Optimization Multi-Objective Design

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ANDECS Robot-Trajectory Optimization for State-Constrained Time-Optimal Control and Minimum Power Consumption

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IFAC Proceedings Volumes 1995年第23期28卷 101-106页

作者： A. Lewald M. Otter G. Grübel DLR-Oberpfaflenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

The robot trajectory optimization features of the ANDECS environment are described. Robot trajectory optimization problems are formulated as multi-objectives parameter optimization problems in search for a good compromise among conflicting criteria, such as “minimal” time and “minimal” power consumption. For that the robot dynamics is analyzed by time-simulation of a robot model with variable structure, which is generated by the object-oriented modeling language Dymola.

关键词： Computer simulation Industrial Robots Nonlinear Programming Optimization Robots Trajectory planning

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World modeling for a sensor-in-hand robot arm

World modeling for a sensor-in-hand robot arm

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： A. Baader G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

In many robotics applications, e.g. telerobotics under long time delay, building a geometric world model from multisensory data is a crucial requirement. Using a sensor-in-hand configuration to generate a model referenced to the robot base, imposes specific problems. Moving the sensor frame on an arbitrary path over and around an unknown object generates a completely unordered 'data cloud'. A surface reconstruction algorithm, which is based on Kohonen's self-organizing feature maps is used to process this data cloud and to generate a useful surface description. This surface can be used for object recognition and pose estimation using algorithms which were developed in the field of range image understanding.

关键词： Robot sensing systems Surface reconstruction Clouds Telerobotics Delay effects Solid modeling Reconstruction algorithms Object recognition

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An ANDECS-MATLAB Multicriteria Design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ Control Structure

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IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective Design Magnetic Suspension Transportation

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Tracking gradients of artificial potential fields with non-holonomic mobile robots

Tracking gradients of artificial potential fields with non-h...

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American Control Conference (ACC)

作者： J. Guldner V.I. Utkin H. Hashimoto F. Harashima Institute for Robotics and System Dynamics DLR Wessling Germany Department of Electrical Engineering Ohio State Uinversity Columbus OH USA Institute of Industrial Science Tokyo University Minato Tokyo Japan

Artificial potential fields have enjoyed growing popularity for path planning and collision avoidance both of robot manipulators and mobile robots. Although many artificial potential fields have been proposed. Few works discuss suitable control for tracking the gradient of an artificial potential field. This deficit is surprising since good tracking control is vital for successful implementation of the artificial potential field method. This paper extends previous results of a sliding mode control strategy for fully actuated holonomic robots to gradient tracking of non-holonomic mobile robots.

关键词： Mobile robots Sliding mode control Wheels Service robots Manipulator dynamics Electrical equipment industry Path planning Collision avoidance Force control Torque control

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TRANSPUTER-BASED MULTIBODY system, DYNAMIC SIMULATION .2. PARALLEL IMPLEMENTATION - RESULTS

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MECHANICS OF STRUCTURES AND MACHINES 1994年第2期22卷 239-261页

作者： EICHBERGER, A [a]DLR—GERMAN AEROSPACE RESEARCH ESTABLISMENT INSTITUTE FOR ROBOTICS AND SYSTEM DYNAMICS WESSLING GERMANY

This paper continues demonstration of the benefits of parallel multibody simulation. In Part I implicit integration schemes combined with a modified inverse dynamic formulation were proposed for parallel multibody simulation. In Part II the modified inverse dynamics algorithm and computation of the integrator's Jacobian are split up into independent work packages for parallelization on medium-and coarse-grain levels, respectively. The farming concept, which organizes the flow of work and result packages through a network of processors, is presented. Transputers are used to build a distributed memory multiprocessor system, where both the medium- and coarse-grain approaches are implemented, resulting in the PARSIM-package for parallel multibody dynamics. The simulation of an off-road vehicle and a multibody model for a cable demonstrate the considerable savings in simulation times achieved by the new software package.

关键词： systems analysis

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TRANSPUTER-BASED MULTIBODY system DYNAMIC SIMULATION .1. THE RESIDUAL ALGORITHM - A MODIFIED INVERSE DYNAMIC FORMULATION

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MECHANICS OF STRUCTURES AND MACHINES 1994年第2期22卷 211-237页

作者： EICHBERGER, A [a]DLR—GERMAN AEROSPACE RESEARCH ESTABLISHMENT INSTITUTE FOR ROBOTICS AND SYSTEM DYNAMICS WESSLING GERMANY

The benefits of parallel multibody simulation are demonstrated in this paper. In Part I an extensive analysis of the options available in parallel multibody system simulation is given. As a result of this analysis, implicit integration schemes are proposed for simulation and a modified inverse dynamic formulation is presented, which generates the equations of motion directly, in an implicit differential-algebraic form. In Part II medium-and coarse-grain levels will be exploited for the parallelization of the modified inverse dynamic formulation and the integrator's Jacobian, respectively. Both approaches are implemented on a Transputer network, resulting in the PARSIM-package for parallel multibody simulation. Computational efficiences of the package are demonstrated.

关键词： systems analysis

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ROBUST DECOUPLING, IDEAL STEERING dynamics AND YAW STABILIZATION OF 4WS CARS

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AUTOMATICA 1994年第11期30卷 1761-1768页

作者： ACKERMANN, J [a]German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen D-82230 Wessling Germany

Four-wheel car steering is modeled by a single-track model with nonlinear tire characteristics. A generic control law for robust decoupling of lateral and yaw motion by yaw-rate feedback to front-wheel steering is derived. Ideal steering dynamics are achieved by velocity-scheduled lateral acceleration feedback to front-wheel steering. For robust yaw stabilization a velocity-scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized system gets velocity-independent yaw eigenvalues.

关键词： AUTOMOBILES ROBUST CONTROL DECOUPLING NONLINEAR systemS

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Vision for Space Robots on a Parallel Distributed Architecture

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Integrated Computer-Aided Engineering 1994年第5期1卷 431-452页

作者： Sánchez A., V. David German Aerospace Research Establishment DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling D-82330 Germany

This article reports on two main contributions: the introduction of a parallel distributed architecture for robot vision, and robust robot vision techniques and their computationally efficient parallel implementation for grasping a polyhedral object in 3-D space. The parallel distributed architecture for robot vision is based on transputers (message-passing parallel processors) and vector signal processors. Vision algorithms including straight line detection, binocular stereo correspondence, surface reconstruction, motion estimation, recognition, and localization have been implemented in the OCCAM parallel programming language and run in adequate processor network topologies. The integration of the Robot Vision system into the dlr Telerobotics Ground Station and its application in the frame-work of the first German space robotics experiment ROTEX (“robotics Technology EXperiment”) to the task of grasping a floating object, the dlr FreeFlyer, under μ-gravity is presented. For this task a hybrid approach to parallelism has been adopted involving geometric and algorithm parallelism. The integration of the whole set of robust robot vision techniques for this task is reported for the first time in this article. © John Wiley and Sons, Inc.

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A sliding mode control approach to automatic car steering

A sliding mode control approach to automatic car steering

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American Control Conference (ACC)

作者： J. Guldner V.I. Utkin J. Ackermann DLR Institute for Robotics and System Dynamics Wessling Germany

Highway automation is a promising approach to cope with increasing road traffic and congestions. An important control subtask of an intelligent vehicle/highway system is automatic steering for lateral vehicle control. Due to system uncertainties and the wide range of operating conditions, state-of-the-art robust control techniques are required. This paper introduces two automatic steering controllers for cars driving under highway conditions. The control design is based on sliding mode control and robust state observation. It is shown that good tracking of a reference path, delineated either continuously or discretely, can be achieved with a minimum effort in sensing and without preview of the road curvature.

关键词： Sliding mode control Automated highways Automatic control Control systems Robust control Automation Intelligent vehicles Road vehicles Uncertainty Control design

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